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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
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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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An Automated Outsole Inspection System Using Scale Block and Divide-and-Conquer Technique
Kim, Do-Hyeon ; Kang, Dong-Koo ; Cha, Eui-Young ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 625~632
DOI : 10.5302/J.ICROS.2002.8.8.625
We propose an outsole measurement/inspection system to improve the quality of the shoe product. It uses the Divide-and-Conquer technique to measure the length of shoes'outsole. First, it detects edge positions of outsole's toe and heel from each image frame using an unique scale block we defined and calculates the outsole's length as the distance of two edge positions. Then it compensates the total length of outsole using the side image of outsole. Next, it classifies the outsole as inferior goods if the measurement error is bigger than 5.8mm. As a result of testing with the various kinds of outsoles, it was shown that the 95% accuracy was acquired within 1mm allowable error range. In conclusion, the proposed inspection system is effective and useful in the measurement/inspection process of shoe product and any material object as well.
Study on Missile Aerodynamic Characteristics with Three Loop Acceleration Autopilot Structure
Kim, Yoon-Sik ; Kim, Seung-Hwan ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 633~638
DOI : 10.5302/J.ICROS.2002.8.8.633
We study how the missile autopilot with three loop acceleration structure is related to the aerodynamic characteristics. First, the relationships between the response characteristics of wingless-tail controlled missile and aerodynamics are derived. Next the maximum allowable performance limit of autopilot and the design direction for a missile shape are indicated using the property of zero. The method proposed in this paper may give a help to the missile autopilot system design and determination of the shape of aerodynamic. Also, the validity of proposed method is demonstrated via numerical example.
The Design of Sliding Mode Controller with Sliding Perturbation Observer for a Robust Control of Stewart Platform Manipulator
You, Ki-Sung ; Park, Min-Kyu ; Lee, Min-Cheol ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 639~648
DOI : 10.5302/J.ICROS.2002.8.8.639
The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.
A Frequency Transfer Function Synthesis of QFT Using Total Least Squares Method
Kim, Ju-Sik ; Lee, Sang-Hyuk ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 649~654
DOI : 10.5302/J.ICROS.2002.8.8.649
The essential philosophy of the QFT(Quantitative Feedback Theory) is that a suitable controller can be found by loop shaping a nominal loop transfer function such that the frequency response of this function does not violate the QFT bounds. The loop shaping synthesis involves the identification of a structure and its specialization by means of the parameter optimization. This paper presents an optimization algorithm to estimate the controller parameters from the frequency transfer function synthesis using the TLS(Total Least Squares) in the QFT loop shaping procedure. The proposed method identifies the parameter vector of the robust controller from an overdetermined linear system developed from rearranging the two dimensional system matrices and output vectors obtained from the QFT bounds. The feasibility of the suggested algorithm is illustrated with an example.
Design of Disturbance Observer Considering Robustness and Control Performance (1) : Analysis on Second Order System
Park, Youngjin ; Yang, Gwang-Jin ; Chunng, Wan-Kyun ; Kim, Hong-Rok ; Suh, Il-Hong ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 655~664
DOI : 10.5302/J.ICROS.2002.8.8.655
The disturbance observer (DOB) has been widely utilized for high precision/speed motion control applications. However, it still lacks the analysis for the robustness and performance brought by using DOB. This paper proposes the robustness measure of DOB and reveals the relationships between the disturbance rejection performance and the order/time constant of a Q filter in DOB. Additionally, we propose six guidelines for the design of Q filter and show their validity through the experiments for DVD systems.
The Implementation of Human-Interactive Motions for a Quadruped Robot Using Genetic Algorithm
Kong, Jung-Shick ; Lee, In-Koo ; Lee, Boo-Hee ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 665~672
DOI : 10.5302/J.ICROS.2002.8.8.665
This paper deals with the human-interactive actions of a quadruped robot by using Genetic Algorithm. In case we have to work out the designed plan under the special environments, our robot will be required to have walking capability, and patterns with legs, which are designed like gaits of insect, dog and human. Our quadruped robot (called SERO) is capable of not only the basic actions operated with sensors and actuators but also the various advanced actions including walking trajectories, which are generated by Genetic Algorithm. In this paper, the body and the controller structures are proposed and kinematics analysis are performed. All of the suggested motions of SERO are generated by PC simulation and implemented in real environment successfully.
An Algorithm for Estimating Pulse Repetition Intervals of Stagger PRI Pulse Train Using 2D-TDOA Histogram
Kim, Yong-Woo ; Yang, Hai-Won ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 673~681
DOI : 10.5302/J.ICROS.2002.8.8.673
This paper presents a new algorithm for estimating pulse repetition intervals (PRIs) of stagger PRI pulse trains using a 2 dimensional TDOA histogram. The PRI transform algorithm can remove harmonics of stable and jitter PRI pulse trains in a TDOA histogram. But, it is impossible for the algorithm to detect stagger PRI pulse trains because it regards frame PRIs of stagger Pulse trains as harmonics of stable PRI pulse trains. A new algorithm of this paper has an ability to distinguish stagger pulse trains from harmonics of other pulse trains and to estimate frame PRIs of detected pulse trains.
