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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 6, Issue 12 - Dec 2000
Volume 6, Issue 11 - Nov 2000
Volume 6, Issue 10 - Oct 2000
Volume 6, Issue 9 - Sep 2000
Volume 6, Issue 8 - Aug 2000
Volume 6, Issue 7 - Jul 2000
Volume 6, Issue 6 - Jun 2000
Volume 6, Issue 5 - May 2000
Volume 6, Issue 4 - Apr 2000
Volume 6, Issue 3 - Mar 2000
Volume 6, Issue 2 - Feb 2000
Volume 6, Issue 1 - Jan 2000
Selecting the target year
Flow Control of ATM Networks Using
Gang, Tae-Sam ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 617~622
In this paper proposed is an
based flow controller for the ATM networks. The round trip time-delay uncertainty is taken into account and robustness of the proposed controller is analyzed. Maximum allowable time-delay uncertainties are computed with different weightings on performance and robustness. And discussed is a time-domain implementation method of the proposed controller. Time domain simulation with realistic environment demonstrates that the performance of the proposed controller is much better than that of conventional one.
Optimal Channel Modeling for Multicasting in VOD
Kim, Hyoung-Joong ; Yeo, In-Kwon ; Jitendra K. Manandhar ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 623~628
Video-on-demand system in which users can request any video through the network at any time is made possible by rapid increase in network bandwidth and capacity of the media server. However true video-on-demand system cannot support all requests since bandwidth requirement is still too demanding. Therefore efficient bandwidth reduction algorithm is necessary. both the piggybacking method and the batching method are novel solutions that can provide more logical number of streams than the physical system can support. Of course each of them has its pros and cons. hence piggybacking with batching-by-size can take advantage of both the schemes. Some parameters such as the size of batch and the size of the catch-up window should be adjusted and order to maximize the bandwidth reduction for piggybacking with batching-by-size method. One of the most important parameters is decided optimally in this paper. Simulation shows that the optimized parameter can achieve considerable reductionand consequently remarkable enhancement in performance.
Congestion Control for the ABR Service of ATM networks with Multiple Congested Nodes and Multicast Connections
Nho, Ji-Myong ; Lim, Jong-Tae ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 629~637
Unbalance between user requirements and insufficient network resources makes a congestion. In the future since the communication networks will have very heavy traffic congestion will be more serious. The ATM networks was recommended to support the B-ISDN service for the future multimedia communication. In thie sense of congestion avoidance and recovery the ABR service category in ATM networks allows the feedback flow control mechanism to dynamically allocate the idle bandwidth of the network to users fairly and to control the network congestion rapidly In this paper we introduce a congestion control scheme using systematical approach to confirm robust stability with respect to unknown round trip delay for the network which has both unicast and multicast connections.
MAX-MIN Flow Control Supporting Dynamic Bandwidth Request of Sessions
Jo, Hyeok-Rae ; Jeong, Song ; Jang, Ju-Wook ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 638~651
When the bandwidth resources in a packet-switched network are shared among sessions by MAX-MIN flow control each session is required to transmit its data into the network subject to the MAX-MIN fair rate which is solely determined by network loadings. This passive behavior of sessions if fact can cause seri-ous QoS(Quality of Service) degradation particularly for real-time multimedia sessions such as video since the rate allocated by the network can mismatch with what is demanded by each session for its QoS. In order to alleviate this problem we extend the concept of MAX-MIN fair bandwidth allocations as follows: Individual bandwidth demands are guaranteed if the network can accommodate them and only the residual network band-width is shared in the MAX-MIN fair sense. On the other hand if sum of the individual bandwidth demands exceeds the network capacity the shortage of the bandwidth is shared by all the sessions by reducing each bandwidth guarantee by the MAX-MIN fair division of the shortage. we present a novel flow control algorithm to achieve this extended MAX-MIN fairness and show that this algorithm can be implemented by the existing ATM ABR service protocol with minor changes. We not only analyze the steady state asymptotic stability and convergence rate of the algorithm by appealing to control theories but also verify its practical performance through simulations in a variety of network scenarios.
Survey on Applications of control Theories to Wired and Wireless Communication
Kwon, Wook-Hyun ; Kim, Hyung-Seok ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 652~658
Wired and wireless communication technique is growing rapidly. As the number of communication users is larger problems such as network congestion and signal interference between users are getting most important, There have been researches that try to solve them by control theoretic approaches. They apply various control theories to the control issues of communication. this paper surveys these researches and classifies them into ATM TCP/IP and wireless communication according to the target. The feedback control model of each communication protocol is shown and related researches are summarized and analyzed.
