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
A Balanced Model Reduction for Linear Parameter Varying Systems
Yoo, Seog-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 351~356
DOI : 10.5302/J.ICROS.2002.8.5.351
This papaer deals with a model reduction problem for linear systems with time varying parameters. For this problem, a controllability Grammian and an observability Grammian are introduced and computed by solving linear matrix inequalities. Using the controllability/observability Grammian, a balanced state space realization for linear parameter varying systems is obtained. From the balanced state space realization, a reduced model can be obtained by truncating not only states but also time varying parameters and an upper bound of the model reduction error is derived as well.
Eigenstructure Assignment Method for Disturbance Suppression and Fault Isolation
Seo, Young-Bong ; Park, Jae-Weon ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 357~362
DOI : 10.5302/J.ICROS.2002.8.5.357
The underlying principle of fault detection via unknown input observer is to make the state estimation error independent of disturbances(or unknown inputs). In this paper, we present a systematic method that can exactly assign the eigenstructure with disturbance suppression and fault isolation capability. A desired eigenstructure for both fault isolation and disturbance suppression is obtained by an optimization method. For the dual purposes, terms for fault isolation and far disturbance suppression are included in the employed objective function for the optimization. The proposed scheme is applied to a simple example to confirm the usefulness of the method.
A Study on Rudder-Roll Stabilization System Design for Ship with Varying Ship Speed
Kim, Young-Bok ; Chea, Gyu-Hoon ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 363~372
DOI : 10.5302/J.ICROS.2002.8.5.363
In ship operation, the roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization system design have been performed and good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used exclusively to stabilize the roll. But, in the roll stabilization control system, the control performance is very sensitive to the ship speed. So, we can see that it is important to consider the ship speed in the rudder roll control system design. The gain-scheduling control technique is very useful in the control problem incorporating time varying parameters which can be measured in real time. Based on this fact, in this paper we examine the;
-Gain Scheduling control design technique. Therefore, we assume that a parameter, the ship speed which can be estimated in real time, is varying and apply the gain-scheduling control technique to design the course keeping and anti-rolling control system far a ship. In this control system, the controller dynamics is adjusted in real-time according to time-varying plant parameters. The simulation result shows that the proposed control strategy is shown to be useful for cases when the ship speed is varying and robust to disturbances like wind and wave.
Web Lateral Control of Cold Rolling Mill Systems Using a Robust PID Control
Park, Chintac ; Kim, In-Soo ; Lee, Young-Jin ; Kim, Jong-Shik ; Lee, Man-Hyung ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 373~384
DOI : 10.5302/J.ICROS.2002.8.5.373
This paper presents a robust PID controller design technique using the concept of model matching method in the frequency domain. To design the robust PID controller satisfying disturbance attenuation and robust tracking property for a reference input, first an H
controller satisfying given performance is designed using the H
control method. And then, the parameters(proportional, integral, and derivative gains) of the robust PID controller are determined using the model matching at frequency domain. The proposed technique is applied to a position controller design of the web. The simulation results show that the proposed robust PID controller satisfies disturbance attenuation and tracking property.
Takagi-Sugeno Fuzzy Model-Based Iterative Learning Control Systems: A Two-Dimensional System Theory Approach
Chu, Jun-Uk ; Lee, Yun-Jung ; Park, Bong-Yeol ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 385~392
DOI : 10.5302/J.ICROS.2002.8.5.385
This paper introduces a new approach to analysis of error convergence for a class of iterative teaming control systems. Firstly, a nonlinear plant is represented using a Takagi-Sugeno(T-S) fuzzy model. Then each iterative learning controller is designed for each linear plant in the T-S fuzzy model. From the view point of two-dimensional(2-D) system theory, we transform the proposed learning systems to a 2-D error equation, which is also established if the form of T-S fuzzy model. We analyze the error convergence in the sense of induced L
-norm, where the effects of disturbances and initial conditions on 2-D error are considered. The iterative teaming controller design problem to guarantee the error convergence can be reduced to the linear matrix inequality problem. This method provides a systematic design procedure for iterative teaming controller. A simulation example is given to illustrate the validity of the proposed method.
A Robust Adaptive Impedance Control Algorithm for Haptic Interfaces
Park, Heon ; Lee, Sang-Chul ; Lee, Su-Sung ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 393~400
DOI : 10.5302/J.ICROS.2002.8.5.393
Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters`variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.
Discrete Event Model Conversion Algorithm for Systematic Analysis of Ladder Diagrams in PLCs
Kang, Bong-Suk ; Cho, Kwang-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 401~406
DOI : 10.5302/J.ICROS.2002.8.5.401
As product lifecycles become shorter, factories are pushed to develop small batches of many different products. The highly flexible control systems has become a necessity. The majority of existing automated industrial systems are controlled by programmable logic controllers(PLCs). In most cases, the control programs for PLCs are developed based on ladder diagrams(LDs). However, it is difficult to debug and maintain those LDs because the synthesis of LD itself mainly depends on the experience of the industrial engineer via trial-and-error methods. Hence, in this paper, we propose a discrete event model conversion algorithm for systematic analysis of LDs. The proposed discrete event model conversion algorithm is illustrated by an example of a conveyor system.
