Go to the main menu
Skip to content
Go to bottom
REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
> Journal Vol & Issue
Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
Editor in Chief :
Volume & Issues
Volume 7, Issue 12 - Dec 2001
Volume 7, Issue 11 - Nov 2001
Volume 7, Issue 10 - Oct 2001
Volume 7, Issue 9 - Sep 2001
Volume 7, Issue 8 - Aug 2001
Volume 7, Issue 7 - Jul 2001
Volume 7, Issue 6 - Jun 2001
Volume 7, Issue 5 - May 2001
Volume 7, Issue 4 - Apr 2001
Volume 7, Issue 3 - Mar 2001
Volume 7, Issue 2 - Feb 2001
Volume 7, Issue 1 - Jan 2001
Selecting the target year
Decentralized Control with Input Compensation Form for Gantry Crane Systems
Kim, Hwan-Seong ; Kim, Myeong-Gyu ; Yu, Sam-Seong ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 281~287
In this paper, we deal with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry cranes characteristics, the system is decentralized into two subsystems, the travelling and swaying subsystem and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using the observability canonical form. The decentralized subsystems include unknown inputs that one coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques. And those estimated values are used to construct an input compensation form. Finally, the proposed decentralized control scheme for the gantry crane systems is verified by crane simulation.
A Study on the Characteristics Improvement of Electro-Hydraulic Servo System Controlled by High Speed Solenoid Valve
Park, Seong-Hwan ; Lee, Jin-Geol ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 288~294
In this study, a new PWM method considering the actuation delay of high speed solenoid valves is proposed to improve the response characteristics of electro hydraulic servo systems controlled by high speed solenoid valves. In addition, the decision method for the system gain, the basic period of PWM, and the sampling time is proposed, Since the conventional system controlled by high speed solenoid valves is too slow to apply this method, a high speed driving circuit(Quick-Drive) which enables rapid switching of the high speed solenoid valve at a high speed sampling mode is applied to realize this method. The experimental result shows that it is possible to achieve precision and quiet control without occurrence of limit cycle and wide range dead band.
Design of a Multivariable Fuzzy Controller for the Boiler-Turbine System
Jo, Gyeong-Wan ; Kim, Sang-U ; Kim, Jong-Uk ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 295~303
The demand for steam generators is increasing in industrial systems in which the design strategy should be implemented for safe and efficient operation of steam generators. It is, however, difficult to design a controller by the conventional method because of the nonlinear dynamics of the steam generator and influences by the set value of disturbance. This paper presents an automatic parameter optimization technique for a multivariable fuzzy controller using evolutionary strategy, At first, we use the steady state information such as a steady state gain matrix(SSGM) and a relative gain matrix(RGM). We can obtain much information on the control inputs and the outputs of the boiler-turbine system from the matrices. In order to determine the structure of the controller by using RGM and SSGM, the fuzzy rules are trained by evolutionary strategy. The good performance of the proposed multivariable fuzzy controller is verified through simulations.
Video Shot Boundary Detection Using Correlation of Luminance and Edge Information
Yu, Heon-U ; Jeong, Dong-Sik ; Na, Yun-Gyun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 304~308
The increase of video data makes the demand of efficient retrieval, storing, and browsing technologies necessary. In this paper, a video segmentation method (scene change detection method, or shot boundary detection method) for the development of such systems is proposed. For abrupt cut detection, inter-frame similarities are computed using luminance and edge histograms and a cut is declared when the similarities are under th predetermined threshold values. A gradual scene change detection is based on the similarities between the current frame and the previous shot boundary frame. A correlation method is used to obtain universal threshold values, which are applied to various video data. Experimental results show that propose method provides 90% precision and 98% recall rates for abrupt cut, and 59% precision and 79% recall rates for gradual change.
Analysis of Face Direction and Hand Gestures for Recognition of Human Motion
Kim, Seong-Eun ; Jo, Gang-Hyeon ; Jeon, Hui-Seong ; Choe, Won-Ho ; Park, Gyeong-Seop ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 309~318
In this paper, we describe methods that analyze a human gesture. A human interface(HI) system for analyzing gesture extracts the head and hand regions after taking image sequence of and operators continuous behavior using CCD cameras. As gestures are accomplished with operators head and hands motion, we extract the head and hand regions to analyze gestures and calculate geometrical information of extracted skin regions. The analysis of head motion is possible by obtaining the face direction. We assume that head is ellipsoid with 3D coordinates to locate the face features likes eyes, nose and mouth on its surface. If was know the center of feature points, the angle of the center in the ellipsoid is the direction of the face. The hand region obtained from preprocessing is able to include hands as well as arms. For extracting only the hand region from preprocessing, we should find the wrist line to divide the hand and arm regions. After distinguishing the hand region by the wrist line, we model the hand region as an ellipse for the analysis of hand data. Also, the finger part is represented as a long and narrow shape. We extract hand information such as size, position, and shape.