State Estimation and Control in a Network for Vehicle Platooning Control
Choi, Jae-Weon ; Fang, Tae-Hyun ; Kim, Young-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 659~665
In this paper a platoon merging control system is considered as a remotely located system with state represented by a stochastic process. in the system it is common to encounter situations where a single decision maker controls a large number of subsystems and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike a classical estimation problem where the observation is a continuous process corrupted by additive noise there is a constraint that the observation must be coded and transmitted over a digital communication channel with fintie capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. in this paper we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons the lead vehicle of the following platoon is controlled by a remote control station. Using the observation transmitted over communication channel the remote control station designs the feedback controller. The simulation results show that the intervehicle spacings and the deviations from the desired intervehicle spacing are well regulated.
An Integrated Network Control Framework for the Next-Generation Optical Internet
Park, Sung-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 666~671
With the current advances in optical WDM (Wavelength Division Multiplexing) networking technologies and the increasing demand for network bandwidth the Next Generation Internet is expected to be a network that runs IP(Internet Protocol) directly over WDM-based optical networks. The network control architecture for the IP over WDM networks is different from that of traditional Internet since the underlying WDM devices have more constraints than electronic IP routers such as the lack of optical buffers and wavelength continuity property etc. In this paper we introduce several architectural models for implementing IP over WDM networks and propose an integrated network control framework for the IP over WDM networks. This framework leverages the traffic engineering control architecture for the MPLS (Multi-Protocol Label Switching) networks and is mainly developed for the IP over packet-switched WDM networks. We also report several preliminary simulation results of contention resolution schemes in the packet-switched WDM networks.
Control Method for State Constrained Control Systems: Dynamic Anti-Widup Based Approach
Park, Jong-Koo ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 672~681
Based on the dynamic anti-windup strategy a novel control methodology for state constrained control systems is presented. First a linear controller is designed for an open-loop stable plant to show a desirable nominal performance by ignoring state constraints. And then an additional dynamic compensator is introduced to preserve the nominal performance as closely as possible int he face of state constraints. This paper focuses on the second step under the assumption that a linear controller has already been designed appropriately by using an effective controller design method. By minimizing a reasonable performance index the dynamic compensator is derived explicitly which is expressed int he plant and controller parameters. the proposed method not only guarantees the total stability of the overall resulting systems but also provides desirable output performance because it solves the state-positioning problem completely
The Tip Position Measurement of a Flexible Robot Arm Using a Vision Sensor
Shin, Hyo-Pil ; Lee, Jong-Kwang ; Kang, E-Sok ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 682~688
To improve the performance of a flexible robot arm one of the important things is the vibration displacement measurement of a flexible arm. Many types of sensors have been used to measure it, The most popular has been strain gauges which measures the deflection of the beam,. Photo sensors have also been for detecting beam displacement and accelerometers are often used to measure the beam vibration. But the vibration displacement can be obtained indirectly from these sensors. In this article a vision sensor is used as a displacement sensor to measure the vibration displacement of a flexible robot arm. Several schemes are proposed to reduce the image processing time and increase its accuracy. From the experimental results it is seen that the vision sensor can be an alternative sensor for measuring the vibration displacement and has a potential for on-line tip position control of flexible robot systems.
A Precision Control of Wheeled Mobile Robots Using Neural Network
Kim, Moo-Jon ; Lee, Young-Jin ; Park, Sung-Jun ; Lee, Man-Hyung ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 689~696
In this paper we propose an eminent controller for wheeled mobile robots. This controller consists of an input-output linearization controller trying to stabilize the system and a neural network controller to compensate for uncertainties. The uncertainties are divided into two parts. First unstructured uncertainties include the elements related with system order such as friction disturbance. Second structure uncertainties are the incorrect system parameters A neural network structure of the proposed overall controller learns structural errors of the wheeled mobile robots with uncertainties and includes the neural network output. This controller learns quickly the model and has good tracking performance Simulation results show that the proposed controller is more efficient than analog controllers.
