This paper considers the problem of determining a set of stabilizing first order controller gains, for a given linear time invariant plant, that meets or exceeds closed loop step response specifications. The method utilizes two recent results: For a given system, (1) finding a set of stabilizing first order controller 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 first order controller gains that meets stability as well as time domain performance requirements. The computations involved are the intersections of two dimensional sets described by linear and quadratic inequalities in the controller design space. It is illustrated by examples.

In this paper, S(stochastic)-eigenvalue concept and its S-eigenvector for linear continuous-time systems with probabilistic uncertainties are proposed. The proposed concept is concerned with the perturbation of eigenvalues due to the probabilistic variable parameters in the dynamic model of a plant. S-eigenstructure assignment scheme via the Sylvester equation approach based on the S-eigenvalue concept is also proposed. The proposed design scheme is applied to the longitudinal dynamics of open-loop-unstable aircraft with possible uncertainties in aerodynamic and thrust effects as well as separate dynamic pressure.

This paper proposes a design method of PID controllers in the framework of a constrained optimization problem. Owing to the popularity for the controller's simplicity and robustness, a great deal of literature concerning PID control design has been published, which can be classified into frequency-based and time-based approaches. However, both approaches have to be considered together for a designed PID control to work well with a guaranteed closed-loop stability. For this purpose, a penalty function is formulated to satisfy both frequency- and time-domain specifications, and is minimized by a recet nonlinear optimization algorithm to attain optimal PID control gains. The proposed method is compared with Wang's and Ho's methods on a suite of example systems. Simulation results show that the PID control tuned by the proposed method improves time-domain performance without deteriorating closed-loop stability.

A new method for designing critical control systems is proposed in this paper. The controller structure is chosen as a Davison type integral controller with an observer. The proposed method consists of two steps. First, the state feedback critical control system is designed using a quadratic performance index with tunable parameters. Second, the observer gain matrix is determined by the formal LTR procedure using a Riccati equation. Consequently, the search space can be reduced considerably compared with the conventional approach. Although the proposed method sacrifices a large freedom for the choice of controller structure provided by the principle of matching, the controller structure used in this paper is not excessively complex and can be used for most applications. An illustrative design example is presented.

LQ actuator selection problem for multi-input system discussed in this paper is to determine optimal actuator out of many actuators and input sequences so as to minimize the quadratic control performance. The solution of this problem depends on initial values and has a combinatorial property, so it is extremely difficult to get an optimal solution. For this difficulty, we proposed the concept of comparability of actuators and showed the uniqueness of the solution[1] . Further, to get general optimal solution for LQ problem with actuator selection strategies, we derived the equivalent condition for the comparability of actuator in single-input system . In this paper we extend this result to the case of multi-input system. The derived sufficient condition is applicable in the case of positive semi-definite comparability matrices.

In the control system analysis and synthesis, the nonminimum phase system has some difficulties due to the undershoot behaviour and the constrained sensitivity function. SISO problems has been widely investigated in the literatures, and it is well known that the undershoot cannot be eliminated by any linear feedback control. However, the undershoot compensation in MIMO system is less studied, and this paper is to deal with the zero property and the nonminimum phase behaviour of the MIMO system. Firstly, some definitions of the zeros will be introduced. Second, some systems including nonminimum phase transmission zeros are exemplified to show that the undershoot behaviour could be eliminated by a linear feedback in MIMO systems.

The considered satellite is supposed to operate in the earth-point mode and sun-point mode in accordance with the mission requirements. The magnetic field correction is based on the orbit geometry using a set of measured magnetic field data from the three-axis-magnetometer and its algorithm excludes the earth’s magnetic field model. Moreover, the usefulness of the proposed method is investigated throughout the simulation of KOMPSAT-1.

We propose portable equipment that monitors current and voltage of high-potential power transmission lines. In the equipment, a current and voltage sensor are attached to an insulator that supports a power transmission line: A clamped to the power line and the detected current signal is transmitted to the ground station by a wireless optical link using transmission line is detected by a high resistance element, zinc oxide (ZnO). That acts as a potential divider between the power line and ground. We make an experimental device for 66kV power line and demonstrate that it can monitor currents proposed equipment is small-sized, light, and inexpensive in comparison with the conventional CT (current transformer) and PT (potential transformer) since it does not require high potential insulators and magnetic cores, further, the equipment is easily installed owing to its small size and its simple structure.

This research presents an approach to simultaneously detect the faults and measure the length of the electric cables. This approach is easy to use and inexpensive. Moreover, it can be applied to any kinds and sizes of the electric cable. This paper uses 750V $4{\times}4$ Sq.mm. cables. The concept is to send the 2 kHz pulse into the electric cable. When the pulse bumps into the fault, it bounces back. Then, the total time the pulse travels back and forth and the shape of the pulse after bumping are inspected using the pulse detector and pulse converter. Next, the signal obtained is modulated with 10 MHz carrier pulse to segregate into several small pulses before sending to 8-bit counter. The length of the electric cable can be obtained using microcontroller and the location of the faults can be seen on the LCD screen. This approach can be used to inspect the electric cables with the length of at least 15 m.

Two types of ozone monitors using UV absorption method were tried in consideration of cost of the monitor and precision in measuring. The high concentration ozone monitor for high concentration real time ozone monitoring from ozone generator was composed of a low pressure mercury lamp as UV source, a photo multiplier tube as UV detector and signal processing unit for the most part. This structure could be very useful for low price high concentration ozone monitor due to simple system structure and fairly good monitoring characteristics. The developed system showed good linear output characteristics to ozone in the measuring concentration range of 0.05 and 2 wt.%. For accuracy ambient ozone monitoring in ambient in ppm level, the system composed of a high power pulsed xenon lamp as UV source, an optical spectrometer with a high sensitivity linear CCD array as UV detector and signal processing unit in brief speaking was proposed our study for the first time in the world. The developed system showed good linearity and sensitivity in relative low measuring range between 10ppm and 10,000ppm, and showed some feasibility of high resolution ozone monitor using CCD array as photodetector.

For identifying how a sample knit fabric is woven a method to obtain positional information of each yarn of the sample from voxel data made out of its x-ray CT images is newly proposed in this paper. The positional information is obtained by tracing the each yarn. The each yarn is traced by estimating a direction of the yarn in a certain small region in which the yarn can be regarded as straight and moving the region slightly along the estimated direction alternately. The yarn direction is estimated by correlating the voxel data in the region with a three-dimensional yarn model. The effectiveness of this method is confirmed by applying the method to voxel data made out of CT images of a knit fabric experimentally.

We have proposed the adaptive noise reduction algorithm using the MDFT. The algorithm proposed use the linear prediction coefficients of the AR method based on Sign algorithm that is the modified LMS instead of the least mean square(LMS). The signals with a random noise tracking performance are examined through computer simulations and confirmed that the high speed adaptive noise reduction processing system is realized with rapid convergence.

A band function model paired comparison method (BMPC method) is a kind of a paired comparison methods. Considering the human ambiguities, the BMPC method expressing the human judgment characteristics as a monotonous increase function with some width. Since function types are not specified in a BMPC method, the solution is obtained from inequalities, and the solution is given as a domain. To solve the simultaneous inequalities, the sequential renew method is used in the previous BMPC method. However, the sequential renew method requires much computational effort and memories. Generally, in BMPC method, it is able to solve only a paired comparison table which has less 12-13 samples. For that purpose, a new fast solution algorithm is required. In this paper, we proposed a new “search vector method” which renews the solution domain without creating new edge vectors. By using the method, it is able to decrease the necessary memory spaces and time to solve. The proposed method makes it able to solve more than 15 samples paired comparison inspections which are impossible to solve by previous method.

This paper presents a design and construction of IIR multiple notch filter by modifying the pole-zero placement with least square estimation to find the appropriate gain and pole positions for the filter within a unit circle in z-plane. The appropriated gain and pole position will render the controllable unit gain of filter magnitude. Algorithm design and system simulation are performed on MATLAB while the actual implementation is done on the TMS320C31 digital signal processing board.

This paper presents a current-mode multiple-input minimum circuit. The proposed circuit can be implemented by applying De Morgan’s law. The circuit diagram is simple and modular. It operates using a single 2.5V supply and has very low dissipation. The realization method is suitable for fabrication using CMOS technology and all transistors are operated in their saturation region. The performances of this proposed circuit were studied using the PSPICE analog simulation program. The simulation results show the approval of this circuit that it has adequate basic performances for a real-time fuzzy controller and a fuzzy computer.

This paper presents a high-speed algorithmic analog-to-digital converter (ADC), which is based on gray coding. The realization method makes use of a two-input maximum circuit to provide a high-speed operation and a low-distortion in the transfer characteristic. The proposed ADC based on the CMOS integrated circuit technique is simple and suitable for implementing a highresolution ADC. The performances of the proposed circuit were studied using the PSPICE analog simulation program. The simulation-results verifying the circuit performances are agreed with the expected values.

In this paper, it is dealt with a controller design problem for nonlinear systems with higher order relative degree. A robust adaptive control for uncertain nonlinear systems with stable zero dynamics will be proposed based on the high-gain adaptive output feedback and backstepping strategies. The proposed method is useful in the case where only the output signal is available.

Fuzzy controller is one of the succeed controller used in the process control in case of model uncertainties. But it my be difficult to fuzzy controller to articulate the accumulated knowledge to encompass all circumstance. Hence, it is essential to provide a tuning capability. There are many parameters in fuzzy controller can be adapted, scale factor tuning of normalized fuzzy controller is one of the adaptation parameter. Two adaptation methods are implemented in this work on an experimental thermal process, which simulate heating process in liquefied petroleum gases (LPG) recovery process in one of petrochemical industries: Gradient decent (GD) adaptation method; supervisory fuzzy controller. A comparison between the two methods is discussed.

In this paper, an Adaptive Nonlinear Constrained Model Predictive Control (ANCMPC) is presented for a pH control in a fed-batch bio-reactor. The pH model is represented with Hammerstein Model. The static nonlinear part of Hammerstein model is described with the static pH model, and the dynamic linear part of the Hammerstein model is described with the CARIMA model. The parameters of the CARIMA model is estimated on-line with the input and output measurements of the system using a recursive least squares type of identi�cation algorithm. The e�ectiveness of the proposed controller is shown through simulations.

In this paper, a DLC method is proposed for linear feedback systems to improve the tracking performance when the task of the system is repetitive. DLC can generate the desired control input directly from the previously learned control inputs corresponding to other output trajectories. It is assumed that all the desired output functions considered in this paper have some relations called proportionality and it is shown by mathematical analysis that DLC can be utilized to generate additional control efforts for the perfect tracking. To show the validity and tracking performance of the proposed method, some simulations are performed for the tracking control of a linear system with a PI controller.

In the area of tracking control, it is important to design not only the controllers but also the trajectories to which a system has to follow. $5^{th}$ order polynomial is often used with constraints of initial and final states. Smooth ending with possible minimum time is important for many systems because of vibration or jerky motions. Examples are increased with development of technology in smaller, more accurate systems. On the base of a polynomial like trajectory generation method from a paper in ACC2002 and RIC(Robust Internal-loop Compensator) control scheme of Robotics and Bio-mechanics lab. of POSTECH, generalized and expanded polynomial like trajectory generation method is showed.

In general, the dynamics of autonomous underwater vehicles(AUVs) are highly nonlinear and time-varying, and the hydrodynamic coefficients of vehicles are hard to estimate accurately because of the variations of these coefficients with different navigation conditions. For this reason, in this paper, the control gain function is assumed to be unknown and the exogenous input term is assumed to be unbounded, although it still satisfies certain restrict condition. And these two kinds of wild assumptions have been seldom handled simultaneously in one system because of the difficulty of stability analysis. Under the above two relaxed assumptions, a robust neural network control scheme is presented for autonomous diving control of an AUV, and can guarantee that all the signals in the closed-loop system are UUB (uniformly ultimately bounded). Some practical features of the proposed control law are also discussed.

The digital systems include the noise in power supply, ground and packaging due to a simultaneous switching of signal, signal reflections and distortions on single and multiple transmission lines. The requirement for the controlled impedance on a PCB can be both a critical success factor and a design challenge. So, the invented tool simulates the tracks controlled impedance with the test coupon. It can saves the design time and supports the economical PCB design.

In the conventional boundary estimation in EIT (Electrical Impedance Tomography), the interface between anomalies and background is expressed in usual as Fourier series and the boundary is reconstructed by obtaining the Fourier coefficients. This paper proposes a method for the boundary estimation, where the boundary of anomaly is approximated as the interpolation of front points located discretely along the boundary and is imaged by tracking the points in the region of interest. In the solution to the inverse problem to estimate the front points, the multi-layer neural network is introduced. For the verification of the proposed method, numerical experiments are conducted and the results indicate a good performance.

In this paper, an adaptive predistortion scheme is proposed to compensate nonlinear distortions caused by high power amplifiers (HPA) in OFDM systems. A complex Wiener-Hammerstein model (WHM) is used to describe input-output relationship of HPA with linear dynamics. The predistorter is directly identified by complex power series model with memory, which is an approximate inverse of the HPA expressed by the WHM. The effectiveness of the proposed adaptive compensation scheme is validated by numerical simulation for 64QAM-OFDM systems.

In this paper, we have proposed a method by using virtual simulation to calculate the behaviors of spacers to avoid conductor galloping with the hanging composite polymer spacer between conductors on different phases. We have considered with three types of modeling considerations for the analysis of galloping in power transmission lines, such as iced-single conductors without spacer, iced-single conductors with spacers, and iced-two bundle conductors with spacers. In simulation, the finite element method is used to calculate the structural response with geometric nonlinear behavior. The iced conductor is modeled by two beam-element faces with which it is connected. The ANSYS program is applied too. First, the calculation results show that the two beam-element model is very suitable to make a virtual simulation. Second, the amplitude of conductor galloping is reduced after hanged spacers. Third, when number of spacer is increased, the maximum magnitude of natural frequency of iced conductor will reduce. Final, the behaviors of spacers are verified in viewpoint of standard cases.

Newton-Raphson is most used algorithm in EIT(electrical impedance tomography), cross-sectional distribution of resistivity is reconstructed by mean of both generating and sensing electrodes attached onto the surface of the object. EIT has been suffered from the severe ill-posedness which is caused by the inherent low sensitivity of boundary measurements to any changes of internal resistivity values. In this paper, we propose modified cost function and weighting factor that compensate for low sensitivity between boundary measurements and internal resistivity and improve performance of Newton-Raphson for EIT in region of interest.

Recently reinforcement learning has attracted attention of many researchers because of its simple and flexible learning ability for any environments. And so far many reinforcement learning methods have been proposed such as Q-learning, actor-critic, stochastic gradient ascent method and so on. The reinforcement learning system is able to adapt to changes of the environment because of the mutual action with it. However when the environment changes periodically, it is not able to adapt to its change well. In this paper we propose the reinforcement learning system that is able to adapt to periodical changes of the environment by introducing the time-varying parameters to be adjusted. It is shown that the proposed method works well through the simulation study of the maze problem with aisle that opens and closes periodically, although the conventional method with constant parameters to be adjusted does not works well in such environment.

Many control applications using Neural Network need a priori information about the objective system. But it is impossible to get exact information about the objective system in real world. To solve this problem, several control methods were proposed. Reinforcement learning control using neural network is one of them. Basically reinforcement learning control doesn't need a priori information of objective system. This method uses reinforcement signal from interaction of objective system and environment and observable states of objective system as input data. But many methods take too much time to apply to real-world. So we focus on faster learning to apply reinforcement learning control to real-world. Two data types are used for reinforcement learning. One is reinforcement signal data. It has only two fixed scalar values that are assigned for each success and fail state. The other is observable state data. There are infinitive states in real-world system. So the number of observable state data is also infinitive. This requires too much learning time for applying to real-world. So we try to reduce the number of observable states by classification of states with Self-Organizing Map. We also use neural dynamic programming for controller design. An inverted pendulum on the cart system is simulated. Failure signal is used for reinforcement signal. The failure signal occurs when the pendulum angle or cart position deviate from the defined control range. The control objective is to maintain the balanced pole and centered cart. And four states that is, position and velocity of cart, angle and angular velocity of pole are used for state signal. Learning controller is composed of serial connection of Self-Organizing Map and two Multi-layer Feed-Forward Neural Networks.

This paper proposes the concept of “Artificial Emotion”(AE). The goal of AE is simulation, extension and expansion of natural emotion, especially human emotion. The object of AE is machine emotion and emotion machine. The contents of AE are emotion recognition, emotion measurement, emotion understanding emotion representation emotion generation, emotion processing, emotion control and emotion communication. The methodology, technology, scientific significance and application value of artificial emotion are discussed

We discussed a quantitative structure-activity relationships (QSAR) technique on incomplete data set. We proposed a new solver that used 2 kinds of multi-layer neural networks. One is to compensate the defect data, and another is to evaluate the QSAR. The solver can predict the defects in model QSAR data. By using them, we get very high precision QSAR. It is 5-10 times higher than that of a traditional method. However, in case of anti-cancer Carboquone, the prediction is not so complete. It was about O(3) wrong than the model calculation. The predicted values would have rather large error. It is caused by noisy observations of Carboquone. However, if we used the uncertain predictions, new data are included in QSAR. If not, they were omitted. The effect would not be little. Therefore, we evaluated the QSAR. The results are contrary to the expectation, are not so wrong. We believe that the wrong effect is suppressed by including information of new data.

It is an interest problem to predict substance distributions in three-dimensional space. Recently, a research field as Geostatistics is advanced. It is a kind of inter- or extrapolation mathematically. Some useful means for the inter- and extrapolation are known, in which slide window method with neural networks is hopeful one. We propose multi-dimensional extrapolation using multi-layer neural networks and the slide-window method. The multi-dimensional extrapolation is not similar to one-dimension. It has plural algorithms. We researched line predictors and local-plain predictors I two-dimensional space. The both predictors are equivalent; however, in multi-dimensional extrapolation, it is very important to find the direction of predictions. Especially, since the slide window method requires information to predict the future in sampling data, if they are not ordered appropriately in the direction, the predictor cannot operate. We tested the extrapolation for typical two-dimensional functions, and found an excellent character of slide-window method based on local-plain. By using the method, we can extrapolate the function until twice-outer regions of the definitions.

In this paper, a novel feasible real-time system was researched for a differential driven wheeled autonomous mobile robot so that the mobile robot can move in a smooth, safe and elegant way. Least Square Minimum Path Planning was well used for the system to generate a smooth executable path for the mobile robot, and the point-to-point tracking algorithm was presented as well as its application in arbitrary path tracking. In order to make sure the robot can run elegantly and safely, trapezoidal speed was integrated into the point-to-point path tracking algorithm. The application to guest following for the autonomous mobile robot shows its wide application of the algorithm. The novel design was successfully proved to be feasible by our experiments on our mobile robot Interactive Robot Usher (IRU) in National University of Singapore.

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

This paper describes realtime walking based on sensory information. In this study, a biped robot having a trunk is considered. The motion of the trunk balances the whole body of the biped robot while the legs locomotes on the ground. How to calculate the motion of the trunk is proposed using the ZMP concept. Also, an online walking pattern is discussed which is generated in realtime on the basis of walking parameters selected by visual and auditory sensors. In order to realize biped walking, we have constructed a forty-three degrees of freedom biped robot, WABIAN-RV (WAseda BIped humANoid robot-Revised V). Its height is 1.89[m] and its total weight is 131.4[kg]. Various walking experiments using WABIAN-RV are conducted on the plane, and the validity of its mechanism and control is verified.

In this paper, gait generation algorithm based on Linear Inverted Pendulum Mode is extended considering that the terrain is uncertain and flexible. Deformation of the soft terrain by the weight of the biped robot is taken into account to design the desired motion of the swing leg. Landing time disagreement caused by dynamics of the robot is also considered and a method to adjust gait is proposed. Results of numerical simulation show the effectiveness of the proposed method.

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

This is a preliminary study is to make the robot walk more stably by observing the ZMP (Zero Moment Point) of the robot when the robot stands on one leg(single support) and then on two legs(double support) and so on. The robot consists of nine DOF (Degree of freedom) with lower part of the body. It is equipped with motor drivers and force sensors inside the robot. The motors are controlled by the external PC (Intel pentium 4). By the experimental results, it is found that the robot is unstable in the instant of changing from single support to double support or from double support to single support. We use the trajectory compensation of the angle and the length of both legs to realize more stable walking.

This paper proposes a desired trajectory and a control algorithm for a biped robot with curved soles. Firstly, we derived the desired trajectory from a model called the Moving Inverted Pendulum Mode (MIPM) of which a contact point of the foot is moving in the horizontal direction. A biped robot with curved soles is under-actuated system, because it has one contact point with the ground during the single supporting phase. Therefore, to solve the under-actuated problem, we changed control variables, used modified dynamic equations and used the computed torque control. The simulation results show that a biped robot with curved soles walks stably. Also, fast walking and natural motion of a biped robot can be implemented.

This paper presents a simple approach on the rotational motion estimation and correction for the roll stabilization of the sight system. The algorithm first computes the rotational center from the selected local velocity vectors of related pixels by least square methods. And then, rotational angle is found from the special subset of the motion vector. Finally, motion correction is performed by the nearest neighbor interpolation technique. In order to show the performance of the algorithm, the evaluation for the synthetic and real image was performed. The test results show good performance compared with previous approach.

Gas turbines are extensively used in flight propulsion, electrical power generation, and other industrial applications. During its life span, a turbine blade is taken out periodically for repair and maintenance. This includes re-coating the blade surface and re-drilling the cooling holes/channels. A successful laser re-drilling requires the measurement of a hole within the accuracy of ${\pm}0.15mm$ in position and ${\pm}3^{\circ}$ in orientation. Detection of gas turbine blade/vane cooling hole position and orientation thus becomes a very important step for the vane/blade repair process. The industry is in urgent need of an automated system to fulfill the above task. This paper proposes approaches and algorithms to detect the cooling hole position and orientation by using a vision system mounted on a robot arm. The channel orientation is determined based on the alignment of the vision system with the channel axis. The opening position of the channel is the intersection between the channel axis and the surface around the channel opening. Experimental results have indicated that the concept of cooling hole identification is feasible. It has been shown that the reproducible detection of cooling channel position is with +/- 0.15mm accuracy and cooling channel orientation is with +/$-\;3^{\circ}$ with the current test conditions. Average processing time to search and identify channel position and orientation is less than 1 minute.

This paper introduces a method that can derive information about the movement of a spreader and skew in order to drive ALS(Automatic Landing System) in the crane used at a harbor. Some methods that use LDL Corner detectors a kind of 2D Laser scanner sensor or Laser distance measuring units to obtain the information in ALS are used presently. But these have some defects in economic efficiency and performance. Therefore, to correct these defects, we propose a method to acquire the information for the movement of a spreader, skew and sway angle using CCD camera image data and Laser distance measuring unit data.

