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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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Linearization of the Nonlinear Control Systems
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 651~657
DOI : 10.5302/J.ICROS.2003.9.9.651
Linearization is one of the most successful approaches nonlinear system control. The objective of this paper is to survey the recent results in linearization theory. It is hoped to be useful in understanding various linearization problems and challenging unsolved problems.
Design of an Adaptive Variable Structure Control using Fredholm Integral Formulae for the Uncertainties
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 658~663
DOI : 10.5302/J.ICROS.2003.9.9.658
In deterministic design of feedback controllers for uncertain dynamic systems, the upper bound of the uncertainty is very important to guarantee the stability of the closed loop system. In this paper, we assume that the upper bound of the uncertainty is formulated using a Fredholm integral equation of the first kind, that is, an integral of the product of a predefined kernel with an unknown influence function. We propose an adaptation law that is capable of estimating this upper bound. Using this adaptive upper bound, we design an adaptive variable structure control (AVSC), which guarantees asymptotic stability/ultimate boundedness of uncertain dynamic systems. The illustrative example shows the proposed AVSC is effective for uncertain dynamic systems.
Sliding Mode Control Using the Lower Bound of Control Gain
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 664~668
DOI : 10.5302/J.ICROS.2003.9.9.664
A new sliding mode control method based on the lower bound of control gain is presented. Although the magnitube of the proposed control input is larger than that of the conventional control input using both lower and upper bounds, the positive-negative exchanging chattering is reduced and reaching mode is shorter. Because the proposed scheme needs only the lower bound of control gain, it is applicable to the system whose upper bound of control gain is doubtful to determine such as the control gain depends on the system states. It is proved that the proposed control method guarantees the sliding condition. The analysis of differences between the conventional method and the proposed method is given. The validity of the proposed control strategy is shown through a 2nd-order nonlinear system example.
LQC Control for Semi-Active Suspension Systems with Road-Adaptation
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 669~678
DOI : 10.5302/J.ICROS.2003.9.9.669
A road-adaptive LQG control for the semi-active Macpherson strut suspension system of hydraulic type is investigated. A new control-oriented model, which incorporates the rotational motion of the unsprung mass, is used for control system design. First, based on the extended least squares estimation algorithm, a LQG controller adapting to the estimated road characteristics is designed. With computer simulations, the performance of the proposed LQC-controlled semi-active suspension is compared with that of a non-adaptive one. The results show better control performance of the proposed system over the compared one.
Adaptive Suppression of Mechanical Resonance in High-Density Disk Drives
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 679~691
DOI : 10.5302/J.ICROS.2003.9.9.679
The band-width of disk drive servo system is rapidly increasing for the robustness to external disturbance as the track density is increasing. The increase of the band-width may cause mechanical resonance of an actuator. In disk drive servo system, a notch filter is usually used to suppress the mechanical resonance of the actuator. However, the resonance frequency differs from drive to drive because of manufacturing tolerance and varies with temperature even within a single drive. The variation of resonance frequency degrades the suppression performance of the notch filter. In this paper, we present an adaptive digital notch filter that identifies the resonance frequency of the disk drive servo actutaor precisely and adjusts automatically its center frequency. For this, we design an adaptive FIR digital filter for the estimation of the resonance frequency. The estimation filter identifies the resonance frequency adaptively using the output signal generated from the servo system, which is excited with an excitation signal including all the expected resonance frequency components. We prove mathematically the convergence of the resonance frequency estimation filter. Furthermore, in order to demonstrate the practical use of our work, we present some experimental results using a commercially available disk drive.
Sensorless Induction Motor Vector Control Using Stator Current-based MRAC
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 692~699
DOI : 10.5302/J.ICROS.2003.9.9.692
A novel rotor speed estimation method using Model Reference Adaptive Control(MRAC) is proposed to improve the performance of a sensorless vector controller. In the proposed mettled, the stator current is used as the model variable for estimating the speed. In conventional MRAC methods, the relation between the two model errors and the speed estmation error is unclear. Yet, in the proposed method, the stator current error is represented as a function of the first degree for the error value in the speed estimation. Therefore, the proposed method can produce a fast speed estimation and is robust to the parameters error In addition, the proposed method of offers a considerable improvement in the performance of a sensorless vector controller at a low speed. The superiority of the proposed method is verified by simulation and experiment in a low speed region and at a zero-speed.
