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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
Editor in Chief :
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
Selecting the target year
Design of PI, PD and PID Controllers with Time Response Specifications
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 259~269
DOI : 10.5302/J.ICROS.2003.9.4.259
This paper considers the problem of determining a set of PI, PD and PID controller gains, for a given linear time invariant plant, that meets or exceeds the closed loop step response specifications. The proposed method utilizes two recent results: for a given system, (1) finding a set of stabilizing PI, PD and PID gains and (2) the relationship between time response (overshoot and speed) and the coefficients of the characteristic polynomial. The method allows us to extract a subset of PI, PD and PID gains that meets stability as well as time domain performance requirements. The intersections of two dimensional sets described by linear and quadratic inequalities in the controller design space are need to be Identified through numerical computation. The procedure is illustrated by examples.
Design of Disturbance Observer Considering Robustness and Control Performance (2) : It's Application for Optical Disc Drive Servo System
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 270~276
DOI : 10.5302/J.ICROS.2003.9.4.270
The disturbance observer (DOB) has been widely utilized fer high precision and high speed motion control application. However, it still lacks the analysis for the robustness brought by using DOB. This paper summarizes six guidelines for the design of DOB taking into account the robustness and control performance in case of the second order system. For effectiveness of the proposed guideline, the actual implementation and experimental results of the DOB is compared in the Optical Disk Drive(ODD) servo system. In the DVD player and DVD-ROM drive, the guidelines of DOB are useful, and the disturbance rejection performance is improved under the DOB system.
A Dual-Stage Servo System for an NFR Disk Drive using Iterative Learning Control
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 277~283
DOI : 10.5302/J.ICROS.2003.9.4.277
Recently, near-field recording (NFR) disk drive schemes have been proposed with a view to increasing recording densities of hard disk drives. Compared with hard disk drives. NFR disk drives have narrower track pitches and are exposed to more severe periodic disturbances resulting from eccentric rotation of the disk. It is difficult to meet servo system design specifications for NFR disk drives with conventional VCM actuators in that the servo system for an NFR disk drive generally requires a feater gain and higher bandwidth. To tackle the problem various dual-stage actuator systems composed of a microactuator mounted on top of a conventional VCM actuator have been proposed. This article deals with the problem of designing a tracking servo system far an NFR disk drive adopting a dual-stage actuator. We summarize design constraints pertaining to the dual-stage servo system and present a new servo scheme using iterative teaming control. We design feedback compensators and an iterative teaming controller for a target plant and verify the validity of the proposed control scheme through a computer simulation.
A New Correction Algorithm of Servo Track Writing Error in High-Density Disk Drives
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 284~295
DOI : 10.5302/J.ICROS.2003.9.4.284
The servo tracks of disk drives are constructed at the time of manufacture with the equipment of servo track writer. Because of the imperfection of servo track writer, disk vibrations and head fluctuations during servo track writing process, the constructed servo tracks might deviate from perfect circles and take eccentric shapes. The servo track writing error should be corrected because it might cause interference with adjacent tracks and irrecoverable operation error of disk drives. The servo track writing error is repeated every disk rotation and so is periodic time function. In this paper, we propose a new correction algorithm of servo track writing error based on iterative teaming approach. Our correction algorithm can learn iteratively the servo track writing error as accurately as is desired. Furthermore, our algorithm is robust to system model errors, is computationally simple, and has fast convergence rate. In order to demonstrate the generality and practical use of our work, we present the convergence analysis of our correction algorithm and some simulation results.
Implementation of Electronic Personal Dosimeter Using Silicon PIN Photodiode
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 296~303
DOI : 10.5302/J.ICROS.2003.9.4.296
A personal portable type electronic dosimeter using silicon PIN photodiode and small GM tube is recently attracting much attention due to its advantages such as an immediate indication function of dose and dose rate, alerting function, and efficient management of radiation exposure history and dose data. We designed and manufactured a semiconductor radiation detector aimed to directly measure X-ray and v-ray irradiated in silicon PIN photodiode, without using high-priced scintillation materials. Using this semiconductor radiation detector, we developed an active electronic dosimeter, which measures the exposure dose using pulse counting method. In this case, it has a shortcoming of over-evaluating the dose that shows the difference between the dose measured with electronic dosimeter and the dose exposed to the human body in a low energy area. We proposed an energy compensation filter and developed a dose conversion algorithm to make both doses indicated on the detector and exposed to the human body proportional to each other, thus enabling a high-precision dose measurement. In order to prove its reliability in conducting personal dose measurement, crucial for protecting against radiation, the implemented electronic dosimeter was evaluated to successfully meet the IEC's criteria, as the KAERI (Korea Atomic Energy Research Institute) conducted test on dose indication accuracy, and linearity, energy and angular dependences.
