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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 8, Issue 12 - Dec 2002
Volume 8, Issue 11 - Nov 2002
Volume 8, Issue 10 - Oct 2002
Volume 8, Issue 9 - Sep 2002
Volume 8, Issue 8 - Aug 2002
Volume 8, Issue 7 - Jul 2002
Volume 8, Issue 6 - Jun 2002
Volume 8, Issue 5 - May 2002
Volume 8, Issue 4 - Apr 2002
Volume 8, Issue 3 - Mar 2002
Volume 8, Issue 2 - Feb 2002
Volume 8, Issue 1 - Jan 2002
Selecting the target year
The Real-Time Control Technique Over the Environment of Windows Using Virtual Machine Driver
Chang, Sung-ouk ; Lee, Jin-Kul ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 1~4
DOI : 10.5302/J.ICROS.2002.8.1.001
We studied the technique which can control the real system without additional hardware drivers using virtual machine driver operated on the windows operating system. We showed the feasibility of the proposed scheme under the error and the delay of a sampling time on the multi task processing through the load test of the experiment using graphic user interface.
Study On the Sensorless PMSM Control Using the Superposition Theory
Park, Seong-Jun ; Park, Han-Ung ; Kim, Dae-Ung ; Baek, Seung-Myeon ; Lee, Man-Hyeong ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 5~14
DOI : 10.5302/J.ICROS.2002.8.1.005
This study presents a solution to control a Permanent Magnet Synchronous Motor without sensors based on the superposition principle. Because the proposed method of sensorless theory is very simple to compute the estimated angle, computing time to estimate the angle is shorter than other sensorless method. The use of this system yields enhanced operations, fewer system components, lower system cost, energy efficient control system design and increased efficiency. The performance of a sensorless architecture allows an intelligent approach to reduce the complete system costs of the digital motion control applications using cheaper electrical motors without sensors. This paper deals with an overview of sensorless solutions in PMSM control applications whereby the focus will be on the new controller without sensors and its applications.
Force Control of One Pair of 6-Link Electro-Hydraulic Manipulators (Application to the Approaching of a Bolt and the Wrenching of a Nut Tasks)
Ahn, Kyung-Kwan ; Yang, Soon-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 15~20
DOI : 10.5302/J.ICROS.2002.8.1.015
An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.
Three Dimensional Volume Reconstruction of an Object from X-ray Iamges using Uniform and Simultaneous ART
Roh, Young-Jun ; Cho, Hyung-Suck ; Kim, Hyeong-Cheol ; Kim, Jong-Hyung ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 21~27
DOI : 10.5302/J.ICROS.2002.8.1.021
Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. A number of visual or optical technologies have been successfully applied to measure three-dimensional surfaces. However, those conventional visual or optical methods have inherent shortcomings such as occlusion and variant surface reflection. X-ray vision system can be a good solution to these conventional problems, since we can extract the volume information including both the surface geometry and the inner structure of any objects. In the x-ray system, the surface condition of an object, whether it is lambertian or specular, does not affect the inherent characteristics of its x-ray images. In this paper, we propose a three-dimensional x-ray imaging method to reconstruct a three dimensional structure of an object out of two dimensional x-ray image sets. To achieve this by the proposed method, two or more x-ray images projected from different views are needed. Once these images are acquired, the simultaneous algebraic reconstruction technique(SART) is usually utilized. Since the existing SART algorithms have several shortcomings such as low performance in convergence and different convergence within the reconstruction volume of interest, an advanced SART algorithm named as USART(uniform SART) is proposed to avoid such shortcomings and improve the reconstruction performance. Because, each voxel within the volume is equally weighted to update instantaneous value of its internal density, it can achieve uniform convergence property of the reconstructed volume. The algorithm is simulated on various shapes of objects such as a pyramid, a hemisphere and a BGA model. Based on simulation results the performance of the proposed method is compared with that of the conventional SART method.
Analysis on the Computational complexities of Motion Editing for Graphic Animation
Lee, Jihong ; Kim, Insik ; Kim, Sungsu ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 28~36
DOI : 10.5302/J.ICROS.2002.8.1.028
Regarding efficient development of computer graphic animations, lots of techniques for editing or transforming existing motion data have been developed. Basically, the motion transformation techniques follow optimization process. To make the animation be natural, almost all the techniques utilize kinematics and dynamics in constructing constraints for the optimization. Since the kinematic and dynamic structures of virtual characters to be animated are very complex, the most time-consuming part is known to the optimization process. In order to suggest some guide lines to engineers involved in the motion transformation, in this paper, we analyze the computational complexities for typical motion transformation in quantitative manner as well as the possibility for parallel computation.