The constraints necessary guarantee using the comparison of these extrinsic parameters, which each Rotation matrix and Translation Vector must be equal to the either, except the X-axis Translation Vector. Thus, we can not yet calculate the 3D-range measurement in the end of camera calibration. To minimize this disadvantage, the Epipolar Rectification has been proposed in the literature. This paper aims to present the development of Epipolar Rectification to calibrate Stereo cameras. The required computation of the transformation mapping between points in 3D-space is based on calculating the image point that appears on new image plane by using calibrated parameters. This computation is assumed from the rotating the old ones around their optical center until focal planes becomes coplanar, thereby containing the baseline, and the Z-axis of both camera coordinate to be parallel together. The optical center positions of the new extrinsic parameters are the same as the old camera, whereas the new orientation differs from the old ones by the suitable rotations. The intrinsic parameters are the same for both cameras. So that, after completed calibration process, immediately can calculate the 3D-range measurement. And the rectification determines a transformation of each image plane such that pairs of conjugate Epipolar lines become collinear and parallel to one of the image axis. From the experimental results verify the proposed technique are agreed with the expected specifications.

The position of a 3-dimensional(3D) point can be measured by using calibrated stereo camera. To obtain more accurate measurement ,more accurate camera calibration is required. There are many existing methods to calibrate camera. The simple linear methods are usually not accurate due to nonlinear lens distortion. The nonlinear methods are accurate more than linear method, but it increase computational cost and good initial guess is needed. The multi step methods need to know some camera parameters of used camera. Recent years, these explicit model based camera calibration work with the development of more precise camera models involving correction of lens distortion. But these explicit model based camera calibration have disadvantages. So implicit camera calibration methods have been derived. One of the popular implicit camera calibration method is to use neural network. In this paper, we propose implicit stereo camera calibration method for 3D reconstruction using support vector machine. SVM can learn the relationship between 3D coordinate and image coordinate, and it shows the robust property with the presence of noise and lens distortion, results of simulation are shown in section 4.

This paper presents the analyses of Auto CAD plot file for carving machine. The plot file is first analyzed and then sorted to properly perform a sequence of the line segments. The experimental results show that this technique can improve the carving performance, reduce the operating time, and save the tool and machine’s lifetime. In addition, this proposed technique can also be extended to apply for other coordinate machines.

This paper has developed the computer integration manufacturing system and Internet based tele-operations. The functions of CIMS include production planing, material requirement planning, work order generation, process control, quality control, shipping planning, warehouse and inventory management and material cost accounting.[1] In this paper focuses on the automatic warehouse control and inventory management by developing the information system as well as the Internet-based integration. The system overview is divided into three parts, the mechanical system, the computer and developed software to control and manage the information and the communication system. The mechanical system consists of the warehouse machine and forklift mobile robot controlled by programmable logic controller (PLC). The computer works on many functions such as control station interfaces with PLC, managing database and inventory, and Internet server to broadcast the inventory database to users via World Wide Web and monitoring the operation on web camera. Our scheme the inventory database can be checked easily anywhere and anytime when the users connect to the Internet. In this article, the lead-time and inventory level can be reduced therefore the holding cost and operating time is also decreased.

Recently reduction of industrial products in size and weight has been increased by application of micro-drills in gadgets of high precision and a great interest of a micro-drilling has been raised. Due to the lack of tool stiffness and the chip packing, the micro-drilling requires not only the robust tool structure which has not affected by vibration but also effective drilling methods designed to prevent tool fracture from cutting troubles. This paper presents an optimum design shape of a 0.15 mm micro-drill associated with a new manufacturing process to improve the production rate and to lengthen the tool life and suggestions on the micro-drilling characteristic properties associated with the tool life and workpiece quality.

Industry is now seeing a dramatic increase in robot simulation and off-line programming. In order to use off-line programming effectively, the simulated workcell has to be identical to the real workcell. This requires an efficient and accurate method for the workcell calibration. Currently used techniques in the industry, however, are typically time-consuming, expensive and therefore not suitable for in-process application. This is because most of these techniques are based on the so-called “absolute calibration” method. In contrast to absolute method, relative calibration only measures the difference of an interested object relative to a standard reference. Owing to the small measurement range requirement, relative calibration method is very cheap and can achieve very high accuracy. In this paper the relative method is applied to calibrate an entire grinding workcell. Linear gauge is the only measurement device used. This workcell calibration includes tool center point (TCP) calibration and work object frame calibration. Due to the efficiency of the calibration algorithm and the simplicity of the calibration setup, the described calibration procedure can be done in process.

A general process of electronic assembly is composed of a series of geometric alignments and bonding/screwing processes. After assembly, the function is tested in a following process of inspection. However, assembly of micro-optic devices requires both processes to be performed in equipment. Coarse geometric alignment is made by using vision and optical function is improved by the following fine motion based on feedback of tunable laser interferometer. The general system is composed of a precision robot system for 3D assembly, a 3D vision guided system for geometric alignment and an optical feedback system with a tunable laser. In this study, we propose a new fast alignment algorithm of micro-optic devices for both of visual and optical alignments. The main goal is to find a fastest alignment process and algorithms with state-of-the-art technology. We propose a new approach with an optimal sequence of processes, a visual alignment algorithm and a search algorithm for an optimal optical alignment. A system is designed to show the effectiveness and efficiency of the proposed method.

The focus of this research is to realize the function which is equivalent to the active suspension system, with controlling semi-active suspension through the attenuation of power variable damper in lower cost and smaller energy. Actually some semi-active suspension systems have been adopted, but they are not sufficient in performance. The authors intended to develop more effective and practical system and applied the optimal control technique. The results of experiments with practical suspension system showed a degree of improvement of comfortableness.

Two criteria of good vehicle suspension performance are typically their ability to provide good road handling and increased passenger comfort. So far, The existing active vehicle suspension uses pneumatic and hydraulic actuators that enhance road handling and passenger comfort. But these kinds of actuators have nonlinear characteristic less than an electromagnetic motor. In this research, we are trying to examine the feasibility and the experiment of an active vehicle suspension using electromagnetic motor in order to enhance the ride quality because existing active vehicle suspension using active power sources such as compressors, hydraulic pumps has nonlinear characteristic. Active vehicle suspension using electromagnetic motor will have the ability to behave differently on smooth and rough roads. The desired response should be soft in order to enhance ride comfort, but when the road surface is too rough the suspension should stiffen up to avoid hitting its limits.

In this paper, new measurement and analysis system for the durability test is introduced. Not like previous development cases, newly developed system can process both primary and secondary signals effectively to enhance the analysis performance. Developed system can be easily adopted to the industrial fields with little modifications. Compared to the commercial products, the system showed satisfactory performances.

In this paper, we present static output feedback model predictive tracking control for linear system with uncertainty. The proposed control law is based on integral action form to provide zero o��set for constant command signals and the closed loop stability is guaranteed under linear matrix inequality conditions on the terminal weighting matrix using the decreasing monotonicity property of the performance index. Through simulation examples, we illustrate that the proposed schemes can be appropriate tracking controllers for uncertain system.

The autopilot system targets decreasing labor, working environment improvement, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization. Dynamic Ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And Load Condition of ship as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that is disturbance act in non-linear from, become factor who make serv ice of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using fuzzy algorithm ,Design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

PID controller is applied mostly to two-order system. In third-order or higher- system, it's impossible to get high response quality because of having more zero point than the number of zero point being in the PID controller. To solve those, Jung & Dorf suggested a new type of PIDA controller and solved problen of a third-order system. But, as the result of getting step response using PIDA controller, rising time is very quickly but wide overshoot is happened. Beside designing PIDA controller with using CDM(Coefficient Diagram Method) suggested by shunji manabe. But, In Performance standard, CDM decreases overshoot to desired but rising time is very slow. Therefore this paper suggest a PD-PIDA controller for low overshoot with PD type Pre-compensator. This paper applied designed PD-PIDA controller to position control of 3-Phase induction motor.

2-mass system is generally used as controller of the variable-speed to transfer electromotion power to mechanical load such as industrial robot, driving parts of electric vehicle, rolling machine system of steel plant and driving parts of elevator. In this case, PI controller is often used as a velocity controller because of simplicity of system. But PI control algorithm is not enough for obtaining the control characteristics required for this system. To solve this problem, 2-mass system based on the PID controller derives the optimum PID parameters by pole assignment and estimation of the ITAE performance index. In this case, the system have tenacious properties about disturbance, but it causes extreme overshoot and vibration because of rapidly output of controller in early transient response about desired value. And if speed control system is applied by 2-DOF parameter ${\alpha}$, a temporary value, we must induce most suitable parameter by complicate pole assignment and estimation of the ITAE performance index whenever ${\alpha}$ changes. In this paper, to solve this problem we suggest control algorithm to followed exactly value of ${\alpha}$ as 2-DOF parameter by using fuzzy algorithm . So, intelligence algorithm modeled by human knowledge, experience, teachability and judgment follow exact ${\alpha}$ value and it can compose the efficient 2-DOF PID controller to improve following performance, overshoot decrease.

This paper deals with robust control problems of linear systems with matched nonlinear uncertainties. In order to handle the uncertainties, a Lyapunov min-max control approach can usually be adopted. By the way, the min-max control input is required to be switched and provokes chattering phenomena which limit the practical implementation. The magnitude of switching control input which cause chattering is dependent on the size of uncertainties. In this paper, it is shown that the magnitude of the min-max control input can be made small using a well-known disturbance observer technique and only considers the disturbance observing errors. The chattering phenomena can be reduced as small as possible by selecting a high diturbance observer gain. The simulations show that the min-max control with a disturbance observer can reduce chattering phenomena much smaller and guarantee much better robust performance rather than the one without a disturbance observer.

This paper presents a design method of the wavelet neural network based controller using direct adaptive control method to deal with a stable intelligent control of chaotic systems. The various uncertainties, such as mechanical parametric variation, external disturbance, and unstructured uncertainty influence the control performance. However, the conventional control methods such as optimal control, adaptive control and robust control may not be feasible when an explicit, faithful mathematical model cannot be constructed. Therefore, an intelligent control system that is an on-line trained WNN controller based on direct adaptive control method with adaptive learning rates is proposed to control chaotic nonlinear systems whose mathematical models are not available. The adaptive learning rates are derived in the sense of discrete-type Lyapunov stability theorem, so that the convergence of the tracking error can be guaranteed in the closed-loop system. In the whole design process, the strict constrained conditions and prior knowledge of the controlled plant are not necessary due to the powerful learning ability of the proposed intelligent control system. The gradient-descent method is used for training a wavelet neural network controller of chaotic systems. Finally, the effectiveness and feasibility of the proposed control method is demonstrated with application to the chaotic systems.

In this paper, we establish a new robust $H_{\infty}$ performance condition for uncertain discrete-time systems with convex polytopic uncertainties. We express the condition as a set of linear matrix inequalities (LMIs), which are used to check stability and $H_{\infty}$ disturbance attenuation level by a parameter-dependent Lyapunov matrix. We show that the new condition provides less conservative result than the existing ones which use single Lyapunov matrix. We also show that the robust $H_{\infty}$ state feedback design problem for such uncertain discrete-time systems can be easily dealt with using the approach. The key point in this paper is to propose a kind of decoupling between the Lyapunov matrix and the system matrices in the parameter-dependent matrix inequality by introducing one new matrix variable.

A new discretization method for nonlinear system with time-delay is proposed. It is based on the well-known Taylor series expansion and the zero-order hold (ZOH) assumption. We know that a discretization of linear system can be obtained with the ZOH assumption and within the sampling interval. A similar line of thinking is available in nonlinear case. The mathematical structure of the new discretization method is explored and under the structure, the sampled-data representation of nonlinear system including time-delay is computed. Provided that the discrete form of the single input nonlinear system with time-delay is derived, this result is easily extended to nonlinear system with multi-input time-delay. For simplicity two inputs are considered in this study. It is enough to generalize that of multiple inputs. Finally, the time-discretization of non-affine nonlinear system with time-delay is investigated for apply all nonlinear system

For long time, the takeoff and landing control of airship was worked by human handling. With the development of the autonomous control system, the exact controls during the takeoff and landing were required and lots of methods and algorithms were suggested. This paper presents the result of airship take-off and landing by buoyancy control using air ballonet volume change and performance control of pitch angle for stable flight within the desired altitude. For the complexity of airship's dynamics, firstly, simple PID controller was applied. Due to the various atmospheric conditions, this controller didn’t give satisfactory results. Therefore, new control method was designed to reduce rapidly the error between designed trajectory and actual trajectory by learning algorithm using an artificial neural network. Generally, ANN has various weaknesses such as large training time, selection of neuron and hidden layer numbers required to deal with complex problem. To overcome these drawbacks, in this paper, the RBFN (radial basis function network) controller developed.

This paper provides a design method for a dynamic output feedback controller which stabilizes a class of linear time invariant systems. We suppose all the states of the given system is not measurable and only the outputs are used to stabilize the system. The systems considered cannot be stabilized by a static output feedback only. In the scheme we first assume that the given system can be stabilized by a state feedback composed of its output, velocity of the output and its higher order derivative terms. Instead of using the derivatives of the output, however, a dynamic system is constructed systematically which replaces the role of the derivative terms. Then, a high-gain output feedback stabilizes the composite system together with the newly constructed system. The performance of the proposed control law is illustrated in the comparative simulation studies of a numerical example with an observer-based control law.

In this paper, an active vibration control of a translating tensioned string with the use of an electro-hydraulic servo mechanism at the right boundary is investigated. The dynamics of the moving strip is modeled as a string with tension by using Hamilton’s principle for the systems with changing mass. The control objective is to suppress the transverse vibrations of the strip via boundary control. A right boundary control law in the form of current input to the servo valve based upon the Lyapunov’s second method is derived. It is revealed that a time-varying boundary force and a suitable passive damping at the right boundary can successfully suppress the transverse vibrations. The exponential stability of the closed loop system is proved. The effectiveness of the control laws proposed is demonstrated via simulations.

This paper considers the optimal control problem in real-time control systems with random time-delays. It proposes an algorithm which uses the linear quadratic (LQ) control method and a dedicated technique to compensate for the time-delay effects. Since it is assumed that the time-delays are unknown but the probability distribution of the delays are known a priori, the algorithm considers the mean value of the time-delays as a nominal value for random delay compensation. An example is given to show the performance of the proposed algorithm, where an inverted pendulum system is controlled over a controller-area network (CAN). Simulation results show that the proposed algorithm provides good performance results. It is shown that our algorithm is comparable to existing algorithms in both computation cost and performance.

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

In this paper, we have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers on a single chip are implemented as a system-on-chip for multi-axis motion control. We also develop a PC GUI for an efficient interface control. Comparing with the commercial motion controller LM 629 it has multi-independent PID controllers so that it has several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, robot finger is controlled. The robot finger has three fingers with 2 joints each. Finger movements show that position tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

This paper is on weighted model reduction using structurally balanced truncation. For a given weighted(single or double-sided) transfer function, a state space realization with the linear fractional transformation form is obtained. Then we prove that two block diagonal LMI(linear matrix inequality) solutions always exist, and it is possible to get a reduced order model with guaranteed stability and a priori error bound. Finally, two examples are used to show the validity of proposed weighted reduction method, and the method is compared with other existing methods.

In general, the electronic forklift driven by DC motor drive system is used in the industrial field. Classically, the DC motor is controlled by speed control using proportion control method, by output torque following the load on the plane like a manual operation. But in the industrial field, the electronic forklift is demanded the robust drive mode. Some cases of the mode, there are trouble in torque and speed control following slope capacity. The control is sensitive concerning with slope angle and output speed, various control method is studied for stability of speed control. We apply speed controller for the self-tuning using DSP(TMS320F240) as main controller for high speed processor, embody dynamic characteristic of control compared the PI control to the fuzzy control.

The design of speed controller for induction motor using tabu search is studied. The proposed sensorless vector control for Induction Motor is composed of two parts. The first part is for optimizing the initial parameters of input-output. The second part is for real time changing parameters of input-output using tabu search. Proposed tabu search is improved by neighbor solution creation using Gaussian random distribution. In order to show the usefulness of the proposed method, we apply the proposed controller to the sensorless speed control of an actual AC induction Motor System. The performance of this approach is verified through simulation.

In this paper, in order to improve the control performance of piezoelectric actuator, an integrated control structure is proposed. The control structure consists of inverse hysteresis model , to compensate the hysteresis nonlinearty problem, and feedforward - feedback controller to give a good tracking performance. The inverse hysteresis model and neural network are used as feed-forward controller, and PID controller is used as a feedback controller. From diverse experiments it is concluded that the proposed control scheme gives good tracking performance than the classical control does.

This paper focuses on robust $H_{\infty}$ control for bilinear systems with time-varying parameter uncertainties and exogenous disturbance via output feedback. $H_{\infty}$ control is achieved via separation into a $H_{\infty}$ state feedback control problem and a $H_{\infty}$ state estimation problem. The suitable robust stabilizing output feedback control law can be constructed in term of approximated solution to x-dependent Riccati equation using successive approximation technique. Also, the $H_{\infty}$ filter gain can be constructed in term of solution to algebraic Riccati equation. The output feedback control robustly stabilizes the plant and guarantees a robust $H_{\infty}$ performance for the closed-loop systems in the face of parameter uncertainties and exogenous disturbance.

In the maritime container terminal, LMTT (Linear Motor-based Transfer Technology) is horizontal transfer system for the yard automation, which has been proposed to take the place of AGV (Automated Guided Vehicle). The system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that is consists of stator modules on the rail and shuttle car (mover). Because of large variant of mover's weight by loading and unloading containers, the difference of each characteristic of stator modules, and a stator module's trouble etc., LMCPS (Linear Motor Conveyance Positioning System) is considered as that the system is changed its model suddenly and variously. In this paper, we will introduce the soft-computing method of a multi-step prediction control for LMCPS using DR-FNN (Dynamically-constructed Recurrent Fuzzy Neural Network). The proposed control system is used two networks for multi-step prediction. Consequently, the system has an ability to adapt for external disturbance, cogging force, force ripple, and sudden changes of itself.

Electrical impedance tomography(EIT) is a relatively new imaging modality in which the internal impedivity distribution is reconstructed based on the known sets of injected currents and measured voltages on the surface of the object. In this paper, an effective dynamic EIT imaging scheme is presented based on the projection filtering to estimate the unknown resistivity distribution. In particular, pre-integration (pre-grouping) technique is employed to stabilize the inverse algorithm. We carried out computer simulations with synthetic data to illustrate the reconstruction performance of the proposed algorithm.

Obstacle avoidance algorithm is very important on an unmanned vehicle. Therefore, in this research, we propose a algorithm of obstacle avoidance and we can prove through vehicle test and sensor experiments. Obstacle avoidance must be divided into two parts: the first part includes the longitudinal control for acceleration and deceleration and the second part is the lateral control for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.

In this paper, a new multirate optimal finite impulse response (FIR) filter is proposed for the signal reconstruction in the nosy filter bank systems. The multirate optimal FIR filter replaces the conventional synthesis filters and the Kalman synthesis filter. First, the generic linear model is derived from the multirate state space model for an autoregressive (AR)input signal. Second, the multirate optimal FIR filter is derived from the multirate generic linear model using the minimum variance criterion. This paper also provides numerical examples and results. The simulation results illustrate that the performance is improved compared with conventional synthesis filters and the proposed filter has advantages over the Kalman synthesis filter.

The hydraulic excavator has been a popular research object for automation because of its multi-workings and economic efficiency. The objective of this paper is to design each components and to construct boom, arm, bucket circuit. These models modeled with AMESim show us change of variables and behavior of excavator. Simulation model will be used for simulator of excavator.

In this paper, it is to development of brake system with ABS function for aircraft. The test of brake system is required before applying on aircraft. The real-time dynamic simulator with 5-D.O.F. aircraft dynamic model is developed for braking performance test of ABS (Anti-skid Brake System) control h/w with anti-skid brake functions. The dynamic simulator is real-time interface system that is composed of dynamic simulation parts, master control parts, digital and analog in/out interface parts, and user interface parts. The 5-D.O.F. aircraft dynamic model is composed of a big contour and a little contour by simulation s/w. The big contour represents the interactions of forces in airframe, nose and main landing gear, and engines on the center of gravity. The little contour represents interactions of wheel, braking units, hydraulic units and a control unit. ABS control h/w unit with ABS control algorithm is also developed and is tested with simulator under the some conditions of gripping coefficient. We have known that ABS control h/w unit on wet or snowy runway as well as dry runway very well protects wheel skid.

Quantitative Feedback Theory (QFT) is one of most effective methods of robust controller design and can be considered as a suitable method for systems with parametric uncertainties. Particularly it allows us to obtain controllers less conservative than other methods like $H_{\infty}$ and ${\mu}$-synthesis. In QFT method, we transform all the uncertainties and desired specifications to some boundaries in Nichols chart and then we have to find the nominal loop transfer function such that satisfies the boundaries and has the minimum high frequency gain. The major drawback of the QFT method is that there is no effective and useful method for finding this nominal loop transfer function. The usual approach to this problem involves loop-shaping in the Nichols chart by manipulating the poles and zeros of the nominal loop transfer function. This process now aided by recently developed computer aided design tools proceeds by trial and error and its success often depends heavily on the experience of the loop-shaper. Thus for the novice and First time QFT user, there is a genuine need for an automatic loop-shaping tool to generate a first-cut solution. In this paper, we approach the automatic QFT loop-shaping problem by using an algorithm involving Linear Programming (LP) techniques and Genetic Algorithm (GA).

Quantitative Feedback Theory (QFT) is one of effective methods of robust controller design. In QFT design we can considers the phase information of the perturbed plant so it is less conservative than $H_{\infty}$ and ${\mu}$-synthesis methods and as be shown, it is more transparent than the sensitivity reduction methods mentioned . In this paper we want to overcome the major drawback of QFT method which is lack of an automatic method for loop-shaping step of the method so we focus on the following problem: Given a nominal plant and QFT bounds, synthesize a controller that achieves closed-loop stability and satisfies the QFT boundaries. The usual approach to this problem involves loop-shaping in the frequency domain by manipulating the poles and zeros of the nominal loop transfer function. This process now aided by recently developed computer aided design tools proceeds by trial and error and its success often depends heavily on the experience of the loop-shaper. Thus for the novice and First time QFT user, there is a genuine need for an automatic loop-shaping tool to generate a first-cut solution. Clearly such an automatic process must involve some sort of optimization, and while recent results on convex optimization have found fruitful applications in other areas of control theory we have tried to use LMI theory for automating the loop-shaping step of QFT design.

In this paper, we propose a control algorithm for two-wheel mobile robot that can move the rider to his or her command and autonomously keep its balance. The control algorithm is based on a mixed $H_2/H_{\infty}$ control scheme. In this control problem the main issue is to move the rider while keeping its balance in the presence of disturbances and parameter uncertainties. The disturbance force caused by uneven road surfaces and the uncertainty due to different rider's heights are considered. To this end we first consider a state feedback controller as a basic framework. Secondly, we obtain the state feedback gain $K_2$ minimizing the $H_2$ norm and the state feedback gain $K_{\infty}$ minimizing the $H_{\infty}$ norm over the whole range of parameter uncertainty. Finally, we select mixed $H_2$/$H_{\infty}$ state feedback controller K as the geometric mean of $K_2$ and $K_{\infty}$. Simulation results show that the mixed $H_2/H_{\infty}$ state feedback controller combines the effects of the optimal $H_2$ state feedback controller and robust $H_{\infty}$ controller state feedback controller efficiently in the presence of disturbance and parameter uncertainty.