Development of a Three Dimensional Last Data Generation System using FFD
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 700~706
DOI : 10.5302/J.ICROS.2003.9.9.700
This paper presents a 3D last design system that provides the 3-dimensional last data based on the FFD(Free Form Deformation) method. The proposed system utilizes the control points for deformation factor to convert from the 3D point cloud foot data to the 3D point cloud last data. The deformation factor of the FFD is obtained from the conventional last design technique, and constructed on the FFD lattice based on the bottom view and lateral view of the measured 3D point cloud foot data. In addition, the control points of FFD lattice is decided on the anatomical points of foot. The deformed 3D last obtained from the proposed FFD is saved as a 3D dxf foot data. The experimental results demonstrate that the proposed system have the descent 3D last data based on the openGL window
Development of an Ultrasonic Gas Flow Meter Using Transit Time Difference
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 707~713
DOI : 10.5302/J.ICROS.2003.9.9.707
We investigate the ultrasonic gas flow meter for the measurement of gas volume quantity, which passing through pipe, using the transit time difference method. We have designed a receiving system of an ultrasonic signal and hardware system of a flow meter Also, we have designed an experimental system for the characteristic test and calibration of a gas flow meter system. We have developed an ultrasonic gas flow meter, which has a measurement uncertainty within
1.7 %. For the test, we have compared our system with a difference pressure type flow meter for a few months in the real field. Through the test, we have confirmed that our system have a good reliability and durability. Also, we have confirmed that our system follows very well the variation of gas volume quantity, which was measured by a difference pressure type flow meter.
The Merging Method of Point Data with Point Pattern Matching in 3D Measurement
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 714~719
DOI : 10.5302/J.ICROS.2003.9.9.714
We propose a measuring method of large object using the pattern matching. It is hard and expensive to get the complete 3D data when the object is large and exceeds the limit of measuring devices. The large object is divided into several smaller areas and is scanned several times to get the data of all the pieces. These data are aligned to get the complete 3D data using the pattern matching method such as point pattern matching method and transform matrix algorithm. The laser slit beam and CCD camera are applied for the experimental measurement. Visual C＋＋ on Windows 98 is implemented in processing the algorithm.
Experimental Investigation on Skilled Human′s Typing Pattern for Development of New Input Device
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 720~726
DOI : 10.5302/J.ICROS.2003.9.9.720
A virtual keyboard may be efficient as a new mobile input device supporting QWERTY keyboard layout. As a preliminary study for developing a virtual keyboard, the typing pattern of a skilled human is investigated. In the study the touch-positions of the fingers are measured with a touchscreen while five skilled typists perform typing of long sentences. From these measurements it can be observed that the groups of touch-positions are classified into alphabetic characters. Though there are some mismatches, we can find constant distances capable of being discriminated among the groups. Based on the analysis the prediction algorithm of the constant distance is proposed and evaluated, which is useful for realization of a portable virtual keyboard.
Completion Time Algorithm in Multiproduct Batch Processes with Storage Time and Product Allocation Restriction in Intermediate Storage Tank
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 727~735
DOI : 10.5302/J.ICROS.2003.9.9.727
The determination of completion time constitutes an important step in developing algorithms for short-term production scheduling. Existing completion time algorithms of multi-product batch processes often assume that intermediate storage tanks are always available when it is needed. In this paper, we consider a serial multi-product batch plants with ZW and NIS policy intermediate storge tank. We limit storage residence time and allocated products in the intermediate storage tank to minimize the quality change of the stored material as well as to reduce the clearing time during product change. A set of recurrence relations is suggested to calculate the completion times for the given batch sequence of products on all processing units. Also analytic solution for the suggested model is solved by a graphical method. The effectiveness of these results is proved by a few illustrative examples.
The AGPS/INS Integrated Navigation System Design Using Triple Difference Technique
Journal of Institute of Control, Robotics and Systems, volume 9, issue 9, 2003, Pages 736~744
DOI : 10.5302/J.ICROS.2003.9.9.736
The GPS attitude output or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS information is directly applied to the AGPS/INS integration system, the performance of the system can be rapidly degraded. This paper proposes an AGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which inertial information is combined. Computer simulations and van test were performed to verify the proposed integration system. The results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correct and the cycle slip occurs.