Determination of Number of AGVs in Multi-Path Systems By Using Genetic Algorithm
Kim, Hwan-Seong ; Lee, Sang-Hun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 319~325
Recently. AGV systems are used to serve the raw material to each work stations automatically. There exists a trade-off between the adequate service supply and the number of purchased AGVs. Also, to reduce the overall production cost, the amount of inventory hold on the shop floor should be considered. In this paper, we present a heuristic technique for determining the number of AGVs which includes the net present fixed costs of each station, each purchased AGV, delivering cost, stock inventory cost, and safety stock inventory cost. Secondly, by using a genetic algorithm, the optimal number of AGVs and the optimal reorder quantity at each station are decided. Lastly, to verify then heuristic algorithm, we have done a computer simulation with different GA parameters.
Wireless Extension of Profibus Network Using IEEE 802.0111 and Its Performance Evaluation
Lee, Gyeong-Chang ; Gang, Song ; Lee, Seok ; Lee, Man-Hyeong ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 326~333
This paper focuses on a method to connect mobile devices such as mobile robot. Automated Guided Vehicle (AGV) and Unmanned Container Transporter(UCT) to a fieldbus. In this paper, the IEEE 802.11 wireless LAN is used to extend a Profibus network for the mobile devices. In order to integrate these two networks, a gateway is developed using two threads and an internal buffer. Furthermore, a polling algorithm is applied at the gateway in order to satisfy real-time requirements on data communication, Finally, the performance measures such as data latency and throughput are experimentally evaluated on a wirelessly-extended Profibus network. The results shows the feasibility of the wireless extension of Profilbus for various mobile device.
Development of An User-Friendly Integrated Program and Teaching System for Automatic Polishing Robot System
Go, Seok-Jo ; Lee, Min-Cheol ; Lee, Man-Hyeong ; An, Jung-Hwan ; Jeon, Cha-Su ; Lee, Don-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 334~343
Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. Some workers tend to gradually avoid the polishing work because of the poor environment caused by dust and noise. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed in this research. The polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. The polishing system is controlled by a PC-NC controller. To easily operate the developed polishing robot system, this study developed an integrated program in the Windows environment. This program consists of four modules: the polishing module, the graphic simulator, the polishing data generation module, and the teaching module. Also, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. The joystick is used to simultaneously drive the polishing system to an arbitrary orientation and the proximity sensor is used to obtain teaching points precisely. Also, to evaluate the stability of the driving program and the teaching system, polishing experiments of a die of saddle shape were carried out.
A Scheduling Analysis of FMS Using TPM Unfolding
Lee, Jong-Geun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 344~350
In this paper, we are focused on the analysis of acyclic schedule for the determination of the opti-mal cycle time and minimization of work in process. Especially, this paper deals with the product ratio-driven cyclic scheduling problem in FMS with different products and ratio using the TPN(Time Petri Nets)un-folding.
Structural Design of Sliding Mode Controllers Using Robust Inernal-Loop Compensator
Kim, Bong-Keun ; Chung, Wan-Kyun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 351~361
In this paper, a generalized framework called as robust internal-loop compensator(RIC) is presented, and by using this, a structural design method of sliding of sliding mode controller is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, RIC is proposed. Next, using the structural characteristics of the proposed RIC, disturbance attenuation characteristics are analyzed and the performance of the closed-loop system is predicted. Through this analysis, it is shown that if the control gain of RIC is increased by N times, the magnitude of error is reduced to its 1/N. the proposed method is verified through experiments using a high-precision positioning system and the performance is evaluated.
Velocity Matching Algorithm Using Robust H
Yang, Cheol-Kwan ; Shim, Duk-Sun ; Park, Chan-Gook ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 362~368
We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using a robust H
filter. We suggest an uncertainty model and a discrete robust H
filter for INS and apply the suggested robust H
filter to the uncertainty model. The discrete robust H
filter is shown by simulation to have better performance time and accuracy than Kalman filter.
Velocity Matching Algorithm Using Robust H₂Filter
Yang, Cheol Gwan ; Sim, Deok Seon ; Park, Chan Guk ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 363~363
We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using a robust H₂ filter. We suggest an uncertainty model and a discrete robust H₂filter for INS and apply the suggested robust H₂ filter to the uncertainty model. The discrete robust H₂filter is shown by simulation to have better performance time and accuracy than Kalman filter.
Velocity and DCM Partial Matching Methods for Ship Flexure Compensation of Transfer Alignment
Park, You--Lim ; Song, Ki-Won ; Yu, Jun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 4, 2001, Pages 369~373
This paper is concerned with a transfer alignment of SDINS under ship motions. To reduce alignment errors induced by the ship body flexure, an error compensation method is suggested based on velocity and DCM partial matching, and by interpreting the simulation results and comparing with the conventional velocity and quaternion partial matching, it is shown that the proposed method is effective enough to improve the azimuth alignment performance.