Recognition of the Center Position of Bolt Hole in the Stand of Insulator Using Multilayer Neural Network
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 304~309
DOI : 10.5302/J.ICROS.2003.9.4.304
Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system. In order to realize these tasks autonomously, the three dimensional position of target object such as electric line and the stand of insulator must be recognized accurately and rapidly. The approaching of an insulator and the wrenching of a nut task is selected as the typical task of the maintenance of active electric power distribution lines in this paper. Image recognition by multilayer neural network and optimal target position calculation method are newly proposed in order to recognize the center 3 dimensional position of the bolt hole in the stand of insulator. By the proposed image recognition method, it is proved that the center 3 dimensional position of the bolt hole can be recognized rapidly and accurately without regard to the pose of the stand of insulator. Finally the approaching and wrenching task is automatically realized using 6-link electro-hydraulic manipulators.
Coordination among the Security Systems using the Blackboard Architecture
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 310~319
DOI : 10.5302/J.ICROS.2003.9.4.310
As the importance and the need for network security are increased, many organizations use the various security systems. They enable to construct the consistent integrated security environment by sharing the network vulnerable information among IDS (Intrusion Detection System), firewall and vulnerable scanner. The multiple IDSes coordinate by sharing attacker's information for the effective detection of the intrusion is the effective method for improving the intrusion detection performance. The system which uses BBA (Blackboard Architecture) for the information sharing can be easily expanded by adding new agents and increasing the number of BB (Blackboard) levels. Moreover the subdivided levels of blackboard enhance the sensitivity of the intrusion detection. For the simulation, security models are constructed based on the DEVS (Discrete Event system Specification) formalism. The intrusion detection agent uses the ES (Expert System). The intrusion detection system detects the intrusions using the blackboard and the firewall responses to these detection information.
Adaptive Nonlinear Guidance Considering Target Uncertainties and Control Loop Dynamics
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 320~328
DOI : 10.5302/J.ICROS.2003.9.4.320
This paper proposes a new nonlinear adaptive guidance law. Fourth order state equation for integrated guidance and control loop is formulated considering target uncertainties and control loop dynamics. The state equation is further changed into the normal form by nonlinear coordinate transformation. An adaptive nonlinear guidance law is proposed to compensate for the uncertainties In both target acceleration and control loop dynamics. The proposed law adopts the sliding mode control approach with adaptation fer unknown bound of uncertainties. The present approach can effectively solve the existing guidance problem of target maneuver and the limited performance of control loop. We provide the stability analyses and demonstrate the effectiveness of our scheme through simulations.
Reconfigurable Flight Control Law Using Adaptive Neural Networks and Backstepping Technique
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 329~339
DOI : 10.5302/J.ICROS.2003.9.4.329
A neural network based adaptive controller design method is proposed for reconfigurable flight control systems in the presence of variations in aerodynamic coefficients or control effectiveness decrease caused by control surface damage. The neural network based adaptive nonlinear controller is developed by making use of the backstepping technique for command following of the angle of attack, sideslip angle, and bank angle. On-line teaming neural networks are implemented to guarantee reconfigurability and robustness to the uncertainties caused by aerodynamic coefficients variations. The main feature of the proposed controller is that the adaptive controller is designed with assumption that not any of the nonlinear functions of the system is known accurately, whereas most of the previous works assume that only some of the nonlinear functions are unknown. Neural networks loam through the weight update rules that are derived from the Lyapunov control theory. The closed-loop stability of the error states is also investigated according to the Lyapunov theory. A nonlinear dynamic model of an F-16 aircraft is used to demonstrate the effectiveness of the proposed control law.
Web-Based Remote Management of Industrial Inverter using Embedded Linux
Journal of Institute of Control, Robotics and Systems, volume 9, issue 4, 2003, Pages 340~346
DOI : 10.5302/J.ICROS.2003.9.4.340
Driven by the growth of the Internet and the increasing ubiquity of embedded computing systems, the embedded system is exploding in terms of it proliferation of products and the number of complex applications. Intelligent dedicated systems and appliances used in interface, monitoring, communications, and control applications increasingly demand the services of a sophisticated, state-of-the-art operating system. In the case of industrial controller, it is required to use a real-time operating system (RTOS) as a good building block to enable Internet connectivity. However, commercial RTOSes are increasingly less desirable due to their lack of standardization and their inability to keep pace with the rapid evolution of technology. In order to overcome these problems, we consider using embedded Linux and embedded web server. Availability of source code, reduced licensing, reliability, open source community support, as well as others, are key reasons for the use of embedded linux by embedded developers. In this paper, we develop embedded linux platform to control the industrial inverter with the Internet connecting feature. The method of web-based management is also proposed by using the embedded web server and Java applet. We show the feasibility of remote management for the commercial inverter controller with the proposed three-tier web-based remote management system.