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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 9, Issue 12 - Dec 2003
Volume 9, Issue 11 - Nov 2003
Volume 9, Issue 10 - Oct 2003
Volume 9, Issue 9 - Sep 2003
Volume 9, Issue 8 - Aug 2003
Volume 9, Issue 7 - Jul 2003
Volume 9, Issue 6 - Jun 2003
Volume 9, Issue 5 - May 2003
Volume 9, Issue 4 - Apr 2003
Volume 9, Issue 3 - Mar 2003
Volume 9, Issue 2 - Feb 2003
Volume 9, Issue 1 - Jan 2003
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Model Following Reconfigurable Flight Control System Design Using Direct Adaptive Scheme
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 99~106
DOI : 10.5302/J.ICROS.2003.9.2.099
A new reconfigurable model following flight control method based on direct adaptive scheme is presented. Using the timescale separation principle, both the inner-loop and the outer-loop states are controlled simultaneously. For the timescale separation assumption to be satisfied, the inner-loop model dynamics is set to be fast whereas the outer-loop model dynamics is set to be relatively slow. The stability and convergence of the proposed control law is proved by Lyapunov theorem. One of the merits of the proposed reconfigurable controller is that the FDI process and the persistent input excitation are not necessary, which is suitable for the flight control system. To evaluate the reconfiguration performance of the proposed control method, numerical simulation is performed using six degree-of-freedom nonlinear dynamics.
Fault Tolerant Controller Design for Linear Stochastic Systems with Uncertainties
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 107~116
DOI : 10.5302/J.ICROS.2003.9.2.107
This paper presents a systematic design methodology for fault tolerant controller against a fault in actuators and sensors of linear stochastic systems with uncertainties. The scheme is based on fault detection and diagnosis(isolation and estimation) using a bank of robust two-stage Kalman filters, and accommodation of the actuator fault by eigenstructure assignment and immediate compensation of the sensor's faulty measurement. In order to clarify the fault feature in test statistics of residual, noise reduction method is given by multi-scale discrete wavelet transform. The effectiveness of our approach Is shown via simulations for a VTOL(vertical take-off and landing) aircraft subjected to parameter variations, external disturbances, process and sensor noises.
Repetitive Control for Track-Following Servo of an Optical Disk Drive Using Linear Matrix Inequalities
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 117~123
DOI : 10.5302/J.ICROS.2003.9.2.117
Rotational machines such as optical disk drives, hard disk drives, and so on are subject to periodic disturbances caused by their mechanical characteristics. In the meanwhile, it is well known that repetitive control rejects periodic disturbance effectively. This paper presents a practical application of repetitive control to the track-following servo of an optical disk drive. The repetitive control system is composed of two repetitive controllers which compensate for periodic disturbances generated by track geometry and eccentric rotation of disk and a feedback controller stabilizing the feedback loop. A robust stability for all plant uncertainties is proved using linear matrix inequalities (LMIs). In the controller design, a weighting function is introduced for the feedback controller to ensure a minimum loop gain and a sufficient phase margin. The repetitive controllers and the feedback controller are designed by solving an optimization problem which can consider the robust stability condition and the system performance. The developed repetitive control system is implemented in the digital control system with a 16-bit fixed-point digital signal processor (DSP). Through simulation and experiment. The feasibility of the proposed repetitive control system is verified.
Identification and Control of a Electro-Hydraulic Servo System Using a Direct Drive Valve
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 124~130
DOI : 10.5302/J.ICROS.2003.9.2.124
The electro-hydraulic servo system with a servo valve is applied widely in force control. However, the composition of control system using a servo valve is difficult due to nonlinearities in the servo valve, such as square-root terms in flow equation. The electro-hydraulic servo system using a DDV(Direct Drive Valve) instead of a servo valve was proposed and it's characteristics was estimated. The DDV and whole system are modelled by parameter identification using the input-and-output data, then the models are verified by the comparison of simulation with experiment. Also, the state feedback controller has been designed based on this model, then the performance of the electro-hydraulic force servo system using a DDV is evaluated by simulation and experimental results.
A Survey of Shape Descriptors in Computer Vision
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 131~139
DOI : 10.5302/J.ICROS.2003.9.2.131
Shape descriptors play an important role in systems for object recognition, retrieval, registration, and analysis. Seven well-known descriptors including MPEG-7 visual descriptors arebriefly reviewed and a new robust pattern recognition descriptor is proposed. Performance comparison among descriptors are presented. Experiments show that the newly proposed descriptor yields better performance results than Fourier, invariant moment, and edge histogram descriptors.