Defects Length Measurement Using an Estimation Agorithm of the Camera Orientation and an Inclination Angle of a Laser Slit Beam
Kim, Young-Hwang ; Yoon, Ji-Sup ; Kang, E-Sok ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 37~45
DOI : 10.5302/J.ICROS.2002.8.1.037
A method of measuring the length of defects on the wall and restructuring the defect image is proposed based on the estimation algorithm of a camera orientation, which uses the declination angle of a laser slit beam. The estimation algorithm of the horizontally inclined angle of CCD camera adopts a 3-dimensional coordinate transformation of the image plane where both the laser beam and the original image of the defects exist. The estimation equation is obtained by using the information of the beam projected on the wall and the parameters of this equation are experimentally obtained. With this algorithm, the original image of the defect can be reconstructed as an image normal to the wall. From the result of a series of experiments, the measuring accuracy of the defect is measured within 0.5% error bound of real defect size under 30 degree of the horizontally inclined angle. The proposed algorithm provides the method of reconstructing the image taken at any arbitrary horizontally inclined angle as the image normal as the wall and thus, it enables the accurate measurement of the defect lengths by using a single camera and a laser slit beam.
Brake Force simulation of a High Speed Train Using a Dynamic Model
Lee, Nam-Jin ; Kang, Chul-Goo ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 46~53
DOI : 10.5302/J.ICROS.2002.8.1.046
The brake system of a high speed train has a crucial role for the safety of the train. To develop a safe brake system of the high speed train, it is necessary to understand the braking principle and phenomena of the total brake system and its subsystems. In this paper, we have suggested a mathematical model which includes car dynamics, interactions between cars, adhesive forces, brake blending algorithm, and the dynamics of each brake devices. Also, we have proposed a ready-time compensation algorithm of eddy-current brake system and a brake control logic on electric-pneumatic blending. A simulation study has shown the proposed models and algorithms are effective on the braking of the train.
A Study on the Mixed Mode of Gyros by FPGA Implementation
Lho, Young-Hwan ; Bang, Hyo-Chung ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 54~59
DOI : 10.5302/J.ICROS.2002.8.1.054
In the three-axis control of satellites by using on-board actuators, gyros are usually used to measure the attitude angles and angular rates. The gyros are operated by electronic parts and mechanical actuators. The digital components of the electronic parts consist of largely FPGA (Field Programmable Gate Array) as one of the methods for VLSI(Very Large Scale Integrated) circuit design, while the mechanical parts provide output signal directly by mechanical actuation of a spinning rotor. In this research, a mixed mode of gyro is implemented in FGA. In addition to the hardware implementation, the simulation study was conducted by using the SABER for the mixed mode simulator. Results for the practical implementation of the satellite ACS (Attitude Control System) interfaced with the data processing are also presented to validate the FPGA implementation.
Target Pointing Guidance Design Using Time-to-Go Estimator
Whang, lck-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 60~66
DOI : 10.5302/J.ICROS.2002.8.1.060
In this paper, a new target pointing guidance algorithm is proposed by combining the optimal target pointing solution and a simple time-to-Go estimator. Also investigated are some properties of the guidance algorithm which include a relation to conventional PNG, convergence region and convergence trajectories of error states according to the time-to-go estimator gain. Some guidelines for designing the pointing guidance law are commented based on the convergence properties. A design example in the case of large initial heading errors is presented and its performance is investigated by simulation.
Stabilization and Tracking Algorithms of a Shipboard Satellite Antenna System
Koh, Woon-Yong ; Hwang, Seung-Wook ; Ha, Yun-Su ; Jin, Gang-Gyoo ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 67~73
DOI : 10.5302/J.ICROS.2002.8.1.067
This paper presents the development of development of stabilization and tracking algorithms for a shipboard satellite antenna system. In order to stabilize the satellite antenna system designed in the previous work, a model for each control axis is derived and its parameters are estimated using a genetic algorithm, and the state feedback controller is designed based on the linearized model. Then a tracking algorithm is derived to overcome some drawbacks of the step tracking. The proposed algorithm searches for the best position using gradient-based formulae and signal intensities measured according to a search pattern. The effectiveness of both the stabilization and tracking algorithms is demonstrated through experiment using real-world data.
A New Method to Resolve the Half Cycle Ambiguity for GPS Attitude Determination Systems
Son, Seok-Bo ; Park, Sang-Hyun ; Park, Chansik ; Lee, Sang-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 74~79
DOI : 10.5302/J.ICROS.2002.8.1.074
A fast and practical method is proposed to resolve the half cycle ambiguity by comparing data sequences from multiple antennas. The method uses the fact that demodulated data sequences from multiple antennas are identical for the same SV (Satellite Vehicle). The performance of the proposed method is evaluated using an attitude determination system. the test results show that the half cycle ambiguity can be resolved within a few bit periods after carrier lock and a seamless attitude is obtained.
Remote Controller Design of networked Control System Using Genetic Algorithm
Lee, Kyung-Chang ; Lee, Suk ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 1, 2002, Pages 80~88
DOI : 10.5302/J.ICROS.2002.8.1.080
As many sensors and actuators are used in automated systems, various industrial networks are adopted for digital control system. In order to take advantages of the networking, however, the network implementation should be carefully designed to satisfy real-time requirements considering network delays. This paper presents the implementation scheme of a networked control system via Profibus-DP network. More specifically, the effect of the network delay on the control performance was evaluated on a Profibus-DP testbed, and a GA-based PID tuning algorithm is proposed to design controllers suitable for networked control systems.