In this paper, the Lagrange dynamics is studied. A state space representation of Lagrange dynamics and control algorithm based on the state feedback pole placement are presented. The state space model presented is descriptor type linear parameter dependent system. It is shown that the control algorithms based on the linear system theory can be applicable to the state space representation of Lagrange dynamics. To show that the linear system theory can be applicable to the state space representation of Lagrange dynamics, the LMI based regional pole-placement design algorithm is developed and present two examples.

In this paper, the stability problem for singular bilinear system is investigated. We present state feedback control laws for two classes of singular bilinear plants. Asymptotic stability of the closed-loop systems is derived by employing singular Lyapunov's direct method. The primary advantage of our approach lies in its simplicity. In order to verify effectiveness of the results, two numerical examples are given.

An add-on type output regulator is proposed in this paper. By an add-on controller we mean an additional controller which operates harmonically with a pre-designed one. The role of the add-on controller is to reject a sinusoidal disturbance of unknown magnitude and phase but with known frequency. Advantages of the proposed controller include that (1) it can be used only when the performance of disturbance rejection needs to be enhanced, (2) when it is turned on or off, unwanted transient can be avoided (i.e., bumpless transfer), (3) it is designed for perfect disturbance rejection not just for disturbance reduction, (4) ability for perfect rejection is preserved even with uncertain plant model. This design may be promising for optical disc drive (ODD) systems in which disc eccentricity results in a sinusoidal disturbance. For ODD systems, the sensitivity function obtained by the pre-designed controller, which may have been designed by the lead-lag, $H_{\infty}$, or DOB (disturbance observer) technique, does not change much with the add-on controller except at the frequency of the disturbance. Since the add-on controller does the job of rejecting major eccentricity disturbance, the gain of the pre-designed controller does not have to be too high.

This paper presents a concept on seat assignment systems. The concept is based on the assumption that customers or passengers prefer to select seats at their own choosing and allowing them to do so would fragment remaining seats. This undesirable condition may make a group of people intending to be seated together unable to find a sufficient number of consecutive seats. The concept proposed is to set aside a number of seats when the map of available seats is shown for customer's selection. A number of functions are created to allot seats to be visible for choosing according to the number and locations of the remaining seats and the number in the group of the passengers. Passengers' preferences such as window or aisle seating, front seating are taken into accounts. A primitive example of seat assignment system of a Boeing 717 aircraft, assuming the number of passengers in a group being 1, 2 or 3, is given based on the concept.

As for control systems, many researchers give optimal structures of the finite-word-length compensator. D. Williamson solved a fixed-point case against colored noise for the LQG problem. Recently, one of the authors derived an optimal filter against colored noise. And consequently, we apply the result to a twodegree-of-freedom control system in this paper. In addition the perturbation of the coefficients is considered. Furthermore, simulation results indicate this method gives better than other structures.

The lifting technique is a standard control procedure that is commonly applied to dual-rate systems, where a critical difficulty is that care must be taken so that the resulting equivalent system preserves the causality constraint between the control signal and the measured output. To overcome this difficulty, the most attractive result has been suggested by defining control time sequences as the union of sample and hold time sequences. However, the sacrifice of regular control period scheme results in some serious disadvantages; restrictions on the implementation to hardware and the corresponding inefficient control scheme. On the contrary, this paper proposes a novel dual-rate control technique, which redescribes the system as a control-rate-based system having regular control period and designs the controller, with no causality constraint, through Linear Matrix Inequality (LMI) formulation.

To detect motions of bodies, we have discussed them with two viewpoints; one is a detection algorithm, and another is the hardware implementation. The former is to find small terms expansions for sine/cosine functions. We researched Maclaurin and optimum expansions, and moreover to reduce hardware amounts, revised the expansions. The expansions don't include divide calculations, and the error is within 0.01%. As for the former problem, there is another approach also; that is the cordic method. The method is based on the rotation of a vector on the complex plain. It is simple iterations and don't require large logic. We examined the precision and convergence of the method on C-simulations, and implemented on HDL. The later problem is to make FPGA within small gates. We considered approaches to eliminate a divider and to reduce the bit number of arithmetic. We researched Newton-Raphson's method to get reciprocal numbers. The higher-order expression shows rapid convergence and doesn't be affected by the initial guess. It is an excellent algorithm. Using them, we wish to design a detector, and are developing it on a FPGA.

We propose a real time gas monitoring system for classifying various gases with different concentrations. Using thermal modulation of operating temperature of two sensors, we extract patterns of gases from the voltage across the load resistance. We adopt the relative resistance as a pre-processing method and an ART2 neural network as a pattern recognition method. The proposed method has been implemented in a real time embedded system with tin oxide gas sensors, TGS 2611, 2602 and an MSP430 ultra-low power microcontroller in the test chamber.

This paper presents a small capacitance measuring circuit for capacitive sensors. The proposed circuit consists of sinewave generator, detector and demodulator. Results of experiments are shown that the circuit can be able to measure small capacitance exiting in a capacitive sensor filled with a vegetable oil. The sensitivity of the circuit is from 0.4V/pF to 4V/pF and the resolution is from 0.0025 pF to 0.00025 pF.

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

This paper proposes modeling of human behavior and a method of finding irregular human behavior. At first, human behavior model is proposed by paying attention to habitual human behavior at home. Generally, it is difficult to obtain the information of individual life pattern because of high cost for setting sensors such as cameras to observe human action. Therefore we capture turning on/off consumer electronic equipments as actual human behavior action, where some or many consumer electric equipments were used such as television, room light, video and so on in our daily life. Noting that are some relations between turning on/off those consumer electric equipments and our action, we proposes how to construct a human behavior knowledge by analyzing human behavior based on observation of human habitual life. Also an algorithm to identify on find irregular behavior different from habitual life behavior are described. Finally, the significance of the proposed method is shown by some experimental results.

In this paper, impulse response of giant magnetostrictive material (GMM) is identified by using M-transform. First, the displacement of GMM was measured by using the dual frequency laser interferometer. The noise included in the measured signal was removed by using M-transform. The impulse response of the GMM was identified from the input current of the driving coil and the displacement.

Toward the development of practical methods for observed data oriented bispectral estimation, an automatic means for determining the smoothing bandwidth of bispectral windows is proposed, that can also provide an associated optimum bispectral estimate of stationary non-Gaussian signals, systematically only from an observed time series datum of finite length. For the conventional non-parametric bispectral estimation, the MSE (mean squared error) of the normalized estimate is reviewed under a certain mixing condition and sufficient data length, mainly from the viewpoint of the inverse relation between its bias and variance with respect to the smoothing bandwidth. Based on the fundamental relation, a systematic method not only for determining the bandwidth, but also for obtaining the optimum bispectral estimate is presented by newly introducing a MSE evaluation index of the estimate only from an observed time series datum of finite length. The effectiveness and fundamental features of the proposed method are illustrated by the basic results of numerical experiments.

This paper is concerned with a mixed control with aerodynamic fin and side thrusters applied to an agile missile using two-time scale dynamic inversion and linear time-varying control technique. The nonlinear dynamic inversion method with the weighting function allocates the desired control inputs (aerodynamic fin and side thrusters) to track a reference trajectory, and the time-varying control technique guarantees the robustness for the uncertainties. Closed-loop stability is achieved by the assignment of the extended-mean of these linear time-varying eigenvalues to the left half complex plane. The proposed schemes are validated by nonlinear simulations.

In this paper, we investigate three dimensional optimal evasive maneuver patterns for air-to-surface attack missiles against proportionally navigated anti-air defense missiles. Interception error of the defense missile can be generated by evasive maneuver of the attack missile during the time of flight for which the defense missile intercepts the attack missile. Time varying weighted sum of the inverse of these interception errors forms a performance index to be minimized. Direct parameter optimization technique using CFSQP is adopted to get the attack missile's optimal evasive maneuver patterns according to parameter changes of both the attack missile and the defense missile such as maneuver limit and time constant of autopilot approximated by the 1st order lag system. The overall shape of resultant optimal evasive maneuver to enhance the survivability of air-to-surface missiles against proportionally navigated anti-air missiles is a kind of deformed barrel roll.

In this report, a longitudinal adaptive flight control law is presented for the automatic landing system of a Japanese automatic landing flight experiment vehicle (ALFLEX). The longitudinal adaptive flight control law is designed to track an output of the vehicle to a guidance signal from the guidance portion of the automatic landing system. The proposed adaptive control law in the attitude control portion adjusts the controller gains continuously online as flight conditions change, in spite of the existence of unmodeled dynamics. The number of the controller gains to be adjusted is decreased to 1/2 from the previous studies. Computer simulation involving six-degree-of-freedom (DOF) nonlinear flight dynamics is performed to examine the effectiveness of the proposed adaptive control law. In order to verify the influence of the dispersion of the initial conditions, the Monte Carlo simulation is also applied. The initial conditions are more widely dispersed than the previous studies. As a result, except under the unsuitable initial conditions, the ALFLEX successfully landed on the runway.

This paper is concerned with a control allocation strategy using the dynamic inversion which generates the nominal control input trajectories, and autopilot design using the time-varying control technique which is time-varying version of pole placement of linear time-invariant system for an agile missile with aerodynamic fin and thrust vectoring control. Dynamic inversion can decide the amount of the deflection of each control effector, aerodynamic fin and thrust vectoring control, to extract the maximum performance by combining the action of them. Time-varying control technique for autopilot design enhance the robustness of the tracking performance for a reference command. Nonlinear simulations demonstrates the dynamic inversion provides the effective nominal control input trajectories to achieve the angle of attack command, and time-varying control technique exhibits good robustness for a wide range of angle of attack.

In this paper, a redesigned guidance and control system for a lunar lander is presented. In past studies, the authors developed a trajectory and attitude control system which achieves the vertical soft landing on the lunar surface. It is confirmed that the system has a good tracking ability to a predefined profile and good robustness against a thruster failure mode where a partial failure of clustered engines was assumed. However, under the previous control laws, the landing point tends to be shifted, in response to the system parameter values, from a target point. Also, an unbalanced moment due to a thruster failure mode was not considered in the simulation. Therefore, in this study, the downrange control is added to the system to enable the vehicle to land at a pre-assigned target point accurately. Furthermore, inhibiting the effect of the unbalanced moment is attempted thorough redesigning the attitude control system. A numerical simulation was performed to confirm the ability of the proposed system with regard to the above problems. Moreover, in the past simulations, a low initial altitude was assumed as an initial condition: in this study, however, the performance of the proposed system is examined over the whole trajectory from an initial altitude of 10 [km] to the lunar surface.

In order to control the missiles by aerodynamics, control surfaces sometime called fins are used. Deflection angles of these fins are the right control variables of the aerodynamics, but aerodynamicists prefer to use analytic variables called aileron, elevator and rudder instead of these physical variables, because these three analytic variables dominantly influence on the roll, pitch and yaw channels of the missile maneuver, respectively, and each can be assumed a linear combination of four fin deflection angles. On that basis, roll, pitch and yaw autopilots for controlling the attitudes or lateral acceleration of the missile are designed, and as a consequence outputs of each autopilot are aileron, elevator and rudder commands, respectively. In the existing fin control scheme for the typical tail-fin controlled cruciform missiles, firstly these outputs are distributed to four fin defection commands, and after that four fins are actuated by fin controllers so that their deflections follow the commands. This paper shows that performance of such control schemes can be degraded significantly when fin actuators have certain physical constraints such as slew rate, voltage or current limit, uncertainty of actuator dynamics, and so on, and propose a new control scheme which alleviates such problems. This scheme can be widely applied to various fin actuation systems. But in this paper, for convenience, tail-fin controlled cruciform missile is taken as an example, and it is shown that a proposed control scheme gives better performance than the existing one.

A new approach to design of a discrete-time robust $H_{\infty}$ filter in finite horizon case is proposed. It is shown that robust $H_{\infty}$ filtering problem can be cast into the minimization problem of an indefinite quadratic form, which can be solved by implementing the Kalman filter defined in Krein space. The proposed filter is readily derived by simply augmenting the state space model and has the robustness property against the parameter uncertainties of a given system.

In the braking system, the friction force is the most important factor of the design. For long time, many researchers have been strived for getting the exact friction coefficients. But the friction coefficients are affected by the road condition and changed by lots of parameters, such as normal force and characteristics between two contacted materials, temperature, etc. For the development of ABS of the aircraft, HILS(Hardware-In-the-Loop-Simulation) test and dynamometer test was carried out. For the calculation of the friction coefficients, the wheel moments were measured using the load cell mounted on the housing of the wheel. The test conditions were dry and greasy, as the 0.7 and 0.4 in friction coefficient, respectively. In this paper, the test results of the friction coefficients were represented and the improvement method was suggested.

The boundary estimation problem is used to estimate the shape of organic depend on the phase of the cardiac cycle or interested in the detection of the location and size of anomalies with resistivity values different from the background tissues such as nuclear reactor. And we can use the method to solve the optimal solution such as modified Newton raphson, kalman filter, extended kalman filter, etc. But, this method consumes much time and is sensitive to the initial value and noise in the estimation of the unknown shape. In the paper, we propose that multi-layer neural networks estimate the boundary of the unknown object using Fourier coefficient. This method can be used at the real time estimation and have strong characteristics at the noise and initial value. It uses voltage change; difference the homogeneous voltage to the non-homogeneous voltage, and change of Fourier coefficient change to train multi-layer neural network. After train, we can have real time estimation using this method.

Recently, particle filters have attracted attentions for nonlinear state estimation. They evaluate a posterior probability distribution of the state variable based on observations in simulation using so-called importance sampling. However, degeneracy phenomena in the importance weights deteriorate the filter performance. A new filter, Evolution Strategies Based Particle Filter, is proposed to circumvent this difficulty and to improve the performance. Numerical simulation results illustrate the applicability of the proposed idea.

In this paper, a robust filter is proposed to effectively estimate the system states in the case where system model uncertainties as well as disturbances are present. The proposed robust filter is constructed based on the linear approximation methods for a general nonlinear uncertain system with an integral quadratic constraint. We also derive the important characteristic of the proposed filter, a modified $H_{\infty}$ performance index. Analysis results show that the proposed filter has robustness against disturbances, such as process and measurement noises, and against parameter uncertainties. Simulation results show that the proposed filter effectively improves the performance.

In most boundary estimation algorithms estimation in EIT (Electrical Impedance Tomography), anomaly boundaries can be expressed with Fourier series and the unknown coefficients are estimated with proper inverse algorithms. Furthermore, the number of anomalies is assumed to be available a priori. The prior knowledge on the number of anomalies may be unavailable in some cases, and we need to determine the number of anomalies with other methods. This paper presents an algorithm for the boundary estimation in EIT (Electrical Impedance Tomography) using the prior information from the conventional Newton-Raphson method. Although Newton-Raphson method generates so poor spatial resolution that the anomaly boundaries are hardly reconstructed, even after a few iterations it can give general feature of the object to be imaged such as the number of anomalies, their sizes and locations, as long as the anomalies are big enough. Some numerical experiments indicate that the Newton-Raphson method can be used as a good predictor of the unknown boundaries and the proposed boundary discrimination algorithm has a good performance.

In this paper, we develop a control hardware such as an FPGA based general purpose controller with a DSP board to solve nonlinear control problems. PID control algorithms are implemented in an FPGA and neural network control algorithms are implemented in a DSP board. PID controllers implemented on an FPGA was designed by using VHDL to achieve high performance and flexibility. By using high capacity of an FPGA, the additional hardware such as an encoder counter and a PWM generator, can be implemented in a single FPGA device. As a result, the noise and power dissipation problems can be minimized and the cost effectiveness can be achieved. In order to show the performance of the developed controller, it was tested for controlling nonlinear systems such as an inverted pendulum.

This paper presents control designs using neural networks (NN) for a XY positioning table. The proposed neurocontroller is composed of an outer PD tracking loop for stabilization of the fast flexible-mode dynamics and an NN inner loop used to compensate for the system nonlinearities. A tuning algorithm is given for the NN weights, so that the NN compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded weight estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The proposed neuro-controller is implemented and tested on an IBM PC-based XY positioning table, and is applicable to many precision XY tables. The algorithm, simulation, and experimental results are described. The experimental results are shown to be superior to those of conventional control.

This study develops a neural network for solving optimization problems. Hopfield network has been used for such problems, but it frequently gives abnormal solutions or non-optimal solutions. Moreover, it takes much time for solving a solution. To overcome such disadvantages, this study adopts a neural network whose output nodes change with a small value at every evolution, and the proposed neural network is applied to solve ALB (Assembly Line Balancing) problems . Given a precedence diagram and a required number of workstations, an ALB problem is solved while achieving even distribution of workload among workstations. Here, the workload variance is used as the index of workload deviation, and is reflected to an energy function. The simulation results show that the proposed neural network yields good results for solving ALB problems with high success rate and fast execution time.

In this paper, some differential geometric conditions for the observer using a recurrent neural network are provided in terms of a stochastic nonlinear system control. In the stochastic nonlinear system, it is necessary to make an additional condition for observation of stochastic nonlinear system, called perfect filtering condition. In addition, we provide a observer using a recurrent neural network for the observation of a stochastic nonlinear system with the proposed observation conditions. Computer simulation shows that the control performance of the stochastic nonlinear system with a observer using a recurrent neural network satisfying the proposed conditions is more efficient than the conventional observer as Kalman filter

In this paper, we propose the method to control the position of LDM(Linear DC Motor) using vision system. The proposed method is composed of a vision system for position detecting, and main computer calculates PID control output which is deliver to 8051 actuator circuit in serial communication. To confirm the usefulness of the proposed method, we experimented about position control of a small size LDM using CCD camera which has a performance 30frames/sec as vision system.

Recently, personal robots and home robots are developing by many companies and research groups. It is considered that a general effective interface for user of those robots is speech or voice. In this paper, Japanese speech based man-machine interface system is discussed for reflecting the fuzziness of natural language on robots, by using fuzzy reasoning. The present system consists of the derivation part of action command and the modification part of the derived command. In particular, a unique problem of Japanese is solved by applying the morphological analyzer ChaSen. The proposed system is applied for the motion control of a robot manipulator. It is proved from the experimental results that the proposed system can easily modify the same voice command to the actual different levels of the command, according to the current state of the robot.

There were many papers on the bilateral teleoperation system. But a few papers dealt with the controller design method in the presence of uncertainties, disturbances and measurement noises. In this paper, we propose a robust controller design framework in teleoperation, which can overcome the compensation problem that will be defined. To prove the effectiveness of the method of proposed design, comparative simulation with the existing four channel design method was performed

Until now, many networked robots have been connected to the Internet for the various applications. With these networked robots, very long distance teleoperation can be possible through the Internet. However, the promising area of the Internet-based teleoperation may be distance learning, because of several reasons such as the unpredictable characteristics of the Internet. In robotics class, students learn many theories about robots, but it is hard to perform the actual experiments for all students due to the rack of the real robots and safety problems. Some classes may introduce the virtual robot simulator for students to program the virtual robot and upload their program to operate the real robot through the off-line programming method. However, the students may also visit the laboratory when they want to use the real robot for testing their program. In this paper, we developed an Internet-based robot education system. The developed system was composed of two parts, the robotics class materials and the web-based Java3d robot simulator. That is, this system can provide two services for distance learning to the students through the Internet. The robotics class materials can be provided to the student as the multimedia contents on the web page. As well, the web-based robot simulator as the real experiment tool can help the students get good understanding about certain subject. So, the students can learn the required robotics theories and perform the real experiments from their web browser when they want to study themselves at any time.

The existing remote control system have some inherent disadvantage of direct control in the limit range. In some special cases, for example, a power apparatus, an unmanned factory, a nuclear factory, a security management system, the tele-operation is needed to control remote robot without limit space. This field is based on the Internet communication. Because the Internet is constructed all over the world. And it is possible that we control remote mobile robot in the long distance. In this paper, we developed a remote control system. This system is divided into two primary parts. These are local site and remote site. There are the moving robot and web server in the remote site and there is the robot control device in local site. The moving robot is moved by two stepper motors and the robot control device consists of SA-1100 micro controller and embedded Linux. And this controller is an embedded system. Public personal computer which is connected the Internet is used for the web server. The web server provides the mobile robot control interface program to the remote controller and captures the image for feedback information. In the whole system, a robot control device is connected with moving robot and web server through the Internet. So the operator can control the moving robot in the distance through the Internet.

An intelligent miniature humanoid robot system is designed and implemented as a platform for researching walking algorithm. The robot system consists of a mechanical robot body, a control system, a sensor system, and a human interface system. The robot has 6 dofs per leg, 3 dofs per arm, and 2 dofs for a neck, so it has total of 20 dofs to have dexterous motion capability. For the control system, a supervisory controller runs on a remote host computer to plan high level robot actions based on the vision sensor data, a main controller implemented with a DSP chip generates walking trajectories for the robot to perform the commanded action, and an auxiliary controller implemented with an FPGA chip controls 20 actuators. The robot has three types of sensors. A two-axis acceleration sensor and eight force sensing resistors for acquiring information on walking status of the robot, and a color CCD camera for acquiring information on the surroundings. As an example of an intelligent robot action, some experiments on playing soccer are performed.

In this paper, we propose a humanoid active audition system which detects the direction of sound and performs speech recognition using just three microphones. Compared with previous researches, this system which has simpler algorithm, fewer microphones and better amplifier shows better performance. In order to verify our system's performance, we install the proposed active audition system to the home service robot, called Hombot II, which has been developed at the KIST (Korea Institute of Science and Technology), thus we confirm excellent performance by experimental results

An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".

Legged robots can avoid an obstacle by crawling-over or striding, according to the obstacle’s nature and the current state of the robot. Thus, it can be observed that the mobility efficiency to reach a destination is improved by such action. Moreover, if robots have many legs like 4-legged or 6-legged types, then the robot movement range is affected by the order of swing leg. In this paper, the avoidance action of a quadruped robot is generated by a neural network (NN) whose inputs are information on the position of the destination, the obstacle configuration and the robot's self-state. To realize a free gait in static walking, the order of swing leg is determined using an another NN whose inputs are the amount of movements and the robot’s self-state. The design parameter of the latter NN is adjusted by using genetic algorithm (GA).

This paper describes research on mental commit robot that seeks a different direction from industrial robot, and that is not so rigidly dependent on objective measures such as accuracy and speed. The main goal of this research is to explore a new area in robotics, with an emphasis on human-robot interaction. Mental commit robots provide psychological, physiological, and social effects to human beings through physical interaction. In the previous research, we categorized robots into four categories in terms of appearance. Then, we introduced a cat robot and a seal robot, and evaluated them by interviewing many people. The results showed that physical interaction improved subjective evaluation. Moreover, a priori knowledge of a subject has much influence into subjective interpretation and evaluation of mental commit robot. In this paper, 95 subjects evaluated the seal robot, Paro by questionnaires in an exhibition at the Japan cultural institute in Rome, Italy for 4 days from June 25th to 28th, 2003. This paper reports the results of statistical analysis of evaluation data.

A mechanical system controlled by human operator, such as master-slave system, includes human dynamics in the whole system and such a system is called a human-machine system. In the system, operator's skill is required considerably in order to realize a meaningful operation. In this paper, a new concept and design strategy of compensator that improves the operativity of human-machine system are proposed. The compensator is called "collaborater "that is named after "collaborator" who works together with people. We mean not to design the automatic controller but the compensator that works together with a machine so that human feels the fulfillment in the operation. Our aim is to realize cooperation of people and a machine on a higher level.

