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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 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
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Frequency Weighted Controller Reduction of Closed-Loop System Using Lyapunov Inequalities
Oh, Do-Chang ; Jeung, Eun-Tae ; Lee, Kap-Rai ; Kim, Jong-Hae ; Lee, Sang-Kyung ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 465~470
This paper considers a new weighed model reduction method using block diagonal solutions of Lyapunov inequalities. With the input and/or output weighting function, the stability of the reduced order system is guaranteed and an a priori error bound is proposed. to achieve this after finding the solutions of two Lyapunov inequalities and balancing the full order system, we find the reduced order systems using the direct truncation and the singular perturbation approximation. The proposed method is compared with other existing methods using numerical examples.
An Observer for Nonlinear Systems Using Approximate Observer Form
Lee, Sungryul ; Sin, Hyeon-Seok ; Park, Mignon ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 471~476
This paper presents a state observer for nonlinear systems using approximate observer from. It is shown that if a nonlinear system is approximately error linearizable, then there exists a local nonlinear observer whose estimation error converges exponentially to zero. Since the proposed method relaxes strong geometric conditions of previous works, it improves the existing results for nonlinear observer design. Finally, some example is given to show the effectiveness of this scheme.
Design of a Stabilizing Controller for Hybrid systems with as Application to Longitudinal Spacing Control in a Vehicle Platoon
Kim, Jin-Byun ; Park, Jae-Weon ; Kim, Young-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 477~486
Many physical systems can be modeled by incorporating continuous and discrete event nature together. Such hybrid systems contain both continuous and discrete states that influence the dynamic be-havior of the systems. There has been an increasing interest in thers types of systems during the last dec-ade, mostly due to the growing usage of computers in the control of physical plants but also as a result of the hybrid nature of physical processes. The stability theory for hybrid systems is considered as extension of Lyapunov theory where the existence of an abstract energy function satisfying certain properties verifies stability, called multiple Lyapunov theory. In this paper, a hybrid stabilizing controller is proposed using the control Lyapunov function method and multiple Lyapunov theory, and the proposed method is applied to lon-gitudinal spacing control in a vehicle platoon for intelligent transportation systems(ITS).
Extended State Estimation Method Using Linear Reduced-Order Dynamic Observers
Park, Jong-Gu ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 487~493
In this paper, a new reduced-order dynamic observer method is presented. Two types of observers are pronounced, namely, the model based reduced-order dynamic observer and the Luenburger type reduced-order dynamic observer. Useful design algorithms are also provided for each structure. The essential features of the proposed observed design methods are addressed to be qualified ad effective observers. The proposed method clarifies the duality between the controller and observer designs.
Development of Neuro-Fuzzy-Based Fault Diagnostic System for Closed-Loop Control system
Kim, Seong-Ho ; Lee, Seong-Ryong ; Gang, Jeong-Gyu ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 494~501
In this paper an ANFIS(Adativo Neuro-Fuzzy Inference System)- based fault detection and diagnosis for a closed loop control system is proposed. The proposed diagnostic system contains two ANFIS. One is run as a parallel model within the model in closed loop control(MCL) and the other is run as a series-parallel model within the process in closed loop(PCL) for the generation of relevant symptoms for fault diagnosis. These symptoms are further processed by another classification logic with simple rules and neural network for process and controller fault diagnosis. Experimental results for a DC shunt motor control system illustrate the effectiveness of the proposed diagnostic scheme.
Slack Control for Laying a Submarine Cable
Yang, Seung-Yun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 502~508
In this paper, slack is computed from a comparison of the cable pay out rate and the ship ground speed in accordance with laying conditions, and the speed controller of the cable engine based on an H(sub)
servo control id designed for adjusting the cable engine in order to lay a desired amount of slack. The controller is designed for robust tracking of the cable engine under disturbances. The performance of the designed controller is evaluated by computer simulation, and, consequently, a feasibility study for laying the submarine cable stably is done through analyzing simulation results.