An Evolutionary Algorithm for Minimizing the Assembly Time of surface Mounting Machines
Lee, Sung-Han ; Lee, Young-Dae ; Lee, Won-Sik ; Lee, Beom-Hee ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 697~702
The paper considers the problem of improving the productivity of surface mounting in the printed circuit board(PCB) assembly line. This problem is generally divided into two problems ; real assignment problem and pick-and -place sequencing problem which are known to have no polynomial time algorithms. In the last ten years algorithm designers have been trying to solve them separately. However they need to be solved jointly because they are highly interrelated. This paper proposes an evolutionary algorithm which can consider the two problems jointly and thus yield a better solution. In order to evaluate the proposed algorithm computer simulation is performed on real-life surface mounting machines. The proposed algorithm is expected to reduce the assembly time of surface mounting machines and thus improve the productivity.
A Compliance Control Method for Robot Manipulators Using Nonlinear Stiffness Adaptation
Kim, Byoyng-Ho ; Oh, Sang-Rok ; Suh, Il-Hong ; Yi, Byung-Ju ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 703~709
This paper proposes a compliance control strategy for the robot manipulators accidentally interact-ing with an unknown environment. In this proposed method each in the diagonal stiffness matrix corre-sponding to the task coordinate in a Cartesian space is adaptively adjusted during contact along the corresponding axis based on the contact force with its environment. This method can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results show the effectiveness of the proposed method by employing a two link direct drive manipulator interacting with an unknown environment.
Solder Joint Inspection Using a Neural Network and Fuzzy Rule-Based Classification Method
Ko, Kuk-Won ; Cho, Hyung-Suck ; Kim, Jong-Hyeong ; Kim, Sung-Kwon ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 710~718
In this paper we described an approach to automation of visual inspection of solder joint defects of SMC(Surface Mounted Components) on PCBs(Printed Circuit Board) by using neural network and fuzzy rule-based classification method. Inherently the surface of the solder joints is curved tiny and specular reflective it induces difficulty of taking good image of the solder joints. And the shape of the solder joints tends to greatly vary with the soldering condition and the shapes are not identical to each other even though the solder joints belong to a set of the same soldering quality. This problem makes it difficult to classify the solder joints according to their qualities. Neural network and fuzzy rule-based classification method is proposed to effi-ciently make human-like classification criteria of the solder joint shapes. The performance of the proposed approach is tested on numerous samples of commercial computer PCB boards and compared with the results of the human inspector performance and the conventional Kohonen network.
An Effective Real-Time Integer Ambiguity Resolution Method Using GPS Dual Frequency
Son, Seok-Bo ; Park, Chansik ; Lee, Sang-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 719~726
A real-time precise positioning is possible with GPS carrier phase measurements with efficient integer ambiguity resolution techniques. It is known that more reliable and fast integer ambiguity resolution is possi-ble as the number of measurements increases. Most precise positioning systems use dual frequency measurements and the wide-lnae technique to resolve integer ambiguity. The wide-lane technique magnifies the measurement noise while it reduces the number of candidates to be examined. In this paper a new integer ambiguity resolution method using dual frequency is proposed The proposed method utilizes the relationship between the wide-lane single frequency and the narrow-lane ambiguities to resolve narrow-lane integer ambiguity after fixing the wide-lane integer ambiguity. Experiments with real data show that the proposed method gives fast and reliable results.
New Parametric Affine Modeling and Control for Skid-to-Turn Missiles
Chwa, Dong-Kyoung ; Park, Jin-Young ; Kim, Jinho ; Song, Chan-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 8, 2000, Pages 727~731
This paper presents a new practical autopilot design approach to acceleration control for tail-controlled STT(Skid-to-Turn) missiles. The approach is novel in that the proposed parametric affine missile model adopts acceleration as th controlled output and considers the couplings between the forces as well as the moments and control fin deflections. The aerodynamic coefficients in the proposed model are expressed in a closed form with fittable parameters over the whole operating range. The parameters are fitted from aerodynamic coefficient look-up tables by the function approximation technique which is based on the combination of local parametric models through curve fitting using the corresponding influence functions. In this paper in order to employ the results of parametric affine modeling in the autopilot controller design we derived a parametric affine missile model and designed a feedback linearizing controller for the obtained model. Stability analysis for the overall closed loop sys-tem is provided considering the uncertainties arising from approximation errors. the validity of the proposed modeling and control approach is demonstrated through simulations for an STT missile.