This paper presents a new observation system which is useful to observe the scene of the remote controlled robot vision. This system is composed of a motionless camera and head motion detector with a motion sensor. The motionless camera has a fish eye lens and is for observing a hemisphere space. The head motion detector has a motion sensor is for defining an arbitrary subspace of the hemisphere space from fish eye lens. Thus processing the angular information from the motion sensor appropriately, the direction of face is estimated. However, since the fisheye image is distorted, it is unclear image. The partial domain of a fish eye image is selected by head motion, and this is converted to perspective image. However, since this conversion enlarges the original image spatially and is based on discrete data, crevice is generated in the converted image. To solve this problem, interpolation based on an intensity of the image is performed for the crevice in the converted image (space problem). This paper provides the experimental results of the proposed observation system with the head motion detector and perspective image conversion using the proposed conversion and interpolation methods, and the adequacy and improving point of the proposed techniques are discussed.

3D object recognition is difficult but important in computer vision. The important thing is to understand about the relationship between a geometric structure in three dimensions and its image projection. Most 3D recognition systems construct models either manually or by training the pose and orientation of the objects. But both approaches are not satisfactory. In this paper, we focus on a commercial CAD model as a third type of model building for vision. The models are expressed in Initial Graphics Exchanges Specification(IGES) output and reconstructed in a pinhole camera coordinate.

This paper deals with the problem of moving object detection and location in computer vision. We describe a new object-dependent motion analysis method for tracking target in an image sequence taken from a moving platform. We tackle these tasks with three steps. First, we make an active contour model of a target in order to build some of low-energy points, which are called kernels. Then we detect interest points in two windows called tracking windows around a kernel respectively. At the third step, we decide the correspondence of those detected interest points between tracking windows by the probabilistic relaxation method In this algorithm, the detecting process is iterative and begins with the detection of all potential correspondence pair in consecutive image. Each pair of corresponding points is then iteratively recomputed to get a globally optimum set of pairwise correspondences.

Perceptual landmarks are an effective solution for a mobile robot realizing steady and reliable long distance navigation. But the prerequisite is those landmarks must be detected and recognized robustly at a higher speed under various lighting conditions. This made image processing more complicated so that its speed and reliability can not be both satisfied at the same time. Color based target detection technique can separate target color regions from non-target color regions in an image with a faster speed, and better results were obtained only under good lighting conditions. Moreover, in the case that there are other things with a target color, we have to consider other target features to tell apart the target from them. Such thing always happens when we detect a target with its single character. On the other hand, we can generally search for only one target for each time so that we can not make use of landmarks efficiently, especially when we want to make more landmarks work together. In this paper, by making use of the moment invariants of each landmark, we can not only search specified target from separated color region but also find multi-target at the same time if necessary. This made the finite landmarks carry on more functions. Because moment invariants were easily used with some low level image processing techniques, such as color based target detection and gradient runs based target detection etc, and moment invariants are more reliable features of each target, the ratio of target detection were improved. Some necessary experiments were carried on to verify its robustness and efficiency of this method.

In this paper, we propose an algorithm to extract valid planar regions from stereo images for visual navigation of mobile robots. The algorithm is based on the difference image between the stereo images obtained by applying Homography matrix between stereo cameras. Illegal planar regions are filtered out by the use of labeling of the difference images and filtering of invalid blobs using the size of each blob. Also, illegal large planar regions such as walls are removed by adopting a weighted low-pass filtering of the difference image using the past difference images. The algorithms are experimented successfully by the use of stereo camera system built in a mobile robot and a PC-based real-time vision system.

This paper presents the development of Programmable Logic Controller (PLC) and network to design the redundant control system in order to control the high priority process. The industrial process that cannot be shutdown or the effect of the shutting down takes abundantly damage. In this article, we say that the high priority process. The redundant systems are designed for controlling the high priority process that the control system must have many controllers to instead the main controller when it has some error. This paper we designed the redundancy control system by the advantage of the high-speed communication on the PLC’s network. The temperature control system and the traffic light control system used as the case study. Each example processes consist of two sets of controller. Our scheme we can increase the reliability prevents process down time and reduces the cost of opportunity to loss also.

This paper describes how to use Profibus networks to support real-time industrial communications, that is, how to ensure the transmission of real-time messages within a maximum bound time. Profibus is based on a simplified timed token protocol, which is a well-proved solution for the real-time communication systems. However, Profibus differs from the timed token protocol, thus the usual timed token protocol has to be modified in order to be applied in Profibus. In fact, the real-time solutions for networks based on the timed token protocol rely on the possibility of allocating specific bandwidth for the real-time traffic. This means that a minimum amount of time to transmit the real-time messages is always guaranteed whenever each token is arrived. In other words, with the Profibus protocol, at least, one real-time message should be transmitted per every token visit in the worst case. It is required to control medium access properly to satisfy the message deadlines. In this paper, we have presented how to obtain the optimal network parameter for the Profibus protocol. The selected network parameter is valid regardless of the behavior of asynchronous messages.

It is general to use the control network in control systems in order to reduce the complexity of the related wiring harnesses and to improve the system flexibility. CAN becomes one of the most popular network protocols because of its low price, multiple sources, high performance and reliability. This paper describes a CAN based real-time control of the fire detection system for the intelligent building system. The proposed fire detection and alarm system is stronger than the previous one against noises and communication media faults and can solve many problems such as complex cabling and increment of I/O ports by using many sensors. Furthermore, MMI can be achieved easily with the personal computer that is used for replacing the traditional monitoring system. The proposed system is implemented and the experimental results are given.

In this paper, an extended process model is proposed for the application of flexible belt grinding equipment as utilized in robotic grinding. The analytical and experimental results corresponding to grinding force, material removal rate (MRR) and contact area in the robotic grinding shows the difference between the conventional grinding and the flexible robotic grinding. The process model representing the relationship between the material removal and the normal force acting at the contact area has been applied to robotic programming and control. The application of the developed model in blade grinding demonstrates the effectiveness of proposed process model.

In this paper, we will present brief design feature, implementations, and tests for verification of KOMPSAT-2 simulator, which is a subsystem of KOMPSAT-2 MCE. SIM is implemented on PC server to minimize costs and troubles on embedding onboard flight software into SIM, OOA/OOD methodology is employed to maximized S/W reusability, and XML is used for S/C characteristics, TC, TM and Simulation data instead of commercial DB. Consequently, we can reduce costs for the system, efforts embedding flight software, and maximize software reusability. SIM subsystem test was performed successfully.

This study considers the implementation issues of the inter-vehicle communication system for the vehicle platoon experiments via a testbed. The testbed, which consists of three scale vehicles and one RCS(remote control station), is developed as a tool for functions evaluation between simulation studies and full-sized vehicle researches in the previous study. The cooperative communication of the vehicle-to-vehicle or the vehicle-to-roadside plays a key role for keeping the relative spacing of vehicles small in a vehicle platoon. The static platoon control, where the number of vehicles remains constant, is sufficient for the information to be transmitted in the suitably fixed interval, while the dynamic platoon control such as merge or split requires more flexible network architecture for the dynamical coordination of the communication sequence. In this study, the wireless communication device and the reliable protocol of the flexible network architecture are implemented for our testbed, using the low-cost, ISM band transceiver and the 8-bit microcontroller.

A driving simulator is a computer-controlled tool to study an interface between a driver and vehicle response by enabling the driver to participate in judging vehicle characteristics. Using the driving simulator, human factor study, vehicle system development and other research can be effectively done under controllable, reproducible and non-dangerous conditions. An Adaptive Cruise Control (ACC) system is generally regarded as a system that can be achieved in the near future without the demanding infrastructure components and technologies. ACC system is an automatic vehicle following system with no human engagement in the longitudinal vehicle direction. And the influence of the driver is substantial in developing the system. Driving characteristic is very different according to the accident riskiness, gender, age and so on. In this research, experiments have been carried out to investigate driving characteristics with the ACC system, using a driving simulator. Participants are 21 male and 19 female. Driving characteristics such as preferred headway-time, lane keeping ability, eye direction, and head movement have been observed and compared between the driving with ACC and the driving without ACC.

In this paper, two methods are discussed for good rolling force prediction in a plate mill. One is about the development of a long and a short learning scheme using a Neural Network for normal rolling and the other is about a mathematical model improvement by considering microstructural changes for controlled rolling. The research results are implemented in a on-line system of Pohang Works in POSCO and the field tests have showed that the prediction accuracies of rolling force are highly improved.

In human-mechanical cooperative systems, a significant issue is to improve the control performance and the maneuvering feeling of human operation. However, since it is not easy to evaluate the feeling of operators numerically, control engineers design controllers only through experience. Thus, in this paper, a new evaluation method for control performance of human-mechanical cooperative system is proposed based on the reserge waveform. Various distortions of waveform represent deteriorations of control performance and maneuvering feeling. In some cases, since there is a tradeoff between the control performance and the maneuvering feeling, it is difficult to compensate for both of them by usual feedback controllers. To overcome this situation, the two degrees of freedom control system is applied to human-mechanical cooperative system. Some numerical simulation results for an electric power steering system are shown to confirm the effectiveness of proposed control design method.

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. For the control of the mobile robot, an absolute position sensor is necessary. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and that is propagated to getting the pose of a mobile robot. With the experiments in the corridor, the proposed active calibration scheme is verified experimentally.

Motion tracking and object segmentation are the most fundamental and critical problems in vision tasks suck as motion analysis. An active contour model, snake, was developed as a useful segmenting and tracking tool for rigid or non-rigid objects. Snake is designed no the basis of snake energies. Segmenting and tracking can be executed successfully by energy minimization. In this research, two new paradigms for segmentation and tracking are suggested. First, because the conventional method uses only intensity information, it is difficult to separate an object from its complex background. Therefore, a new energy and design schemes should be proposed for the better segmentation of objects. Second, conventional snake can be applied in situations where the change between images is small. If a fast moving object exists in successive images, conventional snake will not operate well because the moving object may have large differences in its position or shape, between successive images. Snakes's nodes may also fall into the local minima in their motion to the new positions of the target object in the succeeding image. For robust tracking, the condensation algorithm was adopted to control the parameters of the proposed snake model called "adaptive color snake model(SCSM)". The effectiveness of the ACSM is verified by appropriate simulations and experiments.

A method of measuring the length of defects on the wall of the spent nuclear fuel pool using the image processing and a laser slit beam is proposed. Since the defect monitoring camera is suspended by a crane and hinged to the crane hook, the camera viewing direction can not be adjusted to the orientation that is exactly perpendicular to the wall. Thus, the image taken by the camera, which is horizontally rotated along the axis of the camera supporting beam, is distorted and thus, the precise length can not be measured. In this paper, by using the LASER slit beam generator, the horizontally rotated angle of the camera is estimated. Once the angle is obtained, the distorted image can be easily reconstructed to the image normal to the wall. The estimation algorithm adopts a 3-dimensional coordinate transformation of the image plane where both the laser slit beam and the original image of the defects exist. The estimation equation is obtained by using the information of the beam projected on the wall and the parameters of this equation are experimentally obtained. With this algorithm, the original image of the defect taken at arbitrary rotated angle can be reconstructed to an image normal to the wall. From the result of a series of experiments, the accuracy of the defect is measured within 0.6 and 1.3 % error bound of real defect size in the air and underwater, respectively under 30 degree of the inclined angle of the laser slit beam generator. Also, the error increases as the inclined angle increases upto 60 degree. Over this angle, the defect length can not be measured since the defect image disappears. The proposed algorithm enables the accurate measurement of the defect length only by using a single camera and a laser slit beam.

Recently, 3D structure recovery through self-calibration of camera has been actively researched. Traditional calibration algorithm requires known 3D coordinates of the control points while self-calibration only requires the corresponding points of images, thus it has more flexibility in real application. In general, self-calibration algorithm results in the nonlinear optimization problem using constraints from the intrinsic parameters of the camera. Thus, it requires initial value for the nonlinear minimization. Traditional approaches get the initial values assuming they have the same intrinsic parameters while they are dealing with the situation where the intrinsic parameters of the camera may change. In this paper, we propose new initialization method using the minimum 2 images. Proposed method is based on the assumption that the least violation of the camera’s intrinsic parameter gives more stable initial value. Synthetic and real experiment shows this result.

This paper introduces a method that can detect obstacles and corridor environments from the images captured by a CCD camera in an automobile or mobile robot is proposed. Processing the input dynamic images in real time requires high performance hardware as well as efficient software. In order to relieve these requirements for detecting the useful information from the images in real time, a "Moving Window" scheme is proposed. Therefore, detecting the useful information, it becomes possible to search the obstacles within the driving corridor of an automobile or mobile robot. The feasibility of the proposed algorithm is demonstrated through the simulated experiments of the corridor driving.

In this paper, we present a new approach to solve the problem of estimating the camera 3-D location and orientation from a matched set of 3-D model and 2-D image features. An iterative least-square method is used to solve both rotation and translation simultaneously. Because conventional methods that solved for rotation first and then translation do not provide good solutions, we derive an error equation using roll-pitch-yaw angle to present the rotation matrix. To minimize the error equation, Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum. Experimental results using real images are presented.

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

A vision-based tool position estimation system for the inspection and maintenance manipulator working inside the steam generator bowl of nuclear power plants can help human operators ensure that the inspection probe or plug are inserted to the targeted tube. Some previous research proposed a simplified tube position verification system that counts the tubes passed through during the motion and displays only the position of the tool. In this paper, by using a general camera calibration approach, tool orientation is also estimated. In order to reduce the computation time and avoid the parameter bias problem in an ellipse fitting, a small number of edge points are collected around the large section of the ellipse boundary. Experiment results show that the camera calibration parameters, detected ellipses, and estimated tool position are appropriate.

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

In this paper, we present a new approach to detect and recognize human face in the image from vision camera equipped on the mobile robot platform. Due to the mobility of camera platform, obtained facial image is small and pose-various. For this condition, new algorithm should cope with these constraints and can detect and recognize face in nearly real time. In detection step, ‘coarse to fine’ detection strategy is used. Firstly, region boundary including face is roughly located by dual ellipse templates of facial color and on this region, the locations of three main facial features- two eyes and mouth-are estimated. For this, simplified facial feature maps using characteristic chrominance are made out and candidate pixels are segmented as eye or mouth pixels group. These candidate facial features are verified whether the length and orientation of feature pairs are suitable for face geometry. In recognition step, pseudo-convex hull area of gray face image is defined which area includes feature triangle connecting two eyes and mouth. And random lattice line set are composed and laid on this convex hull area, and then 2D appearance of this area is represented. From these procedures, facial information of detected face is obtained and face DB images are similarly processed for each person class. Based on facial information of these areas, distance measure of match of lattice lines is calculated and face image is recognized using this measure as a classifier. This proposed detection and recognition algorithms overcome the constraints of previous approach [15], make real-time face detection and recognition possible, and guarantee the correct recognition irregardless of some pose variation of face. The usefulness at mobile robot application is demonstrated.

Pipe inspection has a great importance to ensure safety for the nuclear power plant. In this paper, we designed visual inspection module for the tube internal, which diameter is 15${\sim}$20mm. And we made inspection module which consisted of CCD camera and light. And the relation between image and real world coordinate is established. Image processing is performed to calculate mapping parameter and analyze the size of defect. For the calculation of mapping parameter, experiment is performed using grid type test pattern. Acquired image is processed to extract image coordinate. Edge detection, thresholding, median filtering and morphology filtering is applied to extract grid pattern. Extracted image coordinate is used to calculate image to real world mapping. Lens distortion was considered and corrected to get exact data. Coordinate transformation data is provided for the users to recognize easily. Experiment was performed using grid type test pattern, we extracted lens distortion parameter and real coordinate of defect point. Radial distortion of lens was corrected but tangential distortion was not considered. As continuum to this study, the tangential distortion of lens is considered and improvement of analy zing technique for the tube internal be explored continuously.

In this paper, we present a self-localization method for mobile robots using vertical line features of indoor environment. When a 2D map including feature points and color information is given, a mobile robot moves to the destination, and acquires images by one camera from the surroundings having vertical line edges. From the image, vertical line edges are detected, and pattern vectors meaning averaged color values of the left and right region of each line segment are computed. The pattern vectors are matched with the feature points of the map using the color information and the geometrical relationship of the points. From the perspective transformation of the corresponded points, nonlinear equations are derived. Localization is carried out from solving the equations by using Newton's method. Experimental results show that the proposed method using mono view is simple and applicable to indoor environment.

The robustness and reliability of vision algorithms is the key issue in robotic research and industrial applications. In this paper, the robust real time visual tracking in complex scene is considered. A common approach to increase robustness of a tracking system is to use different models (CAD model etc.) known a priori. Also fusion of multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. Because voting is a very simple or no model is needed for fusion, voting-based fusion of cues is applied. The approach for this algorithm is tested in a 3D Cartesian robot which tracks a toy vehicle moving along 3D rail, and the Kalman filter is used to estimate the motion parameters, namely the system state vector of moving object with unknown dynamics. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

Tele-operation and remote monitoring techniques are essential and important technologies for performing the inspection and repair tasks effectively in nuclear power plants. This paper presents the application of a mobile robot for the remote monitoring and inspection of the Calandria faces, where human access is limited because of the high-level radioactive environments during full power operation. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, can be extended up to 8 m vertically. This robot was also equipped a visible CCD/thermal infrared inspection head module and a stereo camera module for the enhancement of visual inspection.

We need a lot of manpower and we can cut down a labor cost by applying industrial robots the footwear bonding automation process. In this study, we suggest how to program off-line robot path along a shoe's outsole shape in the footwear bonding process by 5-axis microscribe system like robot arms. This microscribe system development consists 5-axis microscribe mechanics, signal processing circuit, and PC with software. It is the system for making database of a shoe's outsole through the movement of a microscribe with many joints. To do this, first read 5-encoders' pulse values while a robot arm points a shoe's outsole shape from the initial status. Then, calculate a relative shoe's outsole by Denavit-Hatenberg's (D-H) direct Kinematics of known length of links and coordinate values. Next, calculate the encoders' pulse values of the robot arm's rotation and transmitting the angle pulse values to the PC through a circuit. Finally, it is able to display a shoe's outsole at real-time by computing the Denvavit-Hantenberg's (D-H) direct kinematics in the PC. With the coordinate values calculated above, we can draw a bonding gauge-line on the upper. Also, we can make off-line robot path programming compute a shoe's bonding area on the upper. These results will be effectively applied for programming a robot path on off-line and automatically.

By increasing trades between countries, importance of harbors is becoming serious, including our country. When it comes to Container Crane Operation, the most important matter is how many containers are loaded in a truck or a ship by given time. This can be a crucial matter of harbors in taking care of materials. The present harbors' crane uses a wire-rope conveyance materials are transported in the air and have high free-angle of location. The sway can cause the delay of time, wrong position of Trolley and the damage of materials. In this study, we obtain the optimal PID parameters with GA(Genetic Algorithm) and apply those parameters to the PID Controller. In the result of the experimentation, we can see how effectively the PID controller, applied with the optimal parameters obtained by GA, can control the sway angle.

A cooperating control algorithm for two nonholonomic mobile robots is proposed. The task is composed of collision avoidance against obstacles and carrying a ladder. The front robot and the rear robot are called the leader and the follower, respectively. Each robot has a nonholonomic constraint so it cannot move in perpendicular directions. The environment is initially supposed to be unknown except target position. The torque that drives leader is determined by distance between the leader and the target position or the distance between it and the obstacles. The torque by target is attractive and the torque by obstacles is repulsive. The two mobile robots are supposed to be connected by link that can be expanded and contracted. The follower computes its torque using position and orientation information from the leader by communication. Simulation results show that the robots can drive to target position without colliding into the obstacles and maintain the distance in the allowable range.

This paper explains problems of force-reflecting teleoperation grinding work and proposes some methods to solve those. For stable contact between robot tool(grindstone) and contact surface the mechanical impedance force control is used. The sliding phenomenon of grindstone has been appeared at the contact surface during the grinding work. The sliding problems caused by friction and rotation of grindstone are eliminated by using tangential direction sliding compensation control. The rotation force of grindstone makes the tool move to tangential direction along the surface suddenly even though an operator pushes the tool only in normal direction to the surface. Normal direction force control is applied for grinder not to roll and fracture on the grinding surface. Vibration problem of grindstone is decreased by second order low-pass filter. Therefore we can precise grinding work at the grinding surface and feel the reality

Many types of omnidirectional wheels with passive rollers have gaps between rollers. Since these gaps cause a wheel to make discontinuous contact with the ground, they lead to vertical and/or horizontal vibrations during wheel operation. In addition, the radii of passive rollers are related to the height of a bump an omnidirectional wheel can surmount. In this research a new design of the alternate wheel is proposed. Because this wheel makes continuous contact with the ground and has alternating large and small rollers around the wheel, it is termed a continuous alternate wheel (CAW). In this paper a design procedure is also presented to determine the optimum number of rollers, the radii of rollers and the inside inclination angle of an outer roller for given design specifications. The CAW based on this design is compared to the existing alternate wheels in terms of design. Finally, an actual continuous alternate wheel is constructed to verify validity of the design guidelines.

Computer vision and natural-language dialogue play an important role in friendly human-machine interfaces for service robots. In this paper we describe an integrated face detection and face recognition system for a welfare robot, which has also been combined with the robot's speech interface. Our approach to face detection is to combine neural network (NN) and genetic algorithm (GA): ANN serves as a face filter while GA is used to search the image efficiently. When the face is detected, embedded Hidden Markov Model (EMM) is used to determine its identity. A real-time system has been created by combining the face detection and recognition techniques. When motivated by the speaker's voice commands, it takes an image from the camera, finds the face inside the image and recognizes it. Experiments on an indoor environment with complex backgrounds showed that a recognition rate of more than 88% can be achieved.

This paper presents a method to segment wafer ID marks on poor quality images under uncontrolled lighting conditions of the semiconductor process. The active multiple templates matching method is suggested to search ID areas on wafers and segment them into meaningful regions and it would have been impossible to recognize characters using general OCR algorithms. This active template model is designed by applying a snake model that is used for active contour tracking. Active multiple template model searches character areas and segments them into single characters optimally, tracking each character that can vary in a flexible manner according to string configurations. Applying active multiple templates, the optimization of the snake energy is done using Greedy algorithm, to maximize its efficiency by automatically controlling each template gap. These vary according to the configuration of character string. Experimental results using wafer images from real FA environment are presented.

There are many researches on using human neuro-biological signals for various problems such as controlling a mechanical object and/or interfacing human with the computer. It is one of very interesting topics that human can use various instruments without learning specific knowledge if the instruments can be controlled as human intends. In this paper, we proposed an intelligent motion planner for a redundant manipulator, which is controlled by humans neuro-biological signals, especially, EOG (Electrooculogram). We found the optimal motion planner for the redundant manipulator that can move to the desired point. We used neural networks to find the inverse kinematics solution of the manipulator. We also showed the performance of the proposed motion planner with several simulations.

