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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
Selecting the target year
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 413~419
DOI : 10.5302/J.ICROS.2003.9.6.413
The objective of this paper is to survey and put in perspective the existing methods of dynamic filter development. This includes theories and practices for linear and nonlinear filters, multiple model filters, and data association methods for tracking in multitarget environment. The presentation of this paper is motivated by recent surge of interest in the area of designing feedback control systems with reduced number of sensors, detection and identification of abrupt changes, and multitarget tracking in clutter. It is hoped to be useful in view of the need to take a grasp of existing techniques before using them in practice and developing new techniques.
Adaptive Filter Design for Radar Aided SDINS
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 420~424
DOI : 10.5302/J.ICROS.2003.9.6.420
A new adaptive filter is proposed for an aided strapdown inertial navigation system(SDINS). The proposed filter can be used to effectively estimate the time-varying variance of the measurement noise. Then, the in-flight alignment for the radar aided SDINS is designed using the additive quatermion error model. Simulation results show that the proposed adaptive filter effectively improves the performance of the radar aided SDINS.
Analysis of Discrete-Time Disturbance Observer for Second-Order Systems
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 425~434
DOI : 10.5302/J.ICROS.2003.9.6.425
The disturbance observer(DOB) has been widely used in high speed and high precision motion control applications and the characteristics of DOB have been investigated in depth. Though most of DOB's have been implemented as the discrete-time form in digital devices, we are still short of the researches on discrete-time DOB (DDOB) in spite of rich references on continuous-time DOB. In this paper, we discuss about the disturbance rejection property and measurement noise effect of discrete-time DOB. Especially, we will focus on revealing the role of sampling time in designing the discrete-time DOB and show the validity of analysis through simulations and experiments for optical disk drive systems.
Tracking Control of a Electro-hydraulic Servo System Using 2-Dimensional Real-Time Iterative Learning Algorithm
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 435~441
DOI : 10.5302/J.ICROS.2003.9.6.435
This paper addresses that an approximation and tracking control of realtime recurrent neural networks(RTRN) using two-dimensional iterative teaming algorithm for an electro-hydraulic servo system. Two dimensional learning rule is driven in the discrete system which consists of nonlinear output fuction and linear input. In order to control the trajectory of position, two RTRN with the same network architecture were used. Simulation results show that two RTRN using 2-D learning algorithm are able to approximate the plant output and desired trajectory to a very high degree of a accuracy respectively and the control algorithm using two identical RTRN was very effective to trajectory tracking of the electro-hydraulic servo system.
Parameter Identification of an Electro-Hydraulic Servo System Using a Modified Hybrid Neural-Genetic Algorithm
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 442~447
DOI : 10.5302/J.ICROS.2003.9.6.442
This paper demonstrates that a modified hybrid neural-genetic multimodel parameter estimation algorithm can be applied to structured system identification of an electro-hydraulic servo system. This algorithm is consists of a recurrent incremental credit assignment(ICRA) neural network and a genetic algorithm. The ICRA neural network evaluates each member of a generation of model and genetic algorithm produces new generation of model. The modified hybrid neural-genetic multimodel parameter estimation algorithm is applied to an electro-hydraulic servo system the task to find the parameter values such as mass, damping coefficient, bulk modulus, spring coefficient and disturbance, which minimizes the total square error.
Development of Automatic Measurement and Inspection System for ALC Block Using Camera
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 448~455
DOI : 10.5302/J.ICROS.2003.9.6.448
A system design technique of automatic thickness measurement and defect inspection system, which measures the thickness of the ALC(Autoclaved Lightweight Concrete) block and inspects the defect on a realtime basis is proposed. The image processing system was established with a CCD camera, an image grabber, and a personal computer without using assembled measurement equipment. The image obtained by this system was analyzed by a devised algorithm, specially designed for the enhanced measurement accuracy. For the realization of the proposed algorithm, the preprocessing method that can be applied to overcome uneven lighting environment, an enhanced edge decision method using 8 edge-pairs with irregular and rough surface, the unit length decision method in uneven condition with rocking objects, and the curvature calibration method of camera using a constructed grid are developed. The experimental results, show that the required measurement accuracy specification is sufficiently satisfied using our proposed method.
Biomimetic Trajectory Planning Via Redundant Actuation
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 456~465
DOI : 10.5302/J.ICROS.2003.9.6.456
It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.
Tracking Control for Mobile Robot Based on Fuzzy Systems
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 466~472
DOI : 10.5302/J.ICROS.2003.9.6.466
This paper describes a tracking control for the mobile robot based on fuzzy systems. Since the mobile robot has the nonholonomic constraints, these constraints should be considered to design a tracking controller for the mobile robot. One of the well-known tracking controllers for the mobile robot is the back-stepping controller. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot. The conventional back-stepping controller is affected by the derived velocity reference by a kinematic controller. To improve the performance of the conventional back-stepping controller, this paper uses the fuzzy systems known as the nonlinear controller. The new velocity reference for the back-stepping controller is derived through the fuzzy inference. Fuzzy rules are selected for gains of the kinematic controller. The produced velocity reference has properly considered the varying reference trajectories. Simulation results show that the proposed controller is more robust than the conventional back-stepping controller.
Concentration Measurement of Alcohol Solution Using Immersion-Type On-Line Refractometer
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 473~477
DOI : 10.5302/J.ICROS.2003.9.6.473
An immersion-type on-line refractometer useful for the in-situ measurement of chemical composition and temperature is developed, and its performance is examined by applying the refractometer to known alcohol solution having concentrations between 0 vol. % and 25 vol. %. Because refractive index and temperature are measured simultaneously, it is possible to compensate the effect of temperature for fast and direct measurement. The outcome of composition measurement for the different concentrations of alcohol solution indicates that the device is suitable for the chemical composition measurement by yielding stable and reproducible reading.
Expected Miss Distance Concept and Its Applications to Aircraft Guidance Law for Arbitrary Flight Trajectory Tracking
Journal of Institute of Control, Robotics and Systems, volume 9, issue 6, 2003, Pages 478~488
DOI : 10.5302/J.ICROS.2003.9.6.478
A guidance scheme that is suitable for controlling the aircraft flight path is proposed. The concept of miss distance which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the aircraft's trajectory-tracking guidance law. Guidance commands are given in terms of speed and flight path angles, but they perfectly reflect any position and velocity errors between real aircraft trajectory and reference one. The proposed guidance law is easily integrated into the existing flight control system. The new guidance law was extensively tested with various mission scenarios and the fully nonlinear 6-DOF aircraft model. Furthermore, the new guidance law was compared with previous guidance schemes in nonlinear simulation. Results from the numerical simulation show that the proposed guidance law yields better performance than previous ones.