A Tracking Control of the Hydraulic Servo System Using the Neuro-Fuzzy Controller
Park, Geun-Seok ; Lim, Jun-Young ; Kang, E-Sok ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 509~517
To deal with non-linearities and time-varying characteristics of hydraulic systems, in this paper, the neuro-fuzzy controller has been introduced. This controller does not require and accurate mathematical model for the nonlinear factor. In order to solve general fuzzy inference problems, the input membership function and fuzzy reasoning rules are used for determining the controller parameters. These parameters are determined by using the learning algorithm. The control performance of the neuro-fuzzy controller is evaluated through a series of experiments for the various types of inputs while applying disturbances to the hydraulic system. The performance of this controller was compared with those of PID and PD controllers. From these results, We observe be said that the position tracking performance of neuro-fuzzy is better those of PID and PD controllers.
Design and Manufacture of Laser Tracking System for Measuring Position Accuracy of Robots
Hwang, Sung-Ho ; Lee, Ho-Gil ; Park, Gyeong-Rak ; Kim, Jin-Young ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 518~522
The main problem of the calibration of robots is to measure the position and orientation of a robot end effector. The calibration methods can be used as tool to improve the accuracy of robots without change of the arm or control architecture or robots. But such calibration methods require accurate measurements. Dynamic measurement of position and orientation provides a solution for this problem and improves dynamic accuracy by dynamic calibration of robots. This paper describes the development of the laser tracking system capable of determining the static and dynamic performance of industrial robots. The structure and systems components are presented and basic experimental results are included to demonstrated the instrument performance. The system can be applied to the remote controlled mobile robots as well s the calibration of robots.
Automatic Mirror Adjustment Systems Using the Location of the Driver`s Pupils
No, Gwang-Hyeon ; Park, Gi-Hyeon ; Jo, Jun-Su ; Han, Min-Hong ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 523~531
This paper describes and automatic mirror adjustment system that rotates a pair of side mirrors and the room mirror of a car to the optimal position for a driver by using the locating of the driver\`s pupils. A stereo vision system measures 3D coordinates of a pair pupils by analyzing the input images of stereo B/W CCD cameras mounted on the instrument panel. this system determines the position angle of each mir-ror on the basis of information about the location of the pupils and rotates each mirror to the appropriate po-sition by mirror actuators. The vision system can detect the driver\`s pupils regardless of whether it is day-time or nighttime by virtue of an infrared light source. information about the pair of nostrils in used to im- prove the correctness of pupil detection. This system can adjust side mirrors and the room mirror automati- cally and rapidly by a simple interface regardless of driver replacement of driver\`s posture. Experiment has shown this to be a new mirror adjustment system that can make up for the weak points of previous mirror adjustment systems.
분산 제어기 구조를 갖는 마스터 암의 기구학 설계 및 해석
Lee, Jangwook ; Kim, Yoonsang ; Lee, Sooyong ; Kim, Munsang ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 532~539
In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.
Object-Oriented Programming Based Chip-Mounter Simulator Using Stochastic Petri Nets
Park, Gi-Beom ; Park, Tae-Hyoung ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 540~549
An implementation method for chip-mounter simulator is proposed to improve the productivity and utility of electronic assembly lines. The simulator emulates the assembly sequence graphically to verify the chip mounter program in offline. It also presents functions of time estimation and productivity analysis considering the error probability. To increase the flexibility of simulator, stochastic petri nets are applied to modeling of the assembly sequence. The sequence model is then implemented as extendable classes by an object oriented language. The simulator is applied to a commercial chip mounter to verify the usefulness of the method proposed.
An Error Analysis of GPS Positioning
Park, Chansik ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 6, 2001, Pages 550~557
There are several applications and error analysis methods using GPS(Global Positioning System) In most analysis positioning and timing errors are represented as the multiplication of DOP(Dilution Of Precision) and measurement errors, which are affected by the receiver and measurement type. Therefore, lots of DOPs are defined and used to analyze and predict the performance of positioning and timing systems. In this paper, the relationships between these DOPs are investigated in detail, The relationships between GDOP(Geometric DOP), PDOP(Position DOP) and TDOP(Time DOP) in the absolute positioning are de-rived. Using these relationships, the affect of clock bias is analyzed. The relationships between RGDOP(Relative DOP) and PDOP are also derived in relative positioning where the single difference and double dif-ference techniques are used. From the results, it is expected that using the common clock will give better performance when the single difference technique is used while the effects of clock is eliminate when the double difference technique is used. Finally, the error analyses of dual frequency receivers show that the narrow lane measurements give more accurate results than wide line of or L1. L2 independent measurements.