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

The trends of recent developed a pet robot which interacts with people are increased gradually. There are a few pet robots that are a robot dog, robot cat, and robot fish. The pet robot is featured that it is possible to sympathize and give pleasure to human. The pet robots express delight, sorrow, surprise, and hunger through the artificial intelligence. Previously, the pet robot has to exchange the battery when it is exhausted. Commercialized robots have a self-recharging function, which express hunger. Robot dog AIBO, SONY in Japan, checks the battery for expressing hunger. They find an energy station for recharge. While operation time of AIBO is 1 hour 30 minutes, recharging time is 2 hours. Recharging time is longer than operation time. During the recharge, they don't operate. We obtain a motivation for eating the battery when find the problem. In this paper, introduce an Autonomous Eating Pet Robot and propose a design for realization. The Autonomous Eating Pet Robot has a function that is the most basic instinct that is finding a food and evacuating.

This paper presents a design for the novel suspension mechanism of a two-wheeled mobile robot having two casters which is used for indoor environment. Although the indoor environment is less rough than the outdoor one, the fixed caster mechanism has some problems such as causing the robot to be immovable because robot's driving wheels do not have contact with the ground. Therefore, we tried installing a spring-damper suspension mechanism to keep driving capability and to remove pitching phenomenon. However, this suspension mechanism also has the problem, which the robot body inclined by disturbances does not return to the initial position. To deal with above problems and to accomplish desired performances, we designed the Multilayered Suspension Mechanism, which has springs and dampers working partially according to the inclined angle and angular velocity of robot body concerned with pitching. To analyze design, the equations of motion describing their dynamics were developed. Using the equations, simulation results show the improved performance. We confirm the usefulness of the Multilayered Suspension Mechanism by construction and test of a actual prototype.

A motion controller has been used variously in industry such as semiconductor manufacture equipment, industrial robot, assembly/conveyor line applications and CNC equipment. There are several types of controller in motion control. One of these is a PC-based motion controller such as PCI or ISA, and another is stand-alone motion controller. The PC bus-based motion controller is popular because of improving bus architectures and GUI (Graphic User Interface) that offer convenience of use to user. There are some problems in this. The PC bus-based solution allows for only one of the form factors, so it has a poor flexibility. The overall system package size is bigger than other motion control system. And also, additional axes of control require additional slot, however the number of slots is limited. Furthermore, unwieldy and many wirings come to connect plants or I/O. The stand-alone motion controller has also this limit of axes of control and wiring problems. To resolve these problems, controller must have capability of operating as stand-alone devices that resides outside the computer and it needs network capability to communicate to each motion device. In this paper, a network-based stand-alone motion system is proposed. This system integrates PC and motion controller into one stand-alone motion system, and uses CAN (Controller Area Network) as network protocol. Single board computer that is type of 3.5" FDD form factor is used to reduce the system size and cost. It works with Windows XP Embedded as operating system. This motion system operates by itself or serves as master motion controller that communicates to slave motion controller. The Slave motion controllers can easily connect to master motion system through CAN-network.

To detect and avoid obstacles is one of the important tasks of mobile navigation. In a real environment, when a mobile robot encounters dynamic obstacles, it is required to simultaneously detect and avoid obstacles for its body safely. In previous vision system, mobile robot has used it as either a passive sensor or an active sensor. This paper proposes a new obstacle detection algorithm that uses a stereo camera as both a passive sensor and an active sensor. Our system estimates the distances from obstacles by both passive-correspondence and active-correspondence using laser slit. The system operates in three steps. First, a far-off obstacle is detected by the disparity from stereo correspondence. Next, a close obstacle is acquired from laser slit beam projected in the same stereo image. Finally, we implement obstacle avoidance algorithm, adopting the modified Dynamic Window Approach (DWA), by using the acquired the obstacle's distance.

Reliable attitude estimation during the launch and early orbit phase is a critical issue for a satellite. Typically gyroscopes and other sensors are utilized to estimate the attitude during this phase. It is difficult to estimate the attitude quickly and reliably using gyroscopes because it requires a large computational load and accurate sensor measurements. Furthermore, the gyroscope failure may lead to the loss of the satellite. This paper suggests a simple attitude estimation method of a low earth orbit satellite without using gyroscopes, but only using sun sensors and magnetometers in the sun-acquisition mode. Using Kompsat-I telemetry data, we verified that the suggested algorithm provides attitude estimation within 3 degrees on each axis.

In this paper, we describe a haptic jacket and wheel as a haptic interface to enhance VR game realism. Building upon the VR game system using this devices, our haptic interface technique allows the user to intuitive interact on game contents, and then to sense the game event properties such as walking, attacking, driving and fire in a natural way. In addition, we extended the initial haptic model to support haptic decoration and dynamic interactions due to the added game event in a real time display. An application example presented here is a VR Dino-Attack game. This game supports interactions among dynamic and our intuitive haptic interface. Modeling physic interactions involves precise collision detection, real-time force computation, and high control-loop bandwidth.

This paper deals with designing a ground-based longitudinal landing controller which is robust to datalink time delays. Time delays occur because forward velocity measurements are downlinked and the controller output commands are uplinked. An $H_{\infty}$ controller was designed by using the input/output decomposition where time delay is modeled as a first-order system with Pade approximation. Linear simulations show that the system tracks well the predefined path and is robust to the variation of time delay.

This paper considers the design of mixed $H_2/\;H_{\infty}$ controllers for linear time-invariant descriptor systems. Firstly, an $H_{\infty}$ and $H_2$ synthesis problem for a descriptor system are presented separately in terms of linear matrix inequalities (LMIs) based on the bounded real lemma. Then, the existence of a mixed $H_2/\;H_{\infty}$ controller by which the $H_2$ norm of the second channel is minimized while keeping the $H_{\infty}$ norm bound of the first channel less than ${\gamma}$, is reduced to the linear objective minimization problem. The class of desired controllers that are assumed to have the same structure as the plant is parameterized by using the linearizing change of variables. In addition, we show the procedure by which a obtained descriptor controller can be transformed to a non-descriptor one.

For linear descriptor systems, we consider the $H_{INFTY}$ controller design problem via output feedback. Both static output feedback and dynamic one are discussed. First, in the case of static output feedback, we reduce our control problem to solving a bilinear matrix inequality (BMI) with respect to the controller coefficient matrix, a Lyapunov matrix and a matrix related to the descriptor matrix. Under a matching condition between the descriptor matrix and the measured output matrix (or the control input matrix), we propose setting the Lyapunov matrix in the BMI as being block diagonal appropriately so that the BMI is reduced to LMIs. For fixed-order dynamic $H_{INFTY}$ output feedback, we formulate the control problem equivalently as the one of static output feedback design, and thus the same approach can be applied.

In this paper, we present an observer-based robust controller which achieves not only robust stability but also an performance robustness for linear uncertain discrete-time systems. The performance robustness means that comparing the transient behavior of the uncertain system with a desired one generated by the nominal system, the deterioration of control performance (i.e. the error between the real response and the desired one) is suppressed without excessive control input. The control law consists of a state feedback law for the nominal system and a compensation input given by a feedback form of an estimated error signal. In this paper, we show that conditions for the existence of the observer-based controller are given in terms of linear matrix inequalities (LMIs). Finally, a numerical example is given to illustrate the proposed technique.

Modern control systems often use a communication network to send measurement and control signals between nodes. Communication delays can be time varying. The length of the time delays is often hard to predict and are modeled as being random. This paper proposes a combined controller used to compensate network time delay by estimating the delay with the interacting multiple model (IMM). The network delay is modeled as a Markov chain and 3 modes representing heavy, medium, and low network loads are used in the IMM. The proposed method is applied to an optimal control system with double integrators and the results are compared with the existing control methods.

This paper describes a new type of the spatial filter detector (SFD) with variable and multi-valued weighting function. This SFD called variable spatial filter detector with multi-valued weighting function (VSFDwMWF) uses current-mode circuits for noise resistance and high-resolution weighting values. Total weighting values consist of 7bit, 6-signal bit and 1-sign bit. We fabricate VSFDwMWF chip using Rohm 0.35${\mu}$m CMOS process. VSFDwMWF chip includes two-dimensional 10${\times}$13 photodiode array and current-mode weighting control circuit. Simulation shows the weighting values are varied and multi-valued by external switching operation. The layout of VSFDwMWF chip is shown.

In this paper, a new Recursive Least-Squares(RLS) algorithm based on matrix pseudo-inverses is presented. The aim is to use the proposed new RLS algorithm for not only the over-determined but also the under-determined estimation problem. Compared with previous results, e.g., Jie Zhou et al., the derivation of the proposed recursive form is much easier, and the recursion form is also much simpler. Furthermore, it is shown by simulations that the proposed RLS algorithm is more efficient and numerically stable than the existing algorithms.

In this paper, we will explain about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: the first part includes the longitudinal control system for the acceleration and deceleration and the second part is the lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we propose the method of vehicle control, modeling and obstacle avoidance. Second, we describe a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.

In this paper we develop an equipment which prevents vehicles from overheating their inside due to exposure to direct sunlight in summer. Overheating of inside vehicle may give rise to accidents, for instances, dying from suffocation, the deformation of its internal equipment and the explosion from the cracks of its internal parts etc.. The equipment is operated under no starting engine. We adjust the overheating of the inside vehicle by operating the equipment. This equipment checks the temperature of the inside vehicle using temperature sensor. If the temperature increases more than reference temperature(a condition which can be given by the driver), the equipment will operate until the temperature of the inside decreases to the given temperature. Its power is obtained from solar cell. So the equipment keeps away overheating accidents as well as provides the drivers with optimized condition. And also it increases the ability of original car battery through solar cell.

An important signal processing problem in PVDF sensor is the restoration of surface information from electric sensing signals. The objectives of this research are to design a new texture sensing system and to develop a new signal processing algorithm for signals from the sensor to be tangibly displayed by tangible interface systems. The texture sensing system is designed to get surface information with high resolution and dynamic range. First, a PVDF sensor is made of piezoelectric polymer (polyvinylidene fluoride) strips molded in a silicon rubber and attached in a rigid cylinder body. The sensor is mounted to a scanning system for dynamic sensing. Secondly, a new signal processing algorithm is developed to restore surface information. The algorithm consists of the two-dimensional modeling of the sensor using an identification method and inverse filtering from sensing signals into estimated surface information. Finally the two-dimensional surface information can be experimentally reconstructed from sensing signals using the developed signal processing algorithm.

In this literature, the CMOS current mode fout quadrant differentiator circuit is proposed. The implementation is base on an appropriate input stage that converts the input current into a compressed voltage at the input capacitor ($C_{gs}$) of the CMOS driver circuit. This input voltage use as the control output current which flow to the output node by passing through a MOS active load and use it as the feedback voltage to the input node. Simulation results with level 49 CMOS model of MOSIS are given to demonstrate the correct operation of the proposed configuration. But the gain of the circuit is too low so the output differentiate current also low. The proposed differentiator is expected to find several applications in analog signal processing system.

A CMOS second generation current conveyor, which can be operated from a low-voltage power supply, is presented in this article. The proposed circuit is simple, small in size and suitable for implementing in standard CMOS process. It provides the resistance at port X lower than 3.5${\Omega}$. The bandwidth of the transfer characteristic extends beyond 326MHz. PSPICE simulation results demonstrating the characteristics of the proposed circuit are included.

A technique for realizing linear phase IIR filters has been proposed by Powell-Chau which gives a real-time implementation of H(z-1).H(z), where H(z) is a causal nonlinear phase IIR filter. Powell-Chau system is linear but not timeinvariant system. Therefore, that system has group delay response that exhibits a minor sinusoidal variation superimposed on a constant value. In the signal processing, this oscillation seriously degrade the signal quality. Unfortunately, that system has a large sample delay of 4L and also more computational complexity. Proposed system is present a reduced computational complexity technique by moved the numerator polynomial of H(1/z) out to cascade with causal filter H(z) and remain only all-pole of H(1/z), then applied truncated infinite impulse response to finite with truncated IIR filtel $H_L$(z) and L sample delay to subtract the output sequence from the top and bottom filter. Proposed system is linear time invariance and group delay response and total harmonic distortion are also improved.

In this paper, the CMOS integrated circuit technique for implementing current-mode maximum and minimum operations scheme is described. The maximum and minimum operations are incorporated into the same scheme with parallel processing. Using this scheme as the basic unit, an analog three-input maximum, median, and minimum circuit is designed. The performance of the proposed circuit shows a very sharp transfer characteristic and high accuracy. The proposed circuit achieves a high-speed operation, which is suitable for real-time systems. The PSPICE simulation results demonstrating the characteristic of the proposed circuit are included.

In this paper, the implementation technique of digital crossover network using perfect linear phase IIR filters is presented. This system has various advantages which cannot be obtained from analog crossover network such as linear phase response, flat group delay and sharp cut-off at low-order over audio frequency band. The simulation results show that the group delay response is maximally flat and twice more attenuation in stop-band than the prototype elliptic IIR filter at all desired frequency.

Abstract An idea to redce the direct-path short circuit current of the CMOS digital integrated circuit is present. The sample circuit model of the CMOS digital circuit is the CMOS current-control digital output driver circuit, which are also suitable for the low voltage supply integrated circuits as the simple digital inverter, are present in this title. The circuit consists of active MOS load as the current control source, which construct from the saturated n-channel and p-channel MOSFET and the general CMOS inverter circuits. The saturated MOSFET bias can control the output current and the frequency response of the circuit. The experimental results show that lower short circuit current control can make the lower frequency response of the circuit.

The GPS/INS integration system navigation can provide improved navigation performance and has been widely used as a main navigation system for military and commercial vehicles. When two navigation systems are tightly coupled and the structure is complicated, a fault in either the GPS or the INS can lead to a disastrous failure of the whole integration system. This paper proposes a real-time fault detection method for an AGPS/INS integration system. The proposed fault detection method comprises a BIT and a fault detection algorithm based on chi-square test. It is implemented by real-time software modules to apply the AGPS/INS integration system and van test is carried out to evaluate its performance.

In this paper, we propose a fault detection method for extended Kalman filter in decentralized filter structure. To detect a fault, a consistency between filter output and a monitoring signal is tested. State propagators are used to obtain the monitoring signal. However, the output of state propagator increases in magnitude and finally diverges as time runs. To solve such problem, two-propagator method was proposed for linear system. Two propagators are reset by Kalman filter output, alternatively, to avoid divergence. But a test statistics change abruptly at the reset instant in that method. Hence a N-step propagator method is proposed to fix up the problem. In the N-step propagator, only time propagations are performed from k-N+1 step to k step without measurement updates. A test statistics are defined by errors and its covariance between extended Kalman filter and N-step propagator. These fault detection methods are applied to integrated strapdown inertial navigation system (SDINS). By computer simulation, it is shown that the proposed methods detect a fault effectively.

The integrated global position system (GPS) and inertial navigation system (INS) has been considered as a cost-effective way of providing an accurate and reliable navigation system for civil and military system. Even the integration of a navigation sensor as a supporting device requires the development of non-traditional approaches and algorithms. The objective of this paper is to assess the feasibility of integrated with GPS and INS information, to provide the navigation capability for long term accuracy of the integrated system. Advanced algorithms are used to integrate the GPS and INS sensor data. That is fuzzy inference system based Weighted Extended Kalman Filter(FWEKF) algorithm INS signal corrections to provided an accurate navigation system of the integrated GPS and INS. Repeatedly, these include INS error, calculated platform corrections using GPS outputs, velocity corrections, position correction and error model estimation for prediction. Therefore, the paper introduces the newly developed technology which is aimed at achieving high accuracy results with integrated system. Finally, in this paper are given the results of simulation tests of the integrated system and the results show very good performance

When the low cost IMU is used, the result of the stationary self alignment is not suitable for navigation. In this paper, an in-motion alignment method is proposed to obtain an accurate initial attitude of a low cost IMU based GPS/INS integration system. To design Kalman filter for alignment, large heading error model is introduced. And then Kalman filter is designed to estimate initial attitude error as the indirect feedback filter. In order to assess performance of the alignment method, computer simulations are carried out. The simulation results show that initial attitude error rapidly reduces.

This paper proposes the pedestrian navigation system which deals with subjective information. This system consists of the route setting part and the instruction generation part. The route setting part chooses the route with highest subjective satisfaction degree. The instruction generation part gives users the instructions based on the users' sensuous feeling of distance with linguistic expressions. Fuzzy measures and integrals are applied to the calculation of the satisfaction degree of the route which reflects the users' taste for routes. The instruction generation part has database of users' cognitive distance. Users' cognitive distances are expressed by fuzzy sets that correspond to linguistic terms. The system generates the instructions with linguistic terms which have the highest fitness value for the users' sensuous feeling of distance. This paper also performs subjective experiments in order to confirm the validity of the present system.

This paper presents the pedestrian navigation algorithm and the error compensation filter. The pedestrian navigation system (PNS) consists of the MEMS inertial sensors, the fluxgate, and the small-size GPS receiver. PNS calculates the navigational information using the signal patterns of the accelerometers. And the navigational information is completed by integration of the patterns, the fluxgate, and the GPS information. In general, PNS can provide the better solution than the low-cost inertial navigation system.

In this paper, a design of I-PDA controller by CDM to control a flow process whose structure is first order lag plus a dead time is introduced. The factor of dead time of the process is approximated by second order Pade approximation in order to get a third order system. The simulations show that both of the transient and steady state specifications can be fulfilled. However, the transient response of the I-PDA control system still has long rise time. Then, a feedforward controller (FFC) with two adjustable parameters and one derivative time is introduced into I-PDA control system for improving the speed of the system response. It is shown, from the simulation results, that the performance of the I-PDA control system with suitable FFC has shorter rise time and no overshoot, while settling time remains almost the same. The performance comparison of the proposed control system with the PI control system with and without FFC is also made.

Recently technologies have created new principle and theory but the PID control system remains its popularity as the PID controller contains simple structure, including maintenance and parameter adjustment being so simple. The adjust parameter of PID to achieve best response of process which be using time and may be error if user are not expert. Nowadays this problem was solved by develop PID controller which can analysis and auto tune parameter are appropriate with process which used principle of Ziegler ? Nichols but it are expensive and designed for each task. Thus, this paper proposes auto tune PID based on FPGA by use principle of Dahlin which maximum overshoot not over 5 percentages and do not fine tuning again. It have performance in control process are neighboring controller in industrial and simple to use. Especially, It can use various process and low price. The auto tune digital PID processor embedded on chip FPGA XC2S50-5tq-144. The digital PID processor was designed by fundamental PID equation which architectures including multiplier, adder, subtracter and some other logic gate. It was verified by control model of temperature control system.

The overall size of electronic product is becoming small according to development of technology. Accordingly it is difficult to inspect these small components by human eyes. So, an automation system for inspecting them has been used. The existing system put microprocessor or Programmable Logic Controller (PLC) use. The structure of microprocessor-based controller and PLC use basically composed of memory devices such as ROM, RAM and I/O ports. Accordingly, the system is not only becomes complicated and enlarged but also higher price. In this paper, we implement FPGA-based One-chip Programmable Timing Controller for Inspecting Small components to resolve above problems and design the high performance controller by using VHDL. With fast development, the FPGA of high capacity that can have memory and PLL have been introduced. By using the high-capacity FPGA, the peripherals of the existent controller, such as memory, I/O ports can be implemented in one FPGA. By doing this, because the complicated system can be simplified, the noise and power dissipation problems can be minimized and it can have the advantage in price. Since the proposed controller is organized to have internal register, counter, and software routines for generating timing signals, users do not have to problem the details about timing signals and need to only send some values about an inspection system through an RS232C port. By selecting theses values appropriate for a given inspection system, desired timing signals can be generated.

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

The implementation of PI controller with the FPGA is for controlling the speed of DC motor in the digital system. FPGA is assigned to 1. Outer speed control loop. The signal from the speed comparison will be in the PI controlling form transfer function of Direct Form I or PI Parallel Form. 2.Inner current control loop. The signal from the current comparison will be converted into switching function in sliding mode condition. Its output will be a controller of DC motor in the next step. The result from using FPGA will be close to the value of simulation in the analog control system. The sampling rate 40 kHz and 16 bit of 2's complement data are defined in this presentation.

The field of handwriting recognition has been researched for many years. A hybrid classifier has been proven to be able to increase the recognition rate compared with a single classifier. In this paper, we combine support vector machine (SVM) and hidden Markov model (HMM) for offline handwritten numeral recognition. To improve the performance, we extract features adapted for each classifier and propose the modified SVM decision structure. The experimental results show that the proposed method can achieve improved recognition rate for handwritten numeral recognition.

Non-destruction examinations are required in medical sciences and various engineering now. We wish to emulate the examinations in very simplified experiments. It is an educational program. We show a neural network analysis to predict the locations of a sound-source or a body irradiated by sound-waves in audio-region. The sound is an interest flux, and it enables to clear local-structures in a non-transparent space. However, the sound-propagation equations are not solved easily, therefore, we consider to adopt multi-layer neural-networks instead of the direct solutions. We used detected intensities and coordinates for input data and teaching data. A neural network learned them. The neural-network analysis decomposed the distance of 50cm. The resolution is rather rough; however, it is caused by the limitation of our equipments. Since there is no problem in the neural network processing, if we could revise experiments, then, progress of the resolution would be got. Thus, the proposed method functioned as an educational and simplified non-destruction examination.

In this paper, we propose the speaker identification system that uses vowel that has speaker's characteristic. System is divided to speech feature extraction part and speaker identification part. Speech feature extraction part extracts speaker's feature. Voiced speech has the characteristic that divides speakers. For vowel extraction, formants are used in voiced speech through frequency analysis. Vowel-a that different formants is extracted in text. Pitch, formant, intensity, log area ratio, LP coefficients, cepstral coefficients are used by method to draw characteristic. The cpestral coefficients that show the best performance in speaker identification among several methods are used. Speaker identification part distinguishes speaker using Neural Network. 12 order cepstral coefficients are used learning input data. Neural Network's structure is MLP and learning algorithm is BP (Backpropagation). Hidden nodes and output nodes are incremented. The nodes in the incremental learning neural network are interconnected via weighted links and each node in a layer is generally connected to each node in the succeeding layer leaving the output node to provide output for the network. Though the vowel extract and incremental learning, the proposed system uses low learning data and reduces learning time and improves identification rate.

In general, conventional user identification systems require users to carry a TAG or badge or to remember ID and password. Though biometric identification systems may relieve these problems, they are susceptible to environmental noise to some degree. We propose a natural user identification system, ubiFloor, exploiting user's walking pattern to identify the user. The system identifies a user, while tracking the user's location, with a set of simple ON/OFF switch sensors or equipments. Experimental results show that the proposed system can recognize the registered users at the rate of 92%. Future improvement in recognition rate may be achieved by combining other sensors such as camera, microphone, etc.

Policies are collections of general principles specifying the desired behavior and state of a system. Network management is mainly carried out by following policies about the behavior of the resources in the network. Policy-based (PB) network management supports to manage distributed system in a flexible and dynamic way. This paper focuses on configuration management based on Internet Engineering Task Force (IETF) standards. Network security approaches include the usage of intrusion detection system to detect the intrusion, building firewall to protect the internal systems and network. This paper presents how the policy-based framework is collaborated among the network security systems (intrusion detection system, firewall) and intrusion detection systems are cooperated to detect the intrusions.