Robust Control for the Rewritable Optical Disk Drives with Sinusoidal Disturbance of Uncertain Frequencies
Lee, Moon-Noh ; Jin, Kyoung-Bog ; Moon, Jung-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 682~690
DOI : 10.5302/J.ICROS.2002.8.8.682
This paper presents an output feedback controller design method for uncertain linear systems with sinusoidal disturbance of uncertain frequencies. The controller needs to compensate for the performance deterioration due to the uncertain frequencies of sinusoidal disturbance. To this end, we introduce a virtual system including the dynamics corresponding to the uncertain frequencies and design a controller which minimizes the output difference between the virtual system and the closed-loop system. In other words, the controller is designed so that the closed-loop system approximates the virtual system. The feedback controller is achieved by solving an LMI optimization problem involving a robust
constraint. The advantages of the proposed design method are examined by comparing it with a design method that only minimizes the
norm of the transfer function between the sinusoidal disturbance and the output. The proposed design method is applied to the track-following system of rewritable optical disk drives and is evaluated through an experiment.
ST-Segment Analysis of ECG Using Polynomial Approximation
Jeong, Gu-Young ; Yu, Kee-Ho ; Kwon, Tae-Kyu ; Lee, Seong-Cheol ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 691~697
DOI : 10.5302/J.ICROS.2002.8.8.691
Myocardial ischemia is a disorder of cardiac function caused by insuficient blood flow to the muscle tissue of the heart. We can diagnose myocardial ischemia by observing the change of ST-segment, but this change is temporary. Our primary purpose is to detect the temporary change of the 57-segment automatically In the signal processing, the wavelet transform decomposes the ECG(electrocardiogram) signal into high and low frequency components using wavelet function. Recomposing the high frequency bands including QRS complex, we can detect QRS complex more easily. Amplitude comparison method is adopted to detect QRS complex. Reducing the effect of noise to the minimum, we grouped ECG by 5 data and compared the amplitude of maximum value. To recognize the ECG .signal pattern, we adopted the polynomial approximation partially and statistical method. The polynomial approximation makes possible to compare some ECG signal with different frequency and sampling period. The ECG signal is divided into small parts based on QRS complex, and then, each part is approximated to the polynomials. After removing the distorted ECG by calculating the difference between the orignal ECG and the approximated ECG for polynomial, we compared the approximated ECG pattern with the database, and we detected and classified abnormality of ECG.
Navigation and Fault Detection Performance Analysis for INS Redundant Sensor Configurations
Kim, Jeong-Yong ; Yang, Cheol-Kwan ; Shim, Duk-Sun ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 698~705
DOI : 10.5302/J.ICROS.2002.8.8.698
The redundant sensor configuration problem of inertial navigation system(INS) is considered and analyzed the navigation and fault detection performance according to various sensor configurations. We considered various kinds of redundant sensor configurations for symmetric, cone, and orthogonal configurations and compare the navigation and fault detection performance for the configurations. We show that the navigation and fault detection performance is not affected by the coordinate change for a fixed configuration.
Synthesis of Deadlock-Free Ladder Diagrams for PLCs Based on Deadlock Detection and.Recovery (DDR) Algorithm
Cha, Jong-Ho ; Cho, Kwang-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 706~712
DOI : 10.5302/J.ICROS.2002.8.8.706
In general, a deadlock in flexible manufacturing systems (FMSs) is caused by a resource limitation and the diversity of routings. However, the deadlock of industrial controllers such as programmable logic controllers (PLCs) can occur from different causes compared with those in general FMSs. The deadlock of PLCs is usually caused by an error signal between PLCs and manufacturing systems. In this paper, we propose a deadlock detection and recovery (DDR) algorithm to resolve the deadlock problem of PLCs at design stage. This paper employs the MAPN (modified automation Petri net), MTPL (modified token passing logic), and ECC (efficient code conversion) algorithm to model manufacturing systems and to convert a Petri net model into a desired LD (ladder diagram). Finally, an example of manufacturing systems is provided to illustrate the proposed DDR algorithm.
Operating Method of Network Interpolation for Motion Control Device
Kwak, Gun-Pyong ;
Journal of Institute of Control, Robotics and Systems, volume 8, issue 8, 2002, Pages 713~718
DOI : 10.5302/J.ICROS.2002.8.8.713
Motion controllers are essential components for operating industrial equipments. Compared with general industrial controllers, motion controllers allow motion control requiring greater speed and precision. This paper presents a method for controlling multi-axes motors via industrial networks. To achieve a line or arc interpolation, the master system delivers instructions to slave systems connected to the network. The network instruction transmitted from the master controller is re-interpolated by the individual slaves through sub-interpolators. The re-interpolated feedrate information is transmitted to the motion control loop in which the current position and the reference position are then calculated. In this way, the interpolation driving between control units is achieved via industrial networks.