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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
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
Failure Diagnosis of Discrete Event Systems
Son, Hyeong-Il ; Kim, Keewoong ; Lee, Suk ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 375~383
As many industrial systems become more complex, it becomes extremely difficult to diagnose the cause of failures. This paper presents a failure diagnosis approach based on discrete event system theory. In particular, the approach is a hybrid of event-based and state-based ones leading to a simpler failure diagnoser with supervisory control capability. The design procedure is presented along with a pump-valve system as an example.
A Robust Fault Isolation Filter Design Based on Left Eigenstructure Assignment and its Application to Flight System
Lee, Dae-Yung ; Park, Jae-Weon ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 384~392
In this paper, we propose a novel robust fault isolation filter design method using the left eigenstructure assignment scheme proposed by the authors. The proposed method guarantees that the
simultaneous faults can be isolated when the number of available outpur measurements is
. Moreover, if there exist redundant output measurements, the eigenvaluses of te filter system can be assigned to the desired position or the filter can be designed robustly to, the system parameter variation. Liu & Si developed a filter design method which has the same purpose, fault isolation. However their method cannot use the redundant freedom of the output matrix C. The proposed filter can use the redundant freedom of the matrix C effectively. Beside this in this paper, an eigenstructure assignment methodology that satisfies the required fault isolation conditions is also proposed. The proposed fault isolation filter was applied for isolating the simultaneous faults to a VTOL aircraft in order to verify the fault isolation performance.
Fuzzy-Sliding Mode Control for Chattering Reduction
Lee, Tae-Kyoung ; Han, Jong-Kil ; Ham, Woon-Chul ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 393~398
This paper presents a new method with time-varying boundary layer and input gain, variated by Fuzzy Logic Control(FLC) by means of the system state in Sliding Mode Control (SMC). In addition to the time-varying boundary layer, the time-varying range of the fuzzy membership function has an effect on not only chattering reduction but also fast response characteristics. On the basis of SMC with time-varying boundary and FLC with time-varying input and output range, a computer simulation for inverted pendulum results in elimination of the chattering phenomenon and fast response.
A Study on the Modeling and Control of High-Speed/High-Accuracy Position Control System
Park, Min-Gyu ; Han, Chang-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 399~406
This paper presents a dynamic modeling and a sliding mode controller for the high-speed/high-accuracy position control system. The selected target system is the wire bonder assembly which is used in the semiconductor assembly process. This system is a reciprocating one around the pivot point that consists of VCM(voice coil motor) as an actuator and transducer horn as a bonding tool. For the modeling elements, the sys-tem is divided into electrical circuit, magnetic circuit and mechanical system. Each system is modeled using the bond graph method and united into the full system. Two major aims are considered in the design of the controller. The first one is that the horn must track the given reference trajectory. The second one is that the controller must be realizable by using the DSP board. Computer simulation and experimental results show that the designed sliding mode controller provides better performance than the PID controller.
Design of Robust Adaptive Fuzzy Controller for Multimachine Power System
Park, Jang-Hyun ; Park, Young-Hwan ; Park, Gwi-Tae ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 407~414
In this paper, we present a decentralized robust adaptive fuzzy controller for the transient stability and voltage regulation of a multimachine power system under a sudden fault. Power systems have uncertain dynamics due to various effects such a lightning, severe storms and equipment failure in addition to interconnections between generators. Hence a robust controller to deal with these uncertainties in needed. The fuzzy systems are adapted using a Lyapunov-based design and the stability of each closed-loop system is guaranteed. Simulation results show that satisfactory performance is achieved by proposed controller.
An Adaptive Volterra Series-based Nonlinear Equalizer Using M-band Wavelet Transform
Kim, Young-Keun ; Kang, Dong-Jun ; Nam, Sang-Won ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 415~419
This paper proposes and adaptive nonlinear equalizer based on Volterra Series along with M-band wavelet transform(M-DWT). The proposed wavelet transform-domain approach leads to diagonalization of the input vector auto-correlation matrix, which yields clustering its eigenvalue spread around one, and improving the convergence rate of the corresponding transform-domain LMS algorithm. In particular, the proposed adaptive Volterra equalizer is employed to compensate for the output distortion produced by a weakly nonlinear system. Finally, some simulation results obtained by using a TWT amplifier model are provide to demonstrated the converging performance of the proposed approach.