Self-Oranizing Map(SOM) is an unsupervised neural network providing cluster analysis of high dimensional input data. The output from the SOM is represented in map that help us to explore data. The weak point of conventional SOM is when the map is large, it take a long time to train the data. The computing time is known to be O(MN) for trainning to find the winning node (M,N are the number of nodes in width and height of the map). This paper presents a new method to reduce the computing time by creating new map. Each node in a new map is the centroid of nodes' group that are in the original map. After create a new map, we find the winning node of this map, then find the winning node in original map only in nodes that are represented by the winning node from the new map. This new method is called "High Speed Self-Oranizing Map"(HS-SOM). Our experiment use HS-SOM to cluster documents and compare with SOM. The results from the experiment shows that HS-SOM can reduce computing time by 30%-50% over conventional SOM.

This paper contributes to development of a new chip mounting head system for flip chip. Recently, the LDM(Linear DC Motor) has been widely used, because it has particular merits than the rotary type motors. In this paper, we proposed a macro/micro positioning system for force control of a chip mounting system. In the proposed macro/micro system, the macro actuator provide the system with a gross motion while the micro device yields fine tuned motion to reduce the harmful impact force that occurs between very small sized electronic parts and PCB surface. In order to prove the effectiveness of the proposed macro/micro chip mounting system, we compared the proposed chip mounting head with the conventional chip mounting head equipped with a macro actuator only. A series of experiments were executed under the mounting conditions of various access velocities and PCB stiffness. As a result of this study, a satisfactory voice coil actuator as the micro actuator has been developed, and its performance meet well the specifications desired for the design of the chip mounting head system and show good correspondence between theoretical analysis and experimental results.

Recently technologies have created new principle and theory but the PID control system remains its popularity as the PID controller contains simple structure, including maintenance and parameter adjustment being so simple. Thus, this paper proposes auto tune PID by fuzzy logic controller based on FPGA which to achieve real time and small size circuit board. The digital PID controller design to consist of analog to digital converter which use chip TDA8763AM/3 (10 bit high-speed low power ADC), digital to analog converter which use two chip DAC08 (8 bit digital to analog converters) and fuzzy logic tune digital PID processor embedded on chip FPGA XC2S50-5tq-144. The digital PID processor was designed by fundamental PID equation which architectures including multiplier, adder, subtracter and some other logic gate. The fuzzy logic tune digital PID was designed by look up table (LUT) method which data storage into ROM refer from trial and error process. The digital PID processor verified behavior by the application program ModelSimXE. The result of simulation when input is units step and vary controller gain ($K_p$, $K_i$ and $K_d$) are similarity with theory of PID and maximum execution time is 150 ns/action at frequency are 30 MHz. The fuzzy logic tune digital PID controller based on FPGA was verified by control model of level control system which can control level into model are correctly and rapidly. Finally, this design use small size circuit board and very faster than computer and microcontroller.

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

In this paper, experimental studies of force tracking control for the crack sealing robot are presented. Crack sealing robot is built to detect, track and seal the crack on the pavement. Before sealing, crack must be detected by a laser sensor and a camera sensor, then cleaned for a better sealing job. In order to maintain contact with the ground force control is required to brush all dirt in the crack out for preparing sealing cracks with tars. Impedance control algorithm is presented to regulate a specified desired force. Experimental studies of the proposed force control algorithm are conducted under unknown environment stiffness and location. Performances of force control algorithm are stable and excellent.

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for drive levitation object called a platen This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using lagrangian method and used coenergy to express an electromagnetic force. We proposed control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation result is provided to verify the effectiveness of the proposed control scheme.

This paper presents a combined lookup table technique and PI-type controller. The purpose of the designed controller is applied to control the nonlinear system as thermal process. The proposed controller is easy and convenient to design based on a commercial controller. The performances of the proposed controller were studied using the thermal plant model under temperature control. The experimental results included demonstrate the good performance of the proposed controller.

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

In this paper, the position control of a car-like mobile robot using neural network is proposed. The positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as references, the robot posture by localization is corrected by a cascaded controller. In order to improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The remotely located neural network filter modifies the reference trajectories to minimize the positional errors by wireless communication. A car-like mobile robot is built as a test-bed and experimental studies of proposed several control algorithms are performed. It turns out that the best position control can be achieved by a cascaded controller with neural network.

The micro robot soccer playing system is introduced. Studying and learning, evolving in artificial agents are very difficult problem, but on the other hand we think more powerfully challenging task. In our laboratory, this soccer-system studies mainly centered on single agent learning problem. The construction of such experimental system has involved lots of kinds of challenges such as robot designing, vision processing, motion controlling. At last we will give some results showing that the proposed approach is feasible to guide the design of common agents system.

In this paper, task control architecture is proposed for a mobile robot with behaviors based on cognition theory to endow the robot intelligence. In the task control architecture, task manager is introduced especially for the management of computational resource. The management is based on classical RMS (Rate Monotonic Strategy), but with online rate modulation strategy. The rate modulation is performed using the value variances of behavior execution for the task. Because the values are based on natively uncertain sensor information, they are modeled using PDF (probability Density Function). As a rate modulation process, the range of the rate modulation is defined firstly by real-time constraints of RMS and discrete control stability of behaviors. With the allowable range, rate modulations are performed considering harmonic bases to maintain utilization bound without decrease. To evaluate the efficiency of the proposed rate modulation strategy, a simulation test is performed to compare the efficiency between the control architecture with the proposed strategy and previous one. A performance index with the formalization of propensity of resource allocation is proposed and utilized for the simulation test. To evaluate the appropriateness of the performance index, the performance index is compared with practical one through a practical simulation test.

The present paper shows the possible development of particle swarm optimization (PSO) based fuzzy-neural networks (FNN) which can be employed as an important building block in real life robot systems, controlled by voice-based commands. The PSO is employed to train the FNNs which can accurately output the crisp control signals for the robot systems, based on fuzzy linguistic spoken language commands, issued by an user. The FNN is also trained to capture the user spoken directive in the context of the present performance of the robot system. Hidden Markov Model (HMM) based automatic speech recognizers are developed, as part of the entire system, so that the system can identify important user directives from the running utterances. The system is successfully employed in a real life situation for motion control of a redundant manipulator.

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.

In this paper, we propose a multi-agent system for assisting those who need help in taking objects around him/her. One may imagine this kind of situation when a person is lying in bed and wishes to take an object on a distant table that cannot be reached only by stretching his/her hand. The proposed multi-agent system is composed of three main independent agents; a vision agent, a robot agent, and a pass agent. Once a human expresses his/her intention by pointing to a particular object using his/her hand and a finger, these agents cooperatively bring the object to him/her. Natural communication between a human and the multi-agent system is realized in this way. Performance of the proposed system is demonstrated in an experiment, in which a human intends to take one of the four objects on the floor and the three agents successfully cooperate to find out the object and to bring it to the human.

The goal of this research is developing advanced lane detecting algorithm for unmanned vehicle. Previous lane detecting method to bring on error become of the lane loss and noise. Therefore, new algorithm developed to get exact information of lane. This algorithm can be used to AGV(Autonomous Guide Vehicle) and LSWS(Lane Departure Warning System), ACC(Adapted Cruise Control). We used 1/10 scale RC car to embody developed algorithm. A CCD camera is installed on top of vehicle. Images are transmitted to a main computer though wireless video transmitter. A main computer finds information of lane in road image. And it calculates control value of vehicle and transmit these to vehicle. This algorithm can detect in input image marked by 256 gray levels to get exact information of lane. To find the driving direction of vehicle, it search line equation by curve fitting of detected pixel. Finally, author used median filtering method to removal of noise and used characteristic part of road image for advanced of processing time.

Tracking is a fundamental technique which is able to be applied to gesture recognition, visual surveillance, tangible agent and so forth. Especially, multiple object tracking has been extensively studied in recent years in order to perform many and more complicated tasks. In this paper, we propose a new approach of multiple object tracking which is based on discrete event. We call this system the DEMOT (Discrete Event based Multiple Object Tracking). This approach is based on the fact that a multiple object tracking can have just four situations - initiation, continuation, termination, and overlapping. Here, initiation, continuation, termination, and overlapping constitute a primary event set and this is based on the change of the number of extracted objects between a previous frame and a current frame. This system reduces computational costs and holds down the identity of all targets. We make experiments for this system with respect to the number of targets, each event, and processing period. We describe experimental results that show the successful multiple object tracking by using our approach.

Image normalization is one of the important areas in pattern recognition. Also, log-polar images are useful in the sense that their image data size is reduced dramatically comparing with conventional images and it is possible to develop faster pattern recognition algorithms. Especially, the log-polar image is very similar with the structure of human eyes. However, there are almost no researches on pattern recognition using the log-polar images while a number of researches on visual tracking have been executed. We propose an image normalization technique of log-polar images using momentums applicable for affine-invariant pattern recognition. We handle basic distortions of an image including translation, rotation, scaling, and skew of a log-polar image. The algorithm is experimented in a PC-based real-time vision system successfully.

Pneumatic servo valve is an electro-mechanical device which change electric signals to a proper pneumatic signals, that is, flowrate and pressure. In this study, a pneumatic servo valve was designed and each simulation was conducted on any variation in the flowrate depending upon the magnetic force of the linear force motor and the displacement of the spool. And permanent magnet was used as a material for the plunger of the servo valve. Thereby, a low electrical power consumption type coil was desinged. And a modeling for the coil design was conducted by using the magnetic circuit. also, the feasibility of the modeling was verified by using a commercial magnetic field analysis program. The designed and fabrication of the spool and sleeve, position sensor, servo controller and the dynamic characteristic verified by the experiment.

For pneumatic valve system control, we need a serial data transmission system with high speed and reliability for information interchange between main computer and I/O devices. This paper presents a set of design techniques for a data communication system that is mainly used for pneumatic valve system control. For this purpose, we first designed hardware modules for an interface between central control module and local node that handles the operation of solenoid control valves. in addition, we developed a communication protocol for construction of rs-485 based multi-drop network and this protocol is basically designed with a kind of polling technique. Finally we evaluated performance of the developed system. the field test results show that, even under high noise environment, the data transmission of 375kbps rate is possible up to 1,500meter without using repeater. In addition, the system developed in this research is easily to be extended for a communication network because of its modular structure.

A novel actuator with built-in the displacement and the thrust control function is presented in this paper. This actuator is a kind of compact hydraulic cylinder system which consists of a hydraulic cylinder, a spool, a sleeve, a mechanical feedback mechanism and a stepping motor. The displacement and thrust is in proportion to the rotational angle of stepping motor by the mechanical feedback. In order to investigate characteristics of this actuator, simulation study and preliminary experiments are conducted. Through the preliminary experiment this actuator is very effective in the control for displacement and thrust. Also, it became obvious that the stability of system can be adjusted by using the restrictor with the effect of velocity feedback. Furthermore, this paper explained that a flexible compliance control could be realized by adjusting the feedback weighting in the actuator.

This paper presents a simple sensor network consists of a group of sensors, RF components, and microprocessors, to perform a distributed sensing and information transmission using wireless links. In the proposed sensor network, though each sensor node has a limited capability and a simple signal-processing engine, a group of sensor nodes can perform a various tasks through coordinated information sharing and wireless communication in a large working area. Using the capability of self-localization and tracking, we show the sensor network can be applied to localization and navigation of mobile robot in which the robot has to be coordinated effectively to perform given task in real time.

The visuo-motor map is based on the Kohonen's self-organizing map. The map is learned the relation of the end effecter coordinates and the joint angles. In this paper, a 3 d-o-fmanipulator which moves in the 2D space is targeted. A CCD camera is set beside the manipulator, and the end effecter coordinates are given from the image of a manipulator. As a result of learning, the end effecter can be moved to the destination without exact teaching.

In this paper, we propose an obstacle avoidance technique in trajectory tracking of nonholonomic wheeled mobile robots. Input-output linearized backstepping controller is used in trajectory tracking, and repulsive type control input for obstacle avoidance is added to it. The added input is generated by fuzzy logic. And we do not add the two inputs directly but combine them via fuzzy logic, which determines the ratings of each input. Some simulations are performed to show that with the proposed algorithm, the mobile robot can track its reference trajectory even if there are multiple obstacles on the trajectory of robot.

As personal robots coexist with a person with a role to help a person, while adapting various human life and environment, the personal robots have to accommodate frequently-changing or different-from-home-to-home environment. In addition, personal robots may have many kinds of different Kinematic configurations depending on the capabilities. Some may have a mobile base and others may have arms and a head. The motivation of this study arises from this not-well-defined home environment and varying Kinematic configuration. So the goal of this study is to develop a general control architecture for personal robots. There exist three major architectures; deliberative, reactive and hybrid. We found that these are applicable only for the defined environment with a fixed Kinematic configuration. Neither could accommodate the above two requirements. For the general solution, we propose a Supervised Hybrid Architecture (SHA), in which we use double layers of deliberative and reactive controls, distributed control with a modular design of Kinematic configurations, and real-time Linux OS. Deliberative and reactive actions interact through a corresponding arbitrator. These arbitrators help a robot to choose an appropriate architecture depending on the current situation to successfully perform a given task. The distributed control modules communicate through IEEE 1394 for the easy expandability. With a personal robot platform with a mobile base, two arms, a head and a pan-tilt stereo eye system, we tested the developed SHA for static as well as dynamic environments. For this application, we developed decision-making rules for selecting appropriate control methods for several situations of navigation task. Examples are shown to show the effectiveness.

Map building and position estimation capabilities are practically indispensable for a mobile robot to execute its given tasks in its working environments. An autonomous map building method and a smart localization method is proposed in our previous works. The experimental verifications are carried out in this paper. We applied the proposed algorithms to mobile service robots in large-scale indoor buildings. Experimental results show that our strategy is reliable and feasible in tough conditions like non-polygonal and dynamic environments. The advantages of the algorithms are well-illustrated through real experiments.

In this paper, it is shown how a robot with n passive trailers can be controlled in backward direction. When driving backward direction, a kinematic model of the system is represented highly nonlinear equations. The problem is formulated as a trajectory following problem, rather than control of independent generalized coordinates. Also, the state and input saturation problems are formulated as a trajectory generation problem. The trajectory is traced by a rear hinge point of the last trailer, and reference trajectories include line segments, circular shapes and rectangular turns. Experimental verifications were carried out with the PSR-2(public service robot $2^{nd}$ version) with three passive trailers. Experimental result showed that the backward motion control can be successfully carried out using the proposed control scheme.

The degree of supersaturation is an important measure for the operation of crystallization processes, because it is directly related to the control of crystal size distribution and shape. A conventional technique utilizing solution composition and temperature has a variety of problems caused from the measurement error and the handling of analyzing samples. A monitoring system of the supersaturation using a quartz crystal sensor is proposed here, and its performance is examined applying different manipulations of coolant temperature. The experimental outcome and photographic examination indicate that the measurements of resonant frequency and resistance of the sensor can be used for the prediction of the formation and growth of solid crystal from the crystallization process. The monitoring system eliminates the intrinsic error source of the conventional system to give the improved measurement and on-line application availability.

A measurement device for gas flow rate using hot-wire module is developed for the utilization in low-accuracy industrial applications. The module has three wires of measuring and heating, and a bridge circuit is installed to detect electric current through the wire in the module. An amplification of the signal and conversion to digital output are conducted for the online measurement with a personal computer. In addition, temperature distribution in the module is numerically analyzed to examine the measured outcome from the module experiment. The flow rate of air and carbon dioxide gas is separately measured for the performance examination of the device. The experimental relation of measurement and flow agrees with the prediction from the numerical analysis. The outcome of the performance test indicates that the accuracy and reproducibility of the module is satisfactory for the purpose of industrial applications.

In this paper, studied traveling by ummaned vehicles using MPC sensor.Explain what is MPC sensor and also is threaded how on vehicles. Made use of PID controller and LQG/LTR controller that is used much in present industrial circles for control of this.

Accurate mathematical models of spacecraft components are an essential of spacecraft attitude control system design, analysis and simulation. Gyro is one of the most important spacecraft components used for attitude propagation and control. Gyro errors may seriously degrade the accuracy of the calculated spacecraft angular rate and of attitude estimates due to inherent drift and bias errors. In order to validate this model, nominal case simulation has been performed and compared for the low range mode and high range mode, respectively. In this paper, a mathematical model of gyro containing the relationships for predicting spacecraft angular rate and disturbances is proposed.

The position control is very important in semiconductor manufacturing devices, precision machining tools, precision measuring instruments, etc. The accuracy of measurement for the distance in these devices affect on the performance of the whole devices. Therefore, in those precision instruments, a sensing device that can measure the distance of movement with high-precision resolution is required. In this paper, a novel hybrid (digital and analog) type encoder is proposed. It is shown that from several experiments, a high-resolution angular position measurement device can be designed with a low cost incremental encoder and a DSP controller.

In this paper, we measured the radiation dose of a fuel handling machine of the CANDU type Wolsong nuclear reactor directly during operation, in spite of the high radiation level. In this paper we will describe the sensor development, measurement techniques, and results of our study. For this study, we used specially developed semiconductor sensors and matching dosimetry techniques for the mixed radiation field. MOSFET dosimeters with a thin oxide, that are tuned to a high dose, were used to measure the ionizing radiation dose. Silicon diode dosimeters with an optimum area to thickness ratio were used for the radiation damage measurements. The sensors are able to distinguish neutrons from gamma/X-rays. To measure the radiation dose, electronic sensor modules were installed on two locations of the fuel handling machine. The measurements were performed throughout one reactor maintenance cycle. The resultant annual cumulative dose of gamma/X-rays on the two spots of the fuel handling machine were 18.47 Mrad and 76.50 Mrad, and those of the neutrons were 17.51 krad and 60.67 krad. The measured radiation level is high enough to degrade certain cable insulation materials that may result in electrical insulation failure.

In this study, Real-time estimation and compensation procedure are developed for the laser interferometer. This system is designed with homodyne quadrature-phase detection method using the Laser interferometer. The errors in this system are due to noise, disturbance and undefined model dynamics. DSP(Digital Signal Processor) is applied for real time compensation of these errors. This estimator and compensation is verified with measurement test.

A sensor working in outdoor may generate some faulty signal owing to dust and high temperature. This paper describes an intelligent sensor system and controller which has a reconstruction mechanism for faulty signal. The faulty signals are dievided into two types as linear distortion and non linear distortion, respectively. The linear distorted signal is due to dust, and non linear distorted signal is due to physical breakdown of sensor or high temperature. These distorted signal have been reconstructed by the proposed method based on polynomial regression method and principal component analysis approach.. The proposed method has been applied to sun tracking system working in outdoor. For a robust and precision control of sun tracker, a fuzzy controller was also proposed. The fuzzy controller controls the tracker by using the collected sensor signal. The tolerance of the position control is within 1.5 degree. To show the validity of the developed system, some experiments in the field were illustrated.

On the base of network frame and protocol system of Ethernet the networked sensing technology based on Ethernet is studied and the design principles of industrial Ethernet measurement of control system is put forward, and the general structure model is built in the paper. An eight-bit economical MCU scheme is proposed, and a general scheme of distributed intelligent networked measuring and control equipment based on TCP/IP is designed too. A compact TCP/IP protocol stack are successfully implemented in eight-bit MCU. With C51 program language, method of modularized programming is applied in soft design. The problem of in-system modifying measuring and control strategy of its system is solved successfully by assigning memory dynamically and saving parameter with EEPROM, and it makes the intelligent networked measurement and control system can explain and analyses control strategy from PC. Experiment result shows that, the research of intelligent networked measurement and control equipment and system base on TCP/IP is successful, with flexible network, convenient usage, and good commonality.

In this paper, an encryption method to share a secret binary image is proposed. It divides the image to be encrypted into an arbitrary number of images and encrypts them using XOR process with different binary random images which was prepared by the means of the XOR process, too. Each encrypted slice image can be distributed to the authenticated ones. However, we transfer the encrypted images to the binary phase masks to strengthen the security power, that means phase masks can not be copied with general light-intensity sensitive tools such as CCDs or cameras. For decryption, we used the Mach-Zehnder interferometer in which linearly polarized two light beams in orthogonal direction, respectively. The experimental result proved the efficiency of the proposed method.

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. The center coordinates extraction procedures are as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

License plate recognition is very important in an automobile society. This is because, since plate detection accuracy has large influence on subsequent number recognition, it is very important. However, it is very difficult to do it, because a background and a body color of cars are similar to that of the license plate. In this paper, we propose a new thresholds determination method in the various background by using the real-coded genetic algorithm (RGA). By using RGA, the most likely plate colors are decided under various lighting conditions. First, the average brightness Y values of images are calculated. Next, relationship between the Y value and the most likely plate color thresholds (upper and lower bounds)are obtained by RGA. The relationship between thresholds decided from RGA and brightness average is aproximate by using the recursive least squares (RLS) algorithm. In the case of plate detection, thresholds are decided from these functions.

One of the major factors that effect sensor performance is analog noise that added in a sensor signal such as voltage. In multi-axis force sensors, error sources may be classified mainly in two groups. One is structural error due to inaccuracy of sensor body. The other error source is noise signals existing in the sensed information. This paper presents a brief review about the principle of multi-axis force sensors, and then proposes a method that can reduce the effect of noise signal to sensor performance. The method is to convert analog voltage signal to digital numbers near sensor body and then to read these digital signals and conduct signal processing in the computer. By this way, we can eliminate a bad effect of electromagnetic wave emitted from computer and of 60 Hz noise emitted from AC source. The proposed method is investigated through experimental demonstration. The experimental results show that it improves S/N ratio of the sensor about 40 times in our experimental setup.

The vehicle's heading angle determination is formulated and the proposed method based on geometry engages the magnetometer and the GPS. The resulting maximum determination accuracy of 0.3deg over the entire earth as a standard deviation is obtained for a magnetometer with measurement error of 1nT.

Fuzzy sliding mode controller for a class of uncertain nonlinear dynamical systems is proposed and analyzed. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved.

This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed loop system is guaranteed. The computer simulation results for an inverted pendulum system show the performance of the proposed robust adaptive fuzzy controller.

This paper presents a method for combining classifier which is constructed by fuzzy and neural network classifiers and uses classifier fusion algorithms and selection algorithms. The input space of combing classifier is divided by the extended hyperbox region proposed in this paper to guarantee non-overlapped data property. To fuse the fuzzy classifier and the neural network classifier, we propose the fusion parameter for the overlapped data. In addition, the adaptive learning algorithm also proposed to maximize classifier performance. Finally, simulation examples are given to illustrate the effectiveness of the method.

A new interacting multiple model (IMM) method using intelligent input estimation (IIE) is proposed to track a maneuvering target. In the proposed method, the acceleration level for each sub-model is determined by IIE-the estimation of the unknown acceleration input by a fuzzy system using the relation between maneuvering filter residual and non-maneuvering one. The genetic algorithm (GA) is utilized to optimize a fuzzy system for a sub-model within a fixed range of acceleration input. Then, multiple models are composed of these fuzzy systems, which are optimized for different ranges of acceleration input. In computer simulation for an incoming ballistic missile, the tracking performance of the proposed method is compared with those of the input estimation (IE) technique and the adaptive interacting multiple model (AIMM) method.

This paper proposes an approach to attitude control artificial satellites with jet-engine. The jet-engine produces on-off thrust, which can be modelled as pulse-width-modulated (PWM) function. Therefore, the problem is converted to design a PWM controller and we develop an efficient technique for this purpose using digital redesign. The digital redesign is a converting technique a well-designed analog controller into the equivalent digital one maintaining the property of the original analog control system in the sense of state-matching. The redesigned digital controller is again converted into PWM controller using the equivalent area principle. We show a computer simulation of the attitude control of artificial satellites.

This paper proposes a novel and efficient intelligent digital redesign technique for a Takagi-Sugeno (TS) fuzzy system. The term of intelligent digital redesign involves converting an existing analog fuzzy-model-based controller into an equivalent digital counterpart in the sense of state matching. In this paper, we suggest the discretization method based on the dual-rate sampling approximation is first proposed, and then attempt to globally match the states of the overall closed-loop TS fuzzy system with the pre-designed analog fuzzy-model-based controller and those with the digitally redesigned fuzzy-model-based controller. To show the feasibility and the effectiveness of the proposed method, a computer simulation is provided.

The Mass Flow Controller(MFC) has become crucial in semiconductor manufacturing equipments. It is an important element because the quality and the yield of a semiconductor process are decided by the accurate flow control of gas. Therefore, the demand for the high speed and the highly accurate control of MFCs has been requested. It is hard to find an article of the control algorithm applied to MFCs. But, it is known that commercially available MFCs have PID control algorithms. Particularly, when the system detects the flow by way of heat transfer, MFC control problem contains the time delay and the nonlinearity. In this presentation, MFC control algorithm with the superior performance to the conventional PID algorithm is discussed and the superiority is demonstrated through the experiment. Fuzzy controller was utilized in order to compensate the nonlinearity and the time delay, and the performance is compared with that of a product currently available in the market. The control system, in this presentation, consists of a personal computer, the data acquisition board and the control algorithm carried out by LabWindows/CVI program on the PC. In addition, the method of estimating an actual flow from sensor output containing the time delay and the nonlinearity is presented. In conclusion, according to the result of the experiment, the proposed algorithm shows better accuracy and is faster than the conventional controller.

The following paper deals with a control problem of a mobile robot in home network environment. The home network causes the mobile robot to communicate with sensors to get the sensor measurements and to be adapted to the environment changes. To get the improved performance of control of a mobile robot in spite of the change in home network environment, we use the fuzzy inference system with multiple reward reinforcement learning. The multiple reward reinforcement learning enables the mobile robot to consider the multiple control objectives and adapt itself to the change in home network environment. Multiple reward fuzzy Q-learning method is proposed for the multiple reward reinforcement learning. Multiple Q-values are considered and max-min optimization is applied to get the improved fuzzy rule. To show the effectiveness of the proposed method, some simulation results are given, which are performed in home network environment, i.e., LAN, wireless LAN, etc.

A new technique is presented to construct a predictive model of plasma etch process. This was accomplished by combining a backpropagation neural network (BPNN) and a genetic algorithm (GA). The predictive model constructed in this way is referred to as a GA-BPNN. The GA played a role of controlling training factors simultaneously. The training factors to be optimized are the hidden neuron, training tolerance, initial weight magnitude, and two gradients of bipolar sigmoid and linear functions. Each etch response was optimized separately. The proposed scheme was evaluated with a set of experimental plasma etch data. The etch process was characterized by a $2^3$ full factorial experiment. The etch responses modeled are aluminum (A1) etch rate, silica profile angle, A1 selectivity, and dc bias. Additional test data were prepared to evaluate model appropriateness. The GA-BPNN was compared to a conventional BPNN. Compared to the BPNN, the GA-BPNN demonstrated an improvement of more than 20% for all etch responses. The improvement was significant in the case of A1 etch rate.

If an agent has a learning ability using previous knowledge, then it is expected that the agent can speed up learning by interacting with environment. In this paper, we present an improved reinforcement learning algorithm using domain knowledge which can be represented by problem-independent features and their classifiers. Here, neural networks are employed as knowledge classifiers. To show the validity of our proposed algorithm, computer simulations are illustrated, where navigation problem of a mobile robot and a micro aerial vehicle(MAV) are considered.

In this paper, a neural network based approach using a self-organizing feature map is proposed for the segmentation of X ray images. A number of algorithms based on such approaches as histogram analysis, region growing, edge detection and pixel classification have been proposed for segmentation of general images. However, few approaches have been applied to X ray image segmentation because of blur of the X ray image and vagueness of its edge, which are inherent properties of X ray images. To this end, we develop a new model based on the neural network to detect objects in a given X ray image. The new model utilizes Mumford-Shah functional incorporating with a modified adaptive SOFM. Although Mumford-Shah model is an active contour model not based on the gradient of the image for finding edges in image, it has some limitation to accurately represent object images. To avoid this criticism, we utilize an adaptive self organizing feature map developed earlier by the authors.[1] It's learning rule is derived from Mumford-Shah energy function and the boundary of blurred and vague X ray image. The evolution of the neural network is shown to well segment and represent. To demonstrate the performance of the proposed method, segmentation of an industrial part is solved and the experimental results are discussed in detail.

KAERI is developing the Advanced Spent Fuel Conditioning Process (ACP) as a pre-disposal treatment process for spent fuel. Equipment used for such a spent fuel recycling and management process must operate in intense radiation fields as well as in a high temperature. Therefore, remote maintenance has a played a significant role in this process because of combined chemical and radiological contamination. Hence suitable remote handling and maintenance technology needs to be developed along with the design of the process concepts. To do this, we developed the graphic simulator for the ACP. The graphic simulator provides the capability of verifying the remote operability of the process without fabrication of the process equipment. In other words, by applying virtual reality to the remote maintenance operation, a remote operation task can be simulated in the graphic simulator, not in a real environment. The graphic simulator will substantially reduce the cost of the development of the remote handling and maintenance procedure as well as the process equipment, while at the same time producing a process and a remote maintenance concept that is more reliable, easier to implement, and easier to understand.

In this paper, we propose set-up model of silicon steel cold rolling mill. Until now, the working of Silicon Steel is operated using the look-up table value of roll force which a field operator finds by making good use of his experience. Therefore, the standardization of data and an improvement of the quality on product are very difficult. So we establish neural model using field data of various kinds of coil at each pass.

In this paper, an ATC(Automated Transfer Crane) control system is required rapid transportation to get highest productivity with low cost. Therefore, the container paths should be built in terms of the least time and least sway when container is transferred from the initial coordinate to the finial coordinate. So we applied the best-first search method for forming the container path, and calculated the anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the neural network two degree of freedom PID (TDOFPID) controller to control the precise navigation. For simulation, we constructed the container profiles so that we analyzed the state of formed path and the performance of TDOFPID controller to the formatted path. Then we compared the performance of ES-tuned PID controller with our proposed controller in terms of trolley position, anti-sway, path change, disturbance, and the load of containers. The computer simulation results show that the proposed controller has better the other on the various conditions.

The present headway on KNR lines varies from 6 to 10 minutes. Therefore, KNR would like to reduce the headway of all the lines by 4 minutes with the implementation of ERTMS/ETCS on-board system. In Korea, thanks to the operation of the High Speed Line in 2004, the bottleneck phenomenon will occur only in a few sections such as Seoul-Siheung, which will be the common route between KTX and conventional trains. Therefore, we will analyze expected braking distance and running time depending on characteristics of conventional passenger and freight trains and high speed train will be operated within electrified conventional line for comparing the headways of ATS trackside and ETRMS/ETCS on-board system within the Seoul-Siheung section.

Data is the expression of the language or numerical values that show some characteristics. And information is extracted from data for the specific purposes. The knowledge is utilized as information to construct rules that recognize patterns and make decisions. Today, knowledge extraction and application of the knowledge are broadly accomplished to improve the comprehension and to elevate the performance of systems in several industrial fields. The knowledge extraction could be achieved by some steps that include the knowledge acquisition, expression, and implementation. Such extracted knowledge can be drawn by rules. Clustering (CU, input space partition (ISP), neuro-fuzzy (NF), neural network (NN), extension matrix (EM), etc. are employed for expression the knowledge by rules. In this paper, the various approaches of the knowledge extraction are examined by categories that separate the methods by the applied industrial fields. Also, the several test data and the experimental results are compared and analysed based upon the applied techniques that include CL, ISP, NF, NN, EM, and so on.

A precision micro-positioning system with a high displacement resolution and wide motion range has been required for industrialized applications in variety fields. This paper discusses the design of a precision micro-rotation stage with flexure hinges. Proposed system is applied to grinding machine for micro parts. Rotational motion is generated with this system. For this systems having a full rotation motion with high precision, a dual servo system with a coarse stage and a fine stage is proposed.

CEMTool is a command style design and analyzing package for scientific and technological algorithm and a matrix based computation language. In this paper, we present a compiler based approach to the implementation of the command mode generalized PDE solver in CEMTool. In contrast to the existing MATLAB PDE Toolbox, our proposed FEM package can deal with the combination of the reserved words such as "laplace" and "convect". Also, we can assign the border lines and the boundary conditions in a very easy way. With the introduction of the lexical analyzer and the parser, our FEM toolbox can handle the general boundary condition and the various PDEs represented by the combination of equations. That is why we need not classify PDE as elliptic, hyperbolic, parabolic equations. Consequently, with our new FEM toolbox, we can overcome some disadvantages of the existing MATLAB PDE Toolbox.

The process equipment for handling high level radioactive materials like spent fuels is operated in a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired optimally by a remotely operated manipulator. The master-slave manipulators(MSM) are widely used as a remote handling device in the hot cell. The equipment in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. But, because of the complexity in the hot cell, there would be some parts of the equipment that are not reached by the MSM. In this study, the maintenance process for these parts of the equipment is developed using virtual prototyping technology. To analyze the workspace of the maintenance device in the hot cell and to develop the maintenance processes for the process equipment, the virtual mock-up of the hot cell for the spent fuel handling process is implemented using IGRIP. For the implementation of the virtual mock-up, the parts of the equipment and maintenance devices such as the MSM and servo manipulator are modeled and assembled in 3-D graphics, and the appropriate kinematics are assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment, which is the same as the real environment. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. Also, for the dedicated maintenance operation, the analyses for the detailed area of the end effectors in accordance with the slave manipulator's position and orientation are carried out. The parts of the equipment that are located outside of the MSM's workspace are specified and the maintenance process of the parts using the servo manipulator that is mounted in the hot cell is proposed. To monitor the process in the hot cell remotely, the virtual display system by a virtual camera in the virtual work cell is also proposed. And the graphic simulation using a virtual mock-up is performed to verify the proposed maintenance process. The maintenance process proposed in this study can be effectively used in the real hot cell operation and the implemented virtual mock-up can be used for analyzing the various hot cell operations and enhancing the reliability and safety of the spent fuel management.

This paper describes a remote monitoring system of temperature control for cold-storage of farm produce. In cold-storage, it is important that farm produces are stored as fresh. Unfortunately, when an operator goes out from the cold-storage, the temperature could be changed due to the various reasons, for an example, a valve of cooler is broken. The temperature change results in a serious problem of the quality of farm produce. To prevent the problem, the operator has to look to the current state of the temperature of the cold-storage, even he is in long away. Thus, the monitoring system to show the temperature is required to the operator who can move away. Therefore, this paper describes the remote monitoring system of the temperature. The proposed system is expected to help the operator's facilities, and the management of farm produce.

Workload programming is allocating suitable workloads of production process according to the needs of products, which would minimize the total cost of both work and stock under some constraint conditions. In this paper, a production process flow chart of discrete manufacturing is presented by a Petri net, and the optimization model of workload-stock is established. An approach of the optimal workloads is provided by means of the integer matrix theory. An example is given to verify this method.

PROFIBUS is an open industrial communication network for a wide range of application in manufacturing automation and process control systems. PROFIBUS-DP(Decentralized Peripherals) are mainly used to connect smart automation devices via a fast serial link. PROFIBUS-DP adopts master/slave mechanism for communication service. In this paper, we present an implementation method of the protocol stacks for the master station of PROFIBUS-DP.

In the thermal power plant, the main steam temperature is typically regulated by the fuel flow rate and the spray flow rate, and the reheater steam temperature is regulated by the gas recirculation flow rate. However, Strictly maintaining the steam temperature can be difficult due to heating value variation to the fuel source, time delay changes in the main steam temperature, the change of the dynamic characteristics in the reheater. Up to the present time, PID Controller has been used to operate this system. However, it is very difficult to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error. This paper focuses on tuning of the 2-DOF PID Controller on the DCS for steam temperature control using immune based multiobjective approach. The stable range of a 2-DOF parameter for only this system could be found for the start-up procedure and this parameter could be used for the tuning problem. Therefore tuning technique of multiobjective based on immune network algorithms in this paper can be used effectively in tuning 2-DOF PID controllers.

This paper describes real time object tracking of 3D objects in 2D image sequences. The moving objects are segmented from the image sequence using morphological operations. The moving objects are segmented by the method of differential image followed by the process of morphological dilation. The moving objects are recognized and tracked using statistical moments. The direction of moving objects are determined by the Hough transform. The straight lines in the moving objects are found with the help of Hough transform. The direction of the moving object is calculated from the orientation of the straight lines in the direction of the principal axes of the moving objects. The direction of the moving object and the displacement of the object in the image sequence is used to calculate the velocity of the moving objects. The simulation results of the proposed method are promising on the test images.

In this paper, we propose a controller for the position of a cart and the angle of a pendulum. To achieve both purposes simultaneously, we divide the system into the dominant subsystem and the dominated one after partial feedback linearization. The proposed controller is composed of a nonlinear controller stabilizing the dominant subsystem and a linear quadratic controller. Using the proposed controller, the controllable region is increased by the nonlinear control part and the control input minimized by the linear control part (LQR).

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.

This paper deals with a control technique of eliminating the transient vibration of a twin-drive geared mechanical system. This technique is based on a model-based control in order to establish the damping effect at the driven machine part. The control model is composed of reduced-order electrical and mechanical parts. This control model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically and it is added to the velocity command to suppress the transient vibration generated at the load. This control technique is applied to a twin-drive geared system with backlash. In the previous work, the performance of this control method is examined by simulations. In this paper, the effectiveness of this control technique is verified by experiments. The settling time of the residual vibration generated at the loading inertia can be shortened down to about 1/2 of the uncompensated vibration level.

In this paper, a simple method to design an MIMO sound field control system was proposed. The control system was designed to achieve 1) noise attenuation and 2) sound equalization by utilizing feedback and feedforward controllers. The method was based on partial model matching on frequency domain which only required measured frequency response data, or impulse response data in order to tune parameters of the controller. The proposed method was applied to a normal office room and results of experiment showed effectiveness of the proposed method.

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

This paper presents the design technique for controlling the oscillation in the Disk Drive Read System via Derivative State Constrained (DSC)-Optimal $H_2$ Controller. The Optimal $H_2$, DSC-Optimal $H_2$ and Incorporating of Stability Degree Specification DSC Optimal $H_2$ are discussed. The results among these schemes are compared to verify the merit of DSC that effectively suppresses the oscillation in oscillatory system. The suggestions of how to select the weights of optimal controls are given.

In this paper, sliding mode controller for discrete-time nonlinear systems with uncertainties and disturbances are proposed. The concept of time-delay control (TDC) which consists of estimating the uncertain dynamics of the system through past observations of the system response is used. The proposed controller guarantees that the closed-loop system states are globally uniformly ultimately bounded (GUUB). It is also shown that the closed-loop system states are globally uniformly asymptotically stable (GUAS) if uncertainties are constant.

In this paper, a nonlinear controller based on sliding mode control is applied to a two -wheeled Welding Mobile Robot (WMR) to track a smooth-curved welding path at a constant velocity of the welding point. T he mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known . To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation results are included to illustrate the performance of the control law.

In this paper, the design method of sliding mode control (SMC) system for SISO linear system is discussed. First, we consider the similarity between the design method of sliding mode hyper plane using the strict positive realness and the characteristics of zeros of feedback system and the design method of simple adaptive control. Based on such a consideration, we propose the new design method of SMC system using parallel dynamic compensator. As a result, SMC system can be constructed only with the derivative of output signal for controlled plant. The performance of SMC system designed by proposed method is confirmed through the numerical example.

In this paper, for the fuzzy-reaching law method which has the characteristic of elimination of chattering at sliding mode as well as the characteristic of fast response at the design of variable structure controller with reaching law, optimal solutions for the determination of parameters of fuzzy membership functions by using genetic algorithm are proposed. Generally, the design of fuzzy controller has difficulties in determining the parameters of fuzzy membership functions by using a tedious trial-and-error process. To overcome these difficulties, this paper develops genetic algorithm of an optimal searching method based on genetic operation, and to verify the validity of this proposed method it is simulated through 2 link robot manipulator.

In this paper, we proposed static output feedback model predictive control for Wiener models. We adopted polytopic uncertainty description of Wiener Model Predictive Control (WMPC) algorithms for considering output nonlinearities. Robust stability conditions have been presented under which the closed loop stability of static output feedback MPC is guaranteed. The proposed control law is determined from the static output feedback WMPC based on the current estimated state with explicit satisfaction of input constraints.

This paper presents the calibration service for the temperature sensor via the Internet. The purpose of the calibration service is to provide the teleoperate calibration procedure without skillful technician requirement at the client site. Besides the automatic measurement equipment that eases the operation, the developed software emphasizes the reliability of operation, simplifying the measurement data recording and processing, and achieving quality of the temperature measurements.

Model Predictive Control (MPC) has recently found wide acceptance in industrial applications, but its potential has been much impounded by linear models due to the lack of a similarly accepted nonlinear modelling or data based technique. The authors have recently developed a new method for obtaining Volterra kernels of up to third order by use of pseudorandom M-sequence. By use of this method, nonparametric NMPC is derived in discrete-time using multi-dimensional convolution between plant data and Volterra kernel measurements. This approach is applied to an industrial polymerisation process using Volterra kernels of up to the third order. Results show that the nonparametric approach is very efficient and effective and considerably outperforms existing methods, while retaining the original data-based spirit and characteristics of linear MPC.

For many industrial processes there are good static models used for process design and steady state operation. By using system identification techniques, it is possible to obtain black-box models with reasonable complexity that describe the system well in specific operating conditions [1]. But black-box models using inductive modeling(IM) is not suitable for model based control because they are only valid for specific operating conditions. Thus we need to use deductive modeling(DM) for a wide operating range. Furthermore, deductive modeling is several merits: First, the model is possible to be modularized. Second, we can increase and decrease the model complexity. Finally, we are able to use model for plant design. Power plant must be able to operate well at dramatic load change and consider safety and efficiency. This paper proposes a simplified nonlinear model of an industrial boiler, one of component parts of a power plant, by DM method and applies optimal control to the model.

This paper presents an n-steps on-off controller to maintain the desired temperature of the thermal process. The proposed technique is simple and convenient to implement based on the programmable commercial controller. The thermal plant model is experimented to observe the performances of the proposed controller. The experimental results included demonstrate the good performance of the proposed controller.

This paper describes the design and implementation techniques of a generic Internet based telerobotic system. The purpose is to make precious technical information and hands-on experience of the authors widely available for the research community. The paper is based on the telerobotics system that the authors recently implemented between KAIST and Saga University, Japan. In its current functionality, two control modes can be exercised; high-level supervisory control, and low-level supervisory control.

In general satellite verification process, the AOCS (Attitude & Orbit Control Subsystem) should be verified through several kinds of verification test which can be divided into two major category like FBT (Fixed Bed Test) and polarity test. And each test performed in different levels such as ETB (Electrical Test Bed) and satellite level. The test method of FBT is to simulate satellite dynamics with sensors and actuators supported by necessary environmental models in ETB level. The VDS (Vehicle Dynamic Simulator) try to make the real situation as possible as the on-board processor will undergo after launch. The purpose of FBT test is to verify that attitude control logic function and hardware interface is designed as expected with closed loop simulation. The VDS is one of major equipments for performing FBT and consists of software and hardware parts. The VDS operates in VME environments with target board, several commercial boards and custom boards based on the VxWorks real time operating system. In order to make time synchronization between VDS and satellite on-board processor, high reliable semaphore was implemented to make synchronization with the interrupt signal from on-board processor. In this paper, the real-time operating environment used on VDS equipment is introduced, and the hardware and software configurations of VDS summarized in the systematic point of view. Also, we try to figure out the operational concept of VDS and AOCS verification test method with close-loop simulation.

In this paper the networked control systems (NCS) problem is discussed where plants and controllers are distributed and interconnected by a common network. NCS is designed with LQ regulator and applied to an inverted pendulum accounting for the multiple time delays. We are to deals with a networked control system with a single controller, multiple sensors and multiple actuators. Since these parts are distributed, they are interconnected by communication networks. An NCS with LQ regulator is designed and applied to an inverted pendulum as a benchmark plant to check its performance under time delays induced by the network. Network induced delays are composed of two parts. One is the delay from controller to plant, and another is from plant to controller. They are assumed to be constant in this paper, and the plant and controller are discretized. To apply the LQ regulator the NCS model is transformed to a standard model with delayed states as state variable. And real network induced delay is measuring in TCP/IP network assuming that two delays are constant.

This paper proposes a transmission interval which includes collisions and retransmissions in the IEEE 802.11 DCF. The transmission probability is used for the calculation of collisions and retransmissions in the DCF. Since the noises are considered to analyze the transmission interval, retransmissions by the noises are included in the proposed transmission interval. The proposed transmission interval takes account of the retransmissions by packet errors, and makes it possible to analyze the maximum throughput of the DCF.

This paper presents the design and development of network for housing estate security system. The system can cover up to 961 houses which can be up to 1,200 meters long transfer rate of 9,600 bps. This system uses checking and warning the abnormal situation. More over this system has ability to control switch on/off the electrical equipment in the house via AC line control system. The system consists of 4 parts. The first part is a security system of each house using MCS-51 microcontroller as a central processing unit scan 32 sensors and control 8 appliances and send alarm. The MCS-51 microcontroller received control signal via telephone used DTMF circuit. The second part is distributed two levels master/slave network implementing after RS-485 serial communication standard. The protocol its base on the OSI (Open Systems Interconnection) 7 layers protocol model design focus on speed, reliability and security of data that is transferred. The network security using encrypt by DES algorithm, message sequence, time stamp checking and authentication system when user to access and when connect new device to this system. Flow control in system is Poll/Select and Stop-and-Wait method. The third part is central server that using microcomputer which its main function are storing event data into database and can check history event. The final part is internet system which users can access their own homes via the Internet. This web service is based on a combination of SOAP, HTTP and TCP/IP protocols. Messages are exchanged using XML format [6]. In order to save the number of IP address, the system uses 1 IP address for the whole village in which all homes and appliance in this village are addressed using internal identification numbers. This proposed system gives the data transfer accuracy over 99.8% and maximum polling time is 1,120 ms.

This paper proposes a wireless EMG-based human-computer interface (HCI) for persons with disabilities. For the HCI, four interaction commands are defined by combining three elevation motions of shoulders such as left, right and both elevations. The motions are recognized by comparing EMG signals on the Levator scapulae muscles with double thresholds. A real-time EMG processing hardware is implemented for acquiring EMG signals and recognizing the motions. To achieve real-time processing, filters such as high- and low-pass filter and band-pass and -rejection filter, and a full rectifier and a mean absolute value circuit are embedded on a board with a high speed microprocessor. The recognized results are transferred to a wireless client system such as a mobile robot via a Bluetooth module. From experimental results using the implemented real-time EMG processing hardware, the proposed wireless EMG-based HCI is feasible for the disabled.