A Study on Navigation Sensor System for Outdoor AGV Using AMR Sensors
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 140~144
DOI : 10.5302/J.ICROS.2003.9.2.140
A navigation sensor system for outdoor AGV(Automatic Guided Vehicle) using AMR(Anisotropic Magnetoresitive) sensors is described. We derive a formula of the position of AMR sensor using the measured magnetic field intensity due to permanent magnet with constant distance. The system consists of sensor board. sensor control board and position processing board. The sensor board measures magnetic field intensity, the sensor control board controls the measurement of six sensors sequentially, and the position processing board computes the accurate position of the permanent magnet using Least Square Method. We arranged six sensors at intervals of 30cm and measured the position of the permanent magnet moving at intervals of 30cm. Experimental results showed that we can get standard deviation of 2mm and error of
4.5mm at a height of 20cm from the permanent magnet.
Self-localization of a Mobile Robot Using Global Ultrasonic Sensor System
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 145~151
DOI : 10.5302/J.ICROS.2003.9.2.145
A global ultrasonic sensor system for self-localization of a mobile robot is proposed in this paper. The global ultrasonic sensor system consists of three or more ultrasonic transmitters fixed at some positions in the world coordinate and receivers in the moving coordinate of a mobile robot. In this global sensor system it is easy to get state vector of the mobile robot in the world coordinate from the distance information between each ultrasonic transmitter and receiver. An extended kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. In case of using several independent ultrasonic transmitters, it is necessary to avoid the cross talk among the ultrasonic waves and to synchronize between each ultrasonic transmitter and receiver. The small sized radio frequency modules are adopted to solve the cross talk and the synchronization problem Computer simulation and experiments are carried out to verify the effectiveness of the proposed ultrasonic sensor system.
An Algorithm for Adjusting Inserting Position and Traveling Direction of a Go-No Gauge Inspecting Eggcrate Assemblies
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 152~158
DOI : 10.5302/J.ICROS.2003.9.2.152
A machine-vision guided inspection system with go-no gauges for inspecting eggcrate assemblies in steam generators is considered. To locate the gauge at the right place, periodic corrective actions for its position and traveling direction are required. We present a machine vision algorithm for determining inserting position and traveling direction of the go-no gauge. The overall procedure of the algorithm is composed of camera calibration, eggcrate image preprocessing, grid-height adjustment, intersection point estimation between two intersecting grids, and adjustment of position and traveling direction of the gauge. The intersection point estimation is performed by using linear regression with a constraint. A test with a real eggcrate specimen shows the feasibility of the algorithm.
Multiple-Fault Diagnosis for Chemical Processes Based on Signed Digraph and Dynamic Partial Least Squares
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 159~167
DOI : 10.5302/J.ICROS.2003.9.2.159
This study suggests the hybrid fault diagnosis method of signed digraph (SDG) and partial least squares (PLS). SDG offers a simple and graphical representation for the causal relationships between process variables. The proposed method is based on SDG to utilize the advantage that the model building needs less information than other methods and can be performed automatically. PLS model is built on local cause-effect relationships of each variable in SDG. In addition to the current values of cause variables, the past values of cause and effect variables are inputted to PLS model to represent the Process armies. The measured value and predicted one by dynamic PLS are compared to diagnose the fault. The diagnosis example of CSTR shows the proposed method improves diagnosis resolution and facilitates diagnosis of masked multiple-fault.
Process Optimization Formulated in GDP/MINLP Using Hybrid Genetic Algorithm
Journal of Institute of Control, Robotics and Systems, volume 9, issue 2, 2003, Pages 168~175
DOI : 10.5302/J.ICROS.2003.9.2.168
A new algorithm based on Genetic Algorithms is proposed f3r solving process optimization problems formulated in MINLP, GDP and hybrid MINLP/GDP. This work is focused especially on the design of the Genetic Algorithm suitable to handle disjunctive programming with the same level of MINLP handling capability. Hybridization with the Simulated Annealing is experimented and many heuristics are adopted. Real and binary coded Genetic Algorithm initiates the global search in the entire search space and at every stage Simulated Annealing makes the candidates to climb up the local hills. Multi-Niche Crowding method is adopted as the multimodal function optimization technique. and the adaptation of probabilistic parameters and dynamic penalty systems are also implemented. New strategies to take the logical variables and constraints into consideration are proposed, as well. Various test problems selected from many fields of process systems engineering are tried and satisfactory results are obtained.