The Development of a Miniature Humanoid Robot System
Sung, Young-Whee ; Yi, Soo-Yeong ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 420~426
In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.
Concentration Measurement of Alcohol Solution Using an On-Line Refractometer
Ham, Tae-Won ; Kim, Young-Han ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 427~431
An on-line refractometer made of easily obtainable materials is built to determine the concentration of an alcohol solution, and its performance is examined by applying to the system of ethanol and water. Since the refractive index and the temperature are measured simultaneously, it is possible to compensate the effect of temperature which is not available with an existing on-line refeactometer. Therefore, it can be implemented in the application of process control. The experimental outcome indicates that the home-made refractometer has satisfactory reproducibility and reasonable accuracy for the industrial application.
HILS of the Braking System of a High Speed Train
Hwang, Won-Ju ; Kang, Chul-Goo ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 432~437
Korea High Speed Train(KHST) is supposed to run up 350km/h, in which the braking system has a crucial role for the safety of the train. In the design st데 of the braking system, its very hard to ac-quire information data for design guidelines. A HILS(Hardware-In-the-Loop Simulation) system can be used to get design data which could simulate the braking system of the real train in real-time. In this paper, cars are modelled including car dynamics, brake blending algorithms, pneumatic actuator dynamics, the models of each braking devices, adhesive coefficients, and soon. Real-time braking time, distance, and other design parameters are simulated using a DSP board and C language which shows the validity of the proposed method.
A Study on the Design of the Anti-Rolling Control System for a Ship
Kim, Young-Bok ; Byun, Jung-Hoan ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 438~444
In this paper, an actively controlled anti-rolling system is considered to reduced the rolling motion of the ship. In this control system, a small auxiliary mass is installed on the upper area of the ship, and the actuator is connected between the auxiliary mass and the ship. The actuator reacts against the auxiliary mass, applying inertial control corves to the ship to reduce the rolling motion in the desired manner. in this paper, we apply the PID controller to design the anit-rolling control system for the controlled hip. And the experimental result shows that the desirable control performance is achieved.
Performance Evaluation of the Modified Interacting Multiple Model Filter Using 3-D Maneuvering Target
Park, Sung-Lin ; Kim, Ki-Cheol ; Kim, Yong-shik ; Hong, Keum-Shik ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 445~453
The multiple targets tracking problem has been one of the main issues in the radar applications area in the last decade. Besides the standard Kalman filtering, various methods including the variable dimen-sion filter, input estimation filter, interacting multiple model(IMM) filter, dederated variable dimension filter with input estimation, etc., have proposed to address the tracking and sensor fusion issues. In this pa- per, two existing tracking algorithm, i.e, the IMM filter and the variable dimension filter with input estima-tion(VDIE), are combined for the purpose of improving the tracking performance for maneuvering targets. To evaluate the tracking performance of the proposed algorithm, three typical maneuvering patterns, i.e., waver, pop-up, and high-diver motions, are defined and are applied to the modified IMM filter as well as the standard IMM filter. The smaller RMS tracking errors, in position and velocity, of the modified IMM filter than the standard IMM filter are demonstrated though computer simulations.
Personal Navigation System Using GPS and Dead Reckoning
Hong, Jin-Seok ; Yoon, Seon-Il ; Jee, Gyu-In ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 5, 2001, Pages 454~464
In this paper, a personal navigation system is developed using GPS and dead reckoning sensors. This personal navigation system can be used to track a person inside a building, on an urban street, and in the mountain area. GPS can provide accurate absolute position information, but it cant be used without receiving enough satellite signals. Although the inertial sensors such as gyro an accelerometer and be used without this diggiculty, the inertial sensors severely suffer from their drift errors and the magne-tometer can be easily distorted by surrounding electromagnetic field. GPS and DR sensors can be inte-grated together to overcome these problems. A new personal navigation system that can be carried wit person is developed. A pedometer. actually vertically mounted accelerometer, detects ones footstep and gyro detects heading angle. These DR sensors are integrated with GPS and the humans walking pattern provides additional navigation information for compensating the DR sensors. The field testes are performed to evaluated the proposed navigation algorithm.