A neuromuscular control system of a myoelectric prosthetic hand (PH) constitutes a nonlinear system with a dead zone whose magnitude is equal to its joint angle when the PH just grasps an object. This is because the neuromuscular control system remains an open-loop system until the PH grasps the object but it constitutes a feedback control system after the PH griped the object in which a torque induced in the fingers of the PH is fed back. To improve the transient performance of the control system, it is desirable to make the feed-forward gain as large as possible, so long as the stability of the system is not impaired. It is also desired that the control system remains stable even when the PH lifts a heavy or rigid object, because this makes the closed loop gain large and leads to the closed system unstable. According to the theory of stability analysis of nonlinear systems, we can only know the sufficient conditions that the system should be stable. Thus the nonlinear theory on stability is insufficient to be used to design the neuromuscular control system for improving its transient responses. This paper shows that the nonlinear system with a dead zone can be approximated to a linear feedback system and that well-known methods of analysis and design on linear control systems can be applicable. It is also shown through various simulation results that errors induced by approximation are practically negligible and thus the design methods are quite accurate.

There is some equipment that helps user to exercise and to walk. But almost all equipments require some physical strength of their muscles. So we developed a system that could assist walking action of the people with lower-limb disability. The system called as walking stand adopted the balancing mechanism which assures the stable walking, and the 4 link-based mechanism that had 2 degrees of freedom on each leg. The walking stand uses four motors and has two sets of the special link-structure to simulate the human walking mechanism. With our system, even serious disabled with lower-limb disability may enjoy walking rehabilitation. And by adjusting the power, it can be used as the walking assistant mechanism instead of conventional wheelchairs. Experiments showed that our walking stand is applicable to the rehabilitation and also to the mobile device in our daily life for those people who do not have enough physical ability to walk by themselves.

One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.

The functional behavior of each body segments were investigated with respect to human standing posture when they were exposed to the horizontal vibration in the sagittal plane. This study is processed by experimental approach. The data is analyzed, both in the time domain and in the frequency domain. Random and multisinusoidal vibration was used as input. The ankle, hip, and head were employed as the significant body segments. High relative movements were present between hip and head, and there was no significant relationship between ankle and head. Variations of visual input produced a significant postural effect.

The electric power wheelchair needs to control motor torque and speed for responding to variable actions given by handling a joystick. In this paper a DSP-based BLDC motor controller using a single dc-link current sensor is presented for electric power wheelchair. It is composed by a DSP processor and three-phase inverter module. To control torque, high speed current control is achieved by the PI controller and pulse width modulation (PWM) signals with 25 kHz carrier frequency, which is performed by 200 ${\mu}sec$ cycle. The speed controller computes the new direct current reference from the speed error and the PI control equation. The displacement value by handling the joystick is converted to reference speeds of right and left wheel motors using nonholonomic wheelchair kinematics. Experimental results show that the presented control system is enough to implement a speed servo in wheelchair driving.

Genetic algorithm is well known as a stochastic searching method. In this paper, a modified genetic algorithm using 'Suppor Vector Machines (SVM)' is proposed. SVM is used to reduce the number of calling the objective function which in turn accelerate the searching speed compared to the conventional GA.

Generally, the environment we want to apply classifier system to is composed of several state spaces. So in this paper, we propose the layered classifier system having multifarious rule bases. From sensor's inputs, the lower layer of the layered classifier system learns strategies for each environmental state space. The higher layer learns how to allot each rule base of the strategy for environmental state space properly. To evaluate the proposed architecture of classifier system, we designed virtual environment having multifarious state spaces and from the analysis of the experimental results, we affirm that layered classifier system could find better strategies during a little time than other established classifier system's findings.

In this paper, we propose a "Distance Correlation Selection operator (DCS)" as a new selection operator. For Genetic Algorithm (GA), many improvements have been proposed. The MGG (Minimal Generation Gap) model proposed by Satoh et.al. shows good performance. The MGG model has all advantages of conventional models and the ability of avoiding the premature convergence and suppressing the evolutionary stagnation. The proposed method is an extension of selection operator in the original MGG model. Generally, GA has two types of selection operators, one is "selection for reproduction", and the other is "selection for survival"; the former is for crossover and the latter is the individuals which survive to the next generation. The proposed method is an extension of the former. The proposed method utilizes distance information between individuals. From this extension, the proposed method aims to expand a search area and improve ability to search solution. The performance of the proposed method is examined with several standard test functions. The experimental results show good performance better than the original MGG model.

In this paper, a model of adaptive individual life support system is proposed from the viewpoint of cybernetics. This model is derived based on the relation between human behavior and human action, static and dynamic in processing speed, and abstract/concrete. In applications, task and information of human which includes in this system analyzed by paying attention to cybernetics. This paper shows a few actual example of modeling by fundamental adaptive individual life support model such as medical diagnosis, health care and education support. Finally as an example, design and implementation are concretely carried out for health care support system. This is also a method to design a information support system which is involved in human.

In this paper the structure of 2-DOF controller based on artificial immune network algorithms has been suggested for nonlinear system. Up to present time, a number of structures of the 2-DOF controllers are considered as 2-DOF (2-Degrees Of Freedom) control functions. However, A general view is provided that they are the special cases of either the state feedback or the modification of PID controllers. On the other hand, The immune network system possesses a self organizing and distributed memory, also it has an adaptive function by feed back law to its external environment and allows a PDP (parallel distributed processing) network to complete patterns against the environmental situation, since antibody recognizes specific antigens which are the foreign substances that invade living creatures. Therefore, it can provide optimal solution to external environment. Simulation results by immune based 2-DOF controller reveal that immune algorithm is an effective approach to search for 2-DOF controller.

In this paper, presented is a feedback control performance of vibratory gyroscope at various vacuum levels. Micro gyroscope, whose operation is based on the vibrating motion at the vacuum conditions, is highly influenced by the vacuum level of the operating circumstances. In general, we apply the feedback control scheme to the gyroscope in order to improve the performances of the sensor. And control performances of the gyroscope are related to those vacuum levels. So we need investigate the performances of the closed loop control at various vacuum conditions comparing with those of the open loop. The experimental results show that the sensitivity of the closed loop is less than that of the open loop especially in low vacuum conditions. Therefore, there should be trade-off between sensitivity and other sensor performances such as linearity, bandwidth when we apply feedback control to the gyroscope.

Nanotechnology is an important challenge, for which nanoparticle manipulation plays an important role in the assembly of nano elements. In this study, the dynamic equation of system plant is established by van der Waals force, friction, capillary forces etc. To push nanoparticles, strain gauges are used as sensors to actuate an X-Y stage in an atomic force microscopy system. A strategy of pushing nanoparticles is developed based on sliding mode control. Moreover, afuzzy controller is responsible for compensating tip-particle contact loss according to feedback signals of a laser-detector system. According to position control result, experimental results of gold nanoparticle manipulation are presented.

In this paper, we present a planar single-crystalline silicon x-axis micro-gyroscope fabricated with a perfectly aligned vertical actuation combs on one silicon wafer, using the extended SBM technology. The fabricated x-axis micro-gyroscope has the resolution of 0.1 deg/sec, the bandwidth of 100 Hz. These research results allow integrating 6 axes inertial measurement (3 accelerations and 3 angular rates) on the same silicon substrate using the same process for the first time.

The authors investigate influences of manipulator dynamics on and roles of kinesthetic sensation and visual sensation in a Human-Machine Cooperative System (HMCS). At first, the general structure and essential transfer functions of HMCSs are described based on the previous work. Then, after showing theoretical treatment of manipulator dynamics, this paper analyzes the influences on HMCSs in two cases: one is the control design focusing on tool dynamics and reaction force transfer function, and the other is that specifies maneuver transfer function and transfer function for object dynamics variation. In addition to conventional experiments only employing kinesthetic sensation, other experiments with both kinesthetic and visual sensations are performed to examine difference in the roles of these sensations and the validity of the design without the visual sensation.

In this paper, a control method is presented to improve performance of haptic display on a passive haptic device equipped with passive actuators. In displaying a virtual wall with the passive haptic device, an unstable behavior occurs with excessive actions of brakes due to the time delay mainly arising from the update rate of the virtual environment and force approximation originated from the characteristics of the passive actuators. The previous T.D.P.C. (Time Domain Passivity Control) method was not suitable for the passive haptic device, since a programmable damper used in the previously introduced T.D.P.C. method easily leads to undesirable behaviors. A new passivity control method is evaluated with considering characteristics of the passive device. First, we propose a control method which is designed under the analysis of the passive FME (Force Manipulability Ellipsoid). And then a passivity control scheme is applied to the proposed control method. Various experiments have been conducted to verify the proposed method with a 2-link mechanism.

Passive Haptic Devices have more benefit than the active in Stability. But Apart from benefits, it shows poor performance in haptic display. The author proposed the passive FME(Force Manipulability Ellipsoid) which can graphically show force generating ability of a passive haptic device. In this paper, performance indexes for the force approximation and pseudo friction cone are obtained with the passive FME and an optimized planar device with the indexes is proposed. Based on the above theory, experiment is conducted.

A shared compliant control scheme based on IMC is proposed for the position-force force reflecting control system. The controller of the slave manipulator is designed by IMC method for the open loop unstable plant. The compliant control is implemented by first order low pass filter. In the proposed scheme, the slave manipulator well tracks the position of the master manipulator in free space and the compliance of the slave manipulator is autonomously controlled in contact condition. The simulation results show that the excellence of the proposed controller.

This paper present the control of an intelligent home robot based on home network. The existing research is almost research of independent robot. home network will be a way that equipments in home exchange information. As robot combine home network, robot will be more intelligent and more powerful. We benefit for that load is divided in home network environment. The robot which has ultrasonic sensors performs obstacle avoidance with the Fuzzy Algorithm. Ethernet serial converter transmit the measuring data of home to a home server and the home server accumulates data. The home server controls the robot and manages home according to the acquired data. This paper supposed the home network system that consist of home server, embedded robot and intelligent home robot.

This paper presents the design and the analysis of a "fish-like underwater robot". In order to develop swimming robot like a real fish, extensive hydrodynamic analysis were made followed by the study of biology of the fishes especially its maneuverability and propel styles. Swimming mode is achieved by mimicking fish-swimming of carangiform. This is the swimming mode of the fast motion using its tail and peduncle for propulsion. In order to generate configurations of vortices that gives efficient propulsion yawing and surging with a caudal fin has applied and in order to submerge and maintain the body balance pitching and heaving motion with a pair of pectoral fin is used. We have derived the equation of motion of PoTuna by two methods. In first method, we use the equation of motion of underwater vehicle with the potential flow theory for the power of propulsion. In second method, we apply the method of the equation of motion of UVM(Underwater Vehicle-Manipulator). Then, we compare these results.

There are three kinds of singularity in controlling redundant manipulators. Kinematic, algorithmic and representation singularities are those. If manipulators fall into any singularity without proper action to avoid it, the control system must go away from our desire, and we can meet a dangerous situation. Hence, we have to deal the singularities very carefully. In this paper, we describe an on-line solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. Representation singularity can be easily avoided by using proper representation algorithm, so, in this paper, we only consider kinematic and algorithmic singularities. The proposed approach uses a desired task reconstruction and a successive task projection in order to maintain the measure for singularity over a user defined minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an off-line trajectory control scheme is often not applicable. The advantage and performance of the proposed controller is verified by simulation works. And, the experiment with real manipulator is remaining for the future works.

The home service robot supports human beings by performing various kinds of works at home. This paper presents a simple control method for opening a door from the viewpoint of the mobile manipulation. The simulation shows various results of path planning and motion planning for opening a door. The joint trajectories were generated by the simulation system. In general, a six-axis force/torque sensor at an end-effector is needed in order to maintain the static equilibrium of the manipulator. But we show another method. From three components of applied forces which was directly obtained by the three-axis force sensor and three components of applied forces which was indirectly estimated by the joint-torque sensors, all of joint torques that will exactly balance forces at the end-effector in the static situation can be found. It is more practical method than using a six-axis force sensor in a wrist. Experimental results have shown that the opening a door can be realized more effectively from the suggested control method of mobile manipulation.

The parallel-type mechanism provides more accurate and stiff motion than the serial-type mechanism. However, in case of using the haptic device, the performance of the force reflection can be deteriorated due to the singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is singularity-free in the workspace and has an improved force reflection capability. In addition, we propose a new force distribution algorithm, which can reflect force of both high and low resolution, using two sets of actuator with different size. Redundant actuators are attached to the base frame in order to minimize the inertia of the system. Moreover, a wire and gear reduction system is employed to achieve high force reflection along with soft feeling. We confirm the performance of the force reflection capability throughout simulation.

Multiple robotics systems with several sub-chains have a characteristic that grasp a common object with internal loading not to loose the grip. The investigation for the internal loading of a triple manipulator has been few as compared to a dual manipulator. In this paper, type of the internal loading for a triple manipulator system is investigated through analysis of the null space of the system. Several types of the internal loading are shown for general planar and spatial type triple robots, which rigidly grasp the common object. The general scheme is applied to analysis of the internal loading for the three-fingered and three-legged robots having a point contact with the grasped object.

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

This paper presents a new method that generates a path that has no collision with the obstacles or the characters by using the three motion parameters, and automatically creates natural motions of characters that are confined to the path. Our method consists of three parameters: the joint information parameter, the behavior information parameter, and the environment information parameter. The joint information parameters are extracted from the joint angle data of the character and this information is used when creating a path following motion by finding the relation-function of the parameters on each joint. A user can set the behavior information parameter such as velocity, status, and preference and this information is used for creating different paths, motions, and collision avoidance patterns. A user can create the virtual environment such as road and obstacle, also. The environment is stored as environment information parameters to be used later in generating a path without collision. The path is generated using Hermit-curve and each control point is set at important places.

Recently the VR technique has evolved into a mixed reality (MR) technique, in which a user can observe a real world in front of him/her as well as virtual objects displayed. This has been realized by the employment of a see-through type HMD (S-HMD). We have been developing a mixed reality space employing the MR technique. The objective of our study is to realize a virtual human that acts as a man-machine interface in the real space. It is important in the study to create a virtual human acting naturally in front of a user. In order to give natural motions to the virtual human, we employ a developed motion capture technique. We have already created various 3-D human motion models by the motion capture technique. In this paper, we present a technique for creating a virtual human using a human model provided by a computer graphics software, 3D Studio Max(C). The main difficulty of this issue is that 3D Studio Max(C) claims 28 feature points for describing a human motion, but the used motion capture system assumes less number of feature points. Therefore a technique is proposed in the paper for producing motion data of 28 feature points from the motion data of less number of feature points or from incomplete motion data. Performance of the proposed technique was examined by observing visually the demonstration of some motions of a created virtual human and overall natural motions were realized.

A technique is presented for generating a compound human motion from its primitive motions obtained by a motion capture system. Some human fundamental motions are modeled in a 3-D way and registered as primitive motions. Because the factorization method is used for the motion capture, calibration of video cameras and connection of the motion in the direction of time is both unnecessary. Employing these motions, various compound human motions are generated by connecting the motions after having applied rotation and parallel transformation to them. Linear interpolation is done at the discontinuous boundary between primitive motions and smooth connection is achieved. Experimental results show satisfactory performance of the proposed technique. The technique may contribute to producing various complicated human motions without much effort using a strict motion capture system.

Existing input devices for desktop computers are not suitable for wearable computers because they are neither easy to carry nor convenient to use in a mobile working environment. Different input devices for wearable computers must be developed. In this paper, a wireless glove-based input device for wearable computers is proposed. The proposed input device consists of a pair of chording gloves. Its keys are mounted on the fingers and their chording methods are similar to those of a Braille keyboard. RF (Radio Frequency) and IrDA (Infrared Data Association) modules are used to make the proposed input device wireless. Since the Braille representation for numbers and characters is efficient and has been well established for many languages in the world, the proposed input device may be one of good input devices to computers. Furthermore, since the Braille has been used for visually impaired people, the proposed one can be easily used as an input device to computers for them.

In this paper, we have analyzed the power spectra and evaluate the performance of DTMF receiver by using the quick Fourier transform(QFT) algorithm. The economical signals detection of dual-tone multifrequency(DTMF) receiver is an important factor when developing cost-effective telecommunication equipment. In experimental results, it shows that reducing memory waste and can process the real-time.

This paper, we propose a new high noise immunity phase-locked loop(PLL) which can suppress the high incident noise coupling with large amplitude and long period to the input frequency of PLL and keeps constant frequency and phase of the VCO output for providing the high stability distribution clock pulse.

The paper studies effect of quasi-periodic or airplane flutter phenomenon on television broadcasting signal. Airplane flutter is a very important problem. It causes the receiving antenna to receive both direct signal by the Tx (Transmitter antenna) and reflected signal scattered by the airplane with phase delay. The sum of two signals results in fading, sometime collapse and distortion of picture on TV screen. We performed measurement and modeling this phenomenon on TV signal when the airplane flew across and range Tx and Rx (Receiver antenna). The frequency 60.75MHz (Aural frequency of CH3) is used under tests. A single scatter multipath model is introduced. It is used to duplicate some of the measured data and show the dependence of power variation on the airplane fluttering. The fluctuation of the airplane flutter phenomenon was calculated to be around 2-4dB. The Yaki antenna is used for improving airplane flutter problem because it can make high gain and high directivity.

In this paper, the performance evaluation of the JADE-MUSIC estimation based on the indoor channel is presented. By means of the JADE-MUSIC algorithm, DOA and time delay can be obtained simultaneously. In the JADE-MUSIC method, the channel impulse response is first estimated from the received samples and then this impulse response is employed to estimate DOAs and time delays of multipath waves. Moreover, according to the JADE-MUSIC characteristics, it can work in cases when the number of impinging waves is more than the number of antenna elements, unlike the traditional parametric subspace-based method, such a case is not true. Therefore, we employ the JADE-MUSIC algorithm applying for the real indoor environment where is rich of the multipath propagation waves and can imply that the number of waves is very possibly higher than that of the array element. The experiment is carried out in our laboratory considered to be the real indoor environment. The performance of the JADE-MUSIC algorithm is evaluated in terms of the comparison between the simulation and experiment results by using the simulated channel model and the real indoor channel model, respectively. It is clear that the joint angle and delay estimation using the simulated channel model are in good agreement with the estimation using the real indoor channel model. Therefore, we can say that the JADE-MUSIC algorithm accomplishes the high performance to jointly estimate the angle and delay of the arriving signal for the indoor environment.

This paper present the characteristics of radiation pattern of microstrip slot antenna on the ground plane fed by microstrip line. It is proposed for resonance frequency at 10 GHz. We will analysis two shape of slot antenna; double L-shape slot antenna and U-shape slot antenna. In this case, we will compare far-field radiation pattern of two shape slot antenna. Far-field radiation pattern of double L-shape slot antenna is bi-directional nevertheless U-shape slot antenna is uni-directional. The microstrip slot antenna is propose to analyze far-field radiation pattern for use in the wireless communication systems

Aperture-coupled microstrip antenna is one type of microstrip antennas. This type of antenna has bandwidth wider than simple microstrip antenna. Herein, we use two substrates, that have the same dielectric constant 2.47 (PTFE-quartz) in which upper substrate is a rectangular patch. The microstrip patch is fed by a microstrip line which is printed on lower substrate, through an aperture or slot in the common ground plane of patch and microstrip feed. This antenna is analyzed by using Finite Difference Time Domain (FDTD) method the specific design frequency 10 GHz and match impedance is 50 ohms. The simulation results of its characteristics are input impedance, return loss, VSWR and radiation patterns respectively.

A novel dual-frequency microstrip printed-dipole antenna operating at 5 GHz and 10 GHz is presented. This antenna is designed for wireless and mobile communication. The balance step coplanar strip is used to be a transmission line at the center of dipole with matching impedance at 50 ohm. Using the conductor strip align on the other side of antenna and adjust the width of step coplanar strip line to improved input impedance matching. By modification for matching impedance of dual frequency antenna are not affected to the radiation patterns. The Finite Difference Time Domain (FDTD) technique is applying to analyze the basic characteristic properties such as $S_{11}$ , input impedance , VSWR and radiation patterns. And these parameters are discussed. The analyze problem space are $51{\times}197{\times}175$ cells and cell dimension are ${\Delta}x=0.3\;mm$ and ${\Delta}y={\Delta}z=0.15\;mm$.

Microstrip antennas have many applications in wireless communication system. This paper propose a analytical far-field pattern of radiation for application of the wireless communication. The triangular slot antenna fed by micorstrip line is proposed at resonance frequency 10 GHz. The simulation results of the electromagnetic field radiation pattern, S parameter, characteristic of input impedance are obtain by using the finite difference time domain (FDTD) method. The analytical space in FDTD analysis are $50{\times}171{\times}120$ cells with the cell dimension ${\Delta}x=0.152\;mm$, ${\Delta}y={\Delta}z=0.15\;mm$.

A perfect matching is the desire of antenna designers. In this paper, we improve the matching of antenna designing. In general, the efficiency of antennas has many improvements. In this paper, we choose to extend matching by adding the slots in the basic microstrip-fed rectangular slot antenna. We called it as "parasitic slots". The dominant characteristic of this addition is double efficient improvement matching and other characteristics of antenna are similar. It means that the microstrip-fed rectangular slot antenna with parasitic slots has all characteristics as same as the microstrip-fed rectangular slot antenna without parasitic slots. The antenna with parasitic slots has better matching better than the antenna without parasitic slots.

To describe the performance of an antenna, some parameters are necessary. Some of the parameters are interrelate and not all of them must be specified for complete description of antenna performance. The parameters in characteristics of printed antenna for this analysis are radiation pattern, input impedance, VSWR, S parameter and electromagnetic field. In this paper we will consider two shaped of slot antennas one is triangular slot antenna and other is L - shape slot antenna for compare the radiation pattern, return loss, and VSWR. Two slot antennas are designed to have a resonant frequency at 10 GHz. The microstrip line is designed to be 50 ohms in order to match the measurement system, it has the substrate of the thickness = 1.52 mm and dielectric constant (${\varepsilon}_r$) 2.17. The problem space in the FDTD analysis are $60{\times}123{\times}100$ cells for L-shape slot antenna and $50{\times}171{\times}120$ cells for triangular slot antenna with the cell dimensions ${\Delta}x=0.152\;mm.$, ${\Delta}y={\Delta}z=0.15\;mm.$

In this paper, position and speed control algorithm of LSM (Linear Stepping Motor) using general-purpose PCI I/O board is discussed. The main purpose of this paper is to show that LSM controller can be established on the non real time operating system such as Microsoft Win2000 under the assumption that thread priority strategy is well designed. We can guarantee sampling interval less than 5msec based on the Pentium III microprocessor. Therefore this kind of LSM controller development environment makes shorten the prior research period needed to verify the validness of the proposed control strategy. We also introduce the tool of the real-time windows target system of matlab, which also makes shorten the prior research period. The main focus of this paper is on developing general purpose NT device driver which can drive the general purpose PCI board and applying it for implementing the hardware interface for 2- axis linear stepping motor control. From the experimental results show that the developed LSM controller guarantee 2 micrometer resolution in position control with 10cm/sec moving speed

Communication based train control system is applied regularly worldwide. And this system may be used in domestic soon. Communication based train control system does not depend on conventional track circuit. Therefore, position and distance control of train to prevent collision with leading train may become important safety factor