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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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Development of Water Management System for Optimal Operation and Control in Wide-area Waterworks
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 489~497
DOI : 10.5302/J.ICROS.2003.9.7.489
A water management system is developed to reduce the unit cost of production in wide-area waterworks. Improving productivity in waterworks is to save power rate. We suggest a method to schedule the supply of water according to the time-varying power rate and pump control scheme. Water pipeline analysis package (SynerGEE Water) is utilized to obtain optimal pump control solution adaptation to water demand. Our evaluation results show that developed scheme is more efficient than the conventional.
An Onboard Image Processing System for Road Images
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 498~506
DOI : 10.5302/J.ICROS.2003.9.7.498
A computer vision system applied to an intelligent safety vehicle has been required to be worked on a small sized real time special purposed hardware not on a general purposed computer. In addition, the system should have a high reliability even under the adverse road traffic environment. This paper presents a design and an implementation of an onboard hardware system taking into account for high speed image processing to analyze a road traffic scene. The system is mainly composed of two parts: an early processing module of FPGA and a postprocessing module of DSP. The early processing module is designed to extract several image primitives such as the intensity of a gray level image and edge attributes in a real-time Especially, the module is optimized for the Sobel edge operation. The postprocessing module of DSP utilizes the image features from the early processing module for making image understanding or image analysis of a road traffic scene. The performance of the proposed system is evaluated by an experiment of a lane-related information extraction. The experiment shows the successful results of image processing speed of twenty-five frames of 320
240 pixels per second.
An Algorithm for Discontinuous Surface Profile Measurement using Wavelength Scanning Interferometer
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 507~514
DOI : 10.5302/J.ICROS.2003.9.7.507
Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. Recently the shape measurement using interferometric principle is found to be a successful methodology among other visual or optical technologies. Especially, the measuring method using wavelength scanning interferometer(WSI) has a great advantage in comparison with other conventional jnterferometric methods in that the absolute distance from the reference surface can be directly obtained from the amount of jnterferometric phase change. However, the measurement methods using WSI proposed by other researchers have low measurement resolution so far because they can`t measure fractional phase change. To avoid this shortcoming we propose a new algorithm in this paper, which can obtain a small amount of even fractional phase change by sinusoidal function fitting. To evaluate the effectiveness of the proposed sinusoidal function fitting algorithm, a series of measuring experiments are conducted for discontinuously shaped specimens which have various height. The proposed algorithm shows much more enhanced measurement resolution than other existing conventional algorithms such as zero crossing algorithm and Fourier transform algorithm.
Experimental Studies of Vision Based Position Tracking Control of Mobile Robot Using Neural Network
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 515~526
DOI : 10.5302/J.ICROS.2003.9.7.515
Tutorial contents of kinematics and dynamics of a wheeled drive mobile robot are presented. Based on the dynamic model, simulation studies of position tracking of a mobile robot are performed. The control structure of several position control algorithms using visual feedback are proposed and their performances are compared. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position control schemes are proposed. Experiments are conducted and the results show the performance of the vision based neural network control scheme fumed out to be the best among several proposed schemes.
Design and Implementation of a Behavior-Based Control and Learning Architecture for Mobile Robots
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 527~535
DOI : 10.5302/J.ICROS.2003.9.7.527
A behavior-based control and learning architecture is proposed, where reinforcement learning is applied to learn proper associations between stimulus and response by using two types of memory called as short Term Memory and Long Term Memory. In particular, to solve delayed-reward problem, a knowledge-propagation (KP) method is proposed, where well-designed or well-trained S-R(stimulus-response) associations for low-level sensors are utilized to learn new S-R associations for high-level sensors, in case that those S-R associations require the same objective such as obstacle avoidance. To show the validity of our proposed KP method, comparative experiments are performed for the cases that (ⅰ) only a delayed reward is used, (ⅱ) some of S-R pairs are preprogrammed, (ⅲ) immediate reward is possible, and (ⅳ) the proposed KP method is applied.
Object Extraction Technique Adequate for Radial Shape`s RADAR Signal Structure
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 536~546
DOI : 10.5302/J.ICROS.2003.9.7.536
We propose an object extraction technique adequate for the radial shape`s radar signal structure for the purpose of implementing ARPA(Automatic Radar Plotting Aid) installed in the vessel. The radar signal data are processed by interpolation and accumulation to acquire a qualified image. The objects of the radar image have characteristics of having different shape and size as it gets far from the center, and it is not adequate for clustering generally. Therefore, this study designs a new vigilance distance model of elliptical shape and adopts this model in the ART2 neural network. We prove that the proposed clustering method makes it possible to extract objects adaptively and to separate the connected objects effectively.
Adaptive Control Based on a Parametric Affine Model for Tail-Controlled Missiles
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 547~555
DOI : 10.5302/J.ICROS.2003.9.7.547
This paper presents an adaptive control against uncertainties in tail-controlled STT (Skid-to-Turn) missiles. We derive an analytic uncertainty model from a parametric affine missile model developed by the authors. Based on this analytic model, an adaptive feedback linearizing control law accompanied by a sliding mode control law is proposed. We provide analyses of stability and output tracking performance of the overall adaptive missile system. The performance and validity of the proposed adaptive control scheme are demonstrated by simulation.
Derivation of Attitude Error Differential Equations by Platform Torque Commands
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 556~562
DOI : 10.5302/J.ICROS.2003.9.7.556
This paper presents new attitude error differential equations to define attitude errors as the rotation vector for inertial navigation systems. Attitude errors are defined with the rotation vector between the reference coordinate frame and the platform coordinate frame, and Platform dynamics to the reference coordinate frame due to platform torque command errors are defined. Using these concepts for attitude error definition and platform dynamics, we have derived attitude error differential equations expressed in original nonlinear form for GINS and SDINS and showed that these are equivalent to attitude error differential equations expressed in known linear form. The relation between attitude errors defined by the rotation vector and attitude errors defined by quaternion is clearly presented as well.
Performance Prediction Analysis for the PDA Filter
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 563~568
DOI : 10.5302/J.ICROS.2003.9.7.563
In this paper, We propose a target tracking filter which utilizes the PDA for data association in a clutter environment and also propose an analytic solution for ideal filter covariance which accounts for all the possible events in the PDA. Monte Carlo simulation for the proposed filter in a clutter environment indicates that the proposed analytic solution forms the true error covariance of the PDA Filter.
Delay Analysis of Urgent Data in the Foundation Fieldbus and Experimental Verification
Journal of Institute of Control, Robotics and Systems, volume 9, issue 7, 2003, Pages 569~576
DOI : 10.5302/J.ICROS.2003.9.7.569
The data link layer of Foundation Fieldbus provides both token-passing and scheduling services for periodic, time-critical and time-available data. This study developed an analytical model that evaluates the delay performance of urgent data when the data link layer of Foundation Fieldbus provides token-passing service. The validity of analytical model is verified using an experimental model that consists of network interface boards of Foundation Fieldbus. Comparison of analytical and experimental models shows that the analytical model can be utilized in the approximate analysis of the delay characteristics of time-critical data in the Foundation Fieldbus. The analytical model can also be used in the basic design stage of Foundation Fieldbus network system.