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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
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SOx Process Simulation, Monitoring, and Pattern Classification in a Power Plant
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 827~832
DOI : 10.5302/J.ICROS.2002.8.10.827
We propose a prediction method of the pollutant and a synchronous classification of the current state of SOx emission in the power plant. We use the auto-regressive with exogeneous (ARX) model as a predictor of SOx emission and use a radial basis function network (RBFN) as a pattem classifier. The ARX modeling scheme is implemented using recursive least squares (RLS) method to update the model parameters adaptively. The capability of SOx emission monitoring is utilized with the application of the RBFN classifier. Experimental results show that the ARX model can predict the SOx emission concentration well and ARX modeling parameters can be a good feature for the state monitoring. in addition, its validity has been verified through the power spectrum analysis. Consequently, the RBFN classifier in combination with ARX model is shown to be quite adequate for monitoring the state of SOx emission.
A Study on Optimal Reflux Ratio for Batch Distillation
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 833~841
DOI : 10.5302/J.ICROS.2002.8.10.833
We develope a model that can manipulate the reflux ratio of a batch distillation process in real time for optimal operations. Firstly, reflux ratio decision model for batch distillation unit was developed using the simple short-cut method. Secondly, more detailed rigorous method was applied to improve the accuracy of the model. Based on these models, operational strategies for the optimal reflux ratio was proposed. The results are illustrated with suitable examples and compared with the results using commercial simulator.
Design of Gas Concentration Process with Thermally Coupled Distillation Column Using HYSYS Simulation
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 842~846
DOI : 10.5302/J.ICROS.2002.8.10.842
Design of gas concentration process using a fully thermally coupled distillation is conducted with the commercial design software HYSYS. Detailed procedure of the design is explained, and the performance of the process is compared with that of a conventional system A structural design is exercised for the design convenience. The design outcome indicates that the procedure is simple and efficient. The structural information yielded from equilibrium distillation gives an easy formulation of distillation system which is the initial input required from the setup of the distillation system The performance of the new process indicates that an energy saving of 17.6 % is obtained compared with the conventional process while total number of trays maintains at the same.
An Algorithm for Calculation of Probability Distributions of Output Variables in Process Simulation
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 847~850
DOI : 10.5302/J.ICROS.2002.8.10.847
Stochastic process analysis is often based on Monte Carlo simulations. As a more rigorous alternative, a deterministic algorithm based on numerical integration is proposed in this paper. which calculates the probability distributions of dependent random variables using the results of simulation with grid points of independent random variables. For performance evaluation, the proposed algorithm is applied to an example problem which can be analytically solved. and the result is compared with that of Monte Carlo simulation. The proposed algorithm is suitable for general process simulation problems with a few independent random variables, and expected to be applicable to areas such as safety analysis and quality control.
Fault Detection and Diagnosis of an Agitator Using the Wavelet Transform
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 851~855
DOI : 10.5302/J.ICROS.2002.8.10.851
This paper proposes a method of fault detection and diagnosis of agitators based on the wavelet analysis of the current and vibration signals. The wavelet transform has received considerable interest in the fields of acoustics, communication, image compression, vision. and seismic since it provides the fast and effective means of analyzing signals recorded during operation. Neural network is used to diagnose the fault. Specifically, the proposed approach consists of (i) fault detection, (ii) feature extraction, and (iii) classification of fault types. The results show an effective application of the wavelet analysis on the monitoring of an agitator
Stability Margin of Discrete-Time LQR with Cross-Product Term in Performance Index
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 856~860
DOI : 10.5302/J.ICROS.2002.8.10.856
The guaranteed stability margin of LQ optimal regulators with cross-product terms in a performance index is derived for the discrete-time case. In order to obtain the guaranteed stability margin, the singular value of the return difference matrix is examined. A numerical simulation is provided to demonstrate the validity of the derived stability margin
A Study on The Vibration Reduction of a Driver Seat Controlling an MR Fluid Damper
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 861~866
DOI : 10.5302/J.ICROS.2002.8.10.861
A seat suspension system with a controlled MR(Magneto Rheological) fluid damper is introduced to improve the ride quality and prevent the health risk of a driver compared to fixed seats. The system is located between a seat cushion and the base, and is composed of a spring, MR fluid damper and controller. The MR fluid damper designed in valve mode is capable of producing a wide range of damping force according to applied currents. In experiments, a person was sitting on the controlled seat excited by a hydraulic system The skyhook control, continuous skyhook control and relative displacement control were applied and the continuous skyhook control improved the vibration suppression by 36.6%.
Fabrication of the SVR with the Improved Voltage Regulating Characteristics by the Structural Modification of the Output Wire Moving Shaft
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 867~873
DOI : 10.5302/J.ICROS.2002.8.10.867
We have designed and fabricated the slidacs type automatic voltage regulator(SVR) that is able to control the output voltage continuously according to load variation. Especially, the frictions between the surface of contact of the slidacs coils and the output wire moving shaft arc reduced by modifying the mechanical configuration of surface of contact of slidacs from the conventional sliding one into the proposed rotary one composed of cylindrical bearing. Thus, SVR using cylindrical bearing proposed in this study has less noise than the conventional one owing to the reduction of friction, and its breakdown ratio caused by the abrasion of contact materials is reduced as well. We have designed U motor driving circuit for controlling the output wire moving shaft, and introduced the digital control method using the pulse width modulation(PWM) output for controlling DC motor.
Intermediate Image Generation of Stereo Image Using Depth Information and Block-based Matching Method
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 874~880
DOI : 10.5302/J.ICROS.2002.8.10.874
A number of techniques have been proposed for 3D display using view-difference of two eyes. These methods do not express enough reality like real world. The display images have to change according to the position of a viewer to improve reality. In this paper, we present an approach for generating intermediate image between two different view images by applying new image interpolation algorithm The interpolation algorithm is designed to cope with complex shapes. The proposed image interpolation algorithm generates rotated image about vertical axes by any angle from base images. Each base image that was obtained from CCD camera has an view-angle difference of
. The proposed into mediate image generation method uses the geometric analysis of image and depth information through the block-based matching method.
Mobility Analysis of Planar Mobile Robots and The Rough-Terrain Mobile Robot via The Representative Screw
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 881~889
DOI : 10.5302/J.ICROS.2002.8.10.881
Mobility analysis for various mobile mechanisms including mechanisms with lack of geometric generality is performed. Joint screws are employed to find the sire of feasible joint motion space or each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. Firstly. simplified joint model for each of low different typical wheels popularly employed in mobile robots is described. Then. mobility analysis fir various types of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars arc performed. It is confirmed that the obtained results in this study coincide with the previous ones which were obtained by suing imaginary Joints approach(1)pproach(1)
Walking Pattern Analysis for Reducing Trajectory Tracking Error in a Biped Robot
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 890~897
DOI : 10.5302/J.ICROS.2002.8.10.890
This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.
Development of HILS System for Performance Analysis of the ABS ECU for Commercial Vehicles
Journal of Institute of Control, Robotics and Systems, volume 8, issue 10, 2002, Pages 898~906
DOI : 10.5302/J.ICROS.2002.8.10.898
Antilock Brake System (ABS) is designed to prevent wheels from being locked-up under emergency braking of a vehicle. Therefore it improves directional stability of the vehicle, shortens stopping distance, and enhances maneuvering during braking, regardless of road conditions. Hardware In-the-Loop Simulation (HILS) is an effective tool for design Performance evaluation and test of vehicle subsystems such as ABS, active suspension, and steering systems. This paper describes a HILS model for ABS/ ASR(Acceleration Slip Regulation) system applications. A fourteen degrees-of-freedom vehicle dynamics model is simulated in an alpha-chip processor board. The proposed HILS system is tested with a basic ABS control algorithm. The design and implementation of HILS system for the ABS ECU(Electronic Control Unit) development of commercial vehicle are presented. The results show that the proposed HILS system can be used to test the performance, stability, and reliability of a vehicle under braking.