Measurement of Gas Concentration and flow Rate Using Hot Wire
Kim, Young-Han ; Park, Jong-Jueng ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 407~412
DOI : 10.5302/J.ICROS.2002.8.5.407
A measurement device for gas concentration and flow rate using hot wire is developed for the utilization in industrial applications. The device has two cells of measuring and reference, and a bridge circuit is installed to detect electric current through the hot wire in the cells. An amplification of the signal and conversion to digital output are conducted for the on-line measurement with a personal computer. The flow rate of air and carbon dioxide gas is separately measured for the performance examination of the device. Also, the concentration of air-carbon dioxide and carbon dioxide-argon mixtures is determined for the same evaluation. The outcome of the performance test indicates that the accuracy and stability of the device is satisfactory for the purpose of industrial applications.
Development of a Web-Based Virtual Laboratory System for Chemical Processes Using an Object-Oriented Technology
Lee, Kyung-Yong ; Sin, Dong-Il ; Lee, Euy-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 413~417
DOI : 10.5302/J.ICROS.2002.8.5.413
The Internet technology has been recognized not only as a tool far communication in the 21st century but also as an environment for enabling changes in the paradigm of teaching and learning. This paper describes a web-based system development for chemical engineering education. Simulation and visualization of dynamic systems in the environment of a standard web-browser is made possible by extending its capabilities. ActiveX control is used to simulate the system tool far online representation of Virtual Lab. System that is developed using visual basic. The courseware is classified into tutorial, exercises, and virtual experiments.
Development of Scribing Machine for Dicing of GaN Wafer
Cha, Young-Youp ; Go, Gyong-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 419~424
DOI : 10.5302/J.ICROS.2002.8.5.419
After the patterning and probe process of wafer have been achieved, the dicing processing is necessary to separate chips from a wafer. The dicing process cuts a semiconductor wafer to lengthwise and crosswise directions to make many chips. The existing general dicing method is the mechanical cutting using a narrow circular rotating blade impregnated diamond particles or laser cutting. Inferior goods can be made by the mechanical or laser cutting unless several parameters such as blade, wafer, cutting water and cutting conditions are properly set. Moreover, we can not apply these general dicing method to that of GaN wafer, because the GaN wafer is harder than general semiconductor wafers such as GaAs, GaAsP, AIGaAs and so forth. In order to overcome these problems, this paper describes a new wafer dicing method using fixed diamond scriber and precision servo mechanism.
A GPS Positioning and Receiver Autonomous Integrity Monitoring Algorithm Considering SA Fade Away
Park, Jae-Youl ; Park, Soon ; Park, Chansik ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 425~433
DOI : 10.5302/J.ICROS.2002.8.5.425
After the removal of SA (Selective Availability), horizontal accuracy of 25m(2dRMS) is easily obtained using GPS (Global Positioning System). In this paper, the error characteristics without SA are analyzed and a navigation algorithm concerns this error characteristics is proposed to further improve the accuracy. The proposed method utilizes the relationship between elevation angle and errors that are remained after ionospheric and troposheric delay compensation. The relationship is derived from real measurements and used as a weighting matrix of weighted least squares estimator. Furthermore, a RAIM (Receiver Autonomous Integrity Monitoring) technique is included to remove abnormal measurements affected by multi-path or low SNR (Signal-to-Noise Ratio). It is shown that using the proposed method, more than 4 times accurate result, which is comparable with DGPS (Differential GPS), can be obtained from experiments with real data. Besides accuracy and reliability, the proposed method reduces large jumps in position and maintains better performance than a method using mask angle to completely remove satellites below this mask angle. Thus it is expected that the proposed method can be efficiently applied to land navigation where some satellites are blocked by building or forest.
Design of a Remote Distributed Embedded System Using the Internet and CAN
Lee, Hyun-suk ; Lim, Jae-nam ; Park, Jin-woo ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 5, 2002, Pages 434~437
DOI : 10.5302/J.ICROS.2002.8.5.434
A small size and light-weight DSP board is newly designed for a real time multi-distributed control system that overcomes constraints on time and space. There are a variety of protocols for a real-time distributed control system. In this research, we selected CAN for the multi distributed control, which was developed by the BOSCH in the early 1980`s. If CAN and Internet are connected together, the system attains the characteristics of a distributed control system and a remote control system simultaneously. To build such a system. The TCP/IP-CAN Gateway which converts a CAN protocol to TCP/IP protocol and vice verse, was designed. Moreover, the system is required to be small and light-weighted for the high mobility and cost effectiveness. The equipment in remote place has a TCP/IP-CAN Gateway on itself to be able to communicate with another systems. The received commands in the remote site are converted from TCP/IP protocol to CAN protocol by the TCP/IP-CAN Gateway in real time. A simulation system consists of a TCP/IP-CAN Gateway in remote place and a command PC to be connected to Ethernet.