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 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
Remote Fuzzy Logic Control of Networked Control System Via Profibus-DP
Lee, Kyung-Chang ; Lee, Suk ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 281~287
DOI : 10.5302/J.ICROS.2002.8.4.281
This paper investigates on the feasibility of fuzzy logic control for networked control systems. In order to evaluate its feasibility, a networked control system for motor speed control is implemented on a Profibus-DP network. The NCS consists of several inde-pendent, but interacting processes running on two separate stations. By using this NCS, the network-induced delay is analyzed to find the cause and effect of the delay. Furthermore, in order to prove the feasibility, the fuzzy logic controller`s performance is compared with those of conventional PID controllers. Based on the experimental results, the fuzzy logic controller can be a viable choice far NCS due to its robustness against parameter uncertainty.
Effect of First and Second Order Channel Statistics on Queueing Performance
Kim, Young-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 288~291
DOI : 10.5302/J.ICROS.2002.8.4.288
We characterize multipath fading channel dynamics at the packet level and analyze the corresponding data queueing performance in various environments. We identify the similarity between wire-line queueing analysis and wireless network per-formance analysis. The second order channel statistics, i.e. channel power spectrum, is fecund to play an important role in the modeling of multipath fading channels. However, it is identified that the first order statistics, i.e. channel CDF also has significant impact on queueing performance. We use a special Markov chain, so-called CMPP, throughout this paper.
Slices Method of Petri Nets Using the Transitive Matrix for Scheduling Analysis in FMS
Song, You-Jin ; Kim, Jong-Wuk ; Lee, Jong-Kun ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 292~298
DOI : 10.5302/J.ICROS.2002.8.4.292
We focus on the slicing off some sub-nets using the transitive matrix. Control flows in the Petri nets is done based on the token flows. One control f]ow explains the independent tokens status and if the token-in divides into several tokens after firing a transition then the control flow divides to several flows, as well. Accordingly, we define that the basic unit of concur-rency (short BUC) is a set of the executed control flows based on the behavioral properties in the net. The BUC is S-invariant which has one control flow. We show the usefulness of transitive matrix to slice off some subnets from the original net based on BUC-through on an example.
Search Methods for Covering Patterns of CRC Codes for Error Recovery
Sung, Won-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 299~302
DOI : 10.5302/J.ICROS.2002.8.4.299
Error detection and correction using CRC and the general class of cyclic codes is an important part of designing reliable data transmission schemes. The decoding method for cyclic codes using covering patterns is easily-implementable, and its complexity de-pends on the number of covering patterns employed. Determination of the minimal set of covering patterns for a given code is an open problem. In this paper, an efficient search method for constructing minimal sets of covering patterns is proposed and compared with several existing search methods. The result is applicable to various codes of practical interest.
A Scheme to Improve QoS in a Multi-Virtual-Hosting Server
Ryu, Sang-U ; Go, Seong-Jun ; Lee, Sangmoon ; Kim, Hagbae ; Park, Jinbae ; Jang, Hwi ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 303~307
DOI : 10.5302/J.ICROS.2002.8.4.303
Virtual hosting is a typical service to connect each directory of site and domain name. If traffic amounts may increase at one site present in the server, then it affects traffic amounts of other sites as well (including the sites which have flew requests). To overcome this problem, we suggest a simple feedback-control concept for the system by periodically monitoring the traffic and properly actuating traffic dispersions by investigating the log file. Specifically, large files are to be served in a backup server (to reduce the workload of the main server) by changing their own URL`s in html format. In other words, it automatically redistributes the workload by using the URL. Furthermore, we also use the redirecting method by just adding html tags to html header. This method efficiently handles the workload and maintains the capability of the server effectively to the varying workload.
Structural Dynamic System Reconstruction
Kim, Hyeung-Yun ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 308~312
DOI : 10.5302/J.ICROS.2002.8.4.308
To determine the natural frequencies and damping ratios of composite laminated plates, we present an officient modal parameter estimation technique by developing residual spectrum based structural system reconstruction. The modal parameters can be estimated from poles and residues of the system transfer functions, derived from the state space system matrices. From vibration tests on cross-ply and angle-ply composite laminates, the natural frequencies and damping ratios can be estimated using the modal coordinates of the structural dynamic system reconstructed from the experimental frequency response functions. These results are compared with those of finite element analysis and single-degree-of-freedom curve fitting.
A Robust Attitude Controller Design Using Lyapunov Redesign Technique for Spacecraft
Nam, Heon-Seong ; Yu, Jun ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 313~318
DOI : 10.5302/J.ICROS.2002.8.4.313
A robust attitude controller using Lyapunov redesign technique for spacecraft is proposed. In this controller, qua- ternion feedback is considered to have the attitude maneuver capability very close to the eigen-axis rotation. The controller consists of three parts: the nominal feedback parts which is a PD-type controller for the nominal system without uncertainties, the additional term compensating for the gyroscopic motion, and the third part for ensuring robustness to uncertainties. Lyapunov stability criteria is applied to stability analysis. The performance of the proposed controller is demonstrated via computer simulation.
The Study on the New Encoder for High Performance Exciting Angle Control
Jung, Keum-Young ; Park, Sung-Jun ; Lee, Man-Hyung ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 319~326
DOI : 10.5302/J.ICROS.2002.8.4.319
In switched reluctance motor(SRM) drive, it is important to synchronize the stator phase excitation with the rotor position; therefore, the information about rotor position is essential. Generally, optical encoders or resolvers are used to provide the information. However, these sensors are expensive and are not suitable for high-speed operation. The accuracy of the switching angles is dependent upon the resolution of the encoder and the sampling period of the microprocessor. In the high-speed region, switching angles are fluctuated back and forth out of the preset value, which is caused by the sampling period of the microprocessor. In this paper, a low cost linear encoder suitable far the practical and stable SRM drive is proposed and also the control algorithm to generate the switching signals using a simple digital logic is presented. The validity of the proposed linear encoder with a proper logic controller is verified through the experiments.
An Approach to Target Tracking Using Region-Based Similarity of the Image Segmented by Least-Eigenvalue
Oh, Hong-Gyun ; Sohn, Yong-Jun ; Jang, Dong-Sik ; Kim, Mun-Hwa ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 327~332
DOI : 10.5302/J.ICROS.2002.8.4.327
The main problems of computational complexity in object tracking are definition of objects, segmentations and identifications in non-structured environments with erratic movements and collisions of objects. The object`s information as a region that corresponds to objects without discriminating among objects are considered. This paper describes the algorithm that, automatically and efficiently, recognizes and keeps tracks of interest-regions selected by users in video or camera image sequences. The block-based feature matching method is used for the region tracking. This matching process considers only dominant feature points such as corners and curved-edges without requiring a pre-defined model of objects. Experimental results show that the proposed method provides above 96% precision for correct region matching and real-time process even when the objects undergo scaling and 3-dimen-sional movements In successive image sequences.
Image Retrieval Using Entropy-Based Image Segmentation
Jang, Dong-Sik ; Yoo, Hun-Woo ; Kang, Ho-Jueng ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 333~337
DOI : 10.5302/J.ICROS.2002.8.4.333
A content-based image retrieval method using color, texture, and shape features is proposed in this paper. A region segmentation technique using PIM(Picture Information Measure) entropy is used for similarity indexing. For segmentation, a color image is first transformed to a gray image and it is divided into n
n non-overlapping blocks. Entropy using PIM is obtained from each block. Adequate variance to perform good segmentation of images in the database is obtained heuristically. As variance increases up to some bound, objects within the image can be easily segmented from the background. Therefore, variance is a good indication for adequate image segmentation. For high variance image, the image is segmented into two regions-high and low entropy regions. In high entropy region, hue-saturation-intensity and canny edge histograms are used for image similarity calculation. For image having lower variance is well represented by global texture information. Experiments show that the proposed method displayed similar images at the average of 4th rank for top-10 retrieval case.
Experimental Studies on Neural Network Force Tracking Control Technique for Robot under Unknown Environment
Jeong, Seul ; Yim, Sun-Bin ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 338~344
DOI : 10.5302/J.ICROS.2002.8.4.338
In this paper, neural network force tracking control is proposed. The conventional impedance function is reformulated to have direct farce tracking capability. Neural network is used to compensate for all the uncertainties such as unknown robot dynamics, unknown environment stiffness, and unknown environment position. On line training signal of farce error for neural network is formulated. A large x-y table is built as a test-bed and neural network loaming algorithm is implemented on a DSP board mounted in a PC. Experimental studies of farce tracking on unknown environment for x-y table robot are presented to confirm the performance of the proposed technique.
Locomotive Mechanism Based on Pneumatic Actuators for the Semi-Autonomous Endoscopic System
Kim, Byungkyu ; Kim, Kyoung-Dae ; Lee, Jinhee ; Park, Jong-Oh ; Kim, Soo-Hyun ; Hong, Yeh-Sun ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 4, 2002, Pages 345~350
DOI : 10.5302/J.ICROS.2002.8.4.345
In recent years, as changing the habit of eating, the pathology in the colon grows up annually. The colonoscopy is generalized, but if requires much time to acquire a dexterous skill to perform an operation and the procedure is painful to the patient. biomedical and robotic researchers are developing a locomotive colonoscope that can travel safe1y in colon. In this paper, we propose a new actuator and concept of semi-autonomous colonoscope. The micro robot comprises camera and LED for diagnosis, steer- ing system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to pass over haustral folds in colon. For locomotion of semi-autonomous colonoscope, we suggest an actuator that is based on impact force between a cylinder and a piston. In order to validate the concept and the performance of the actuator, we carried out the simulation of moving characteristics and the preliminary experiments in rigid pipes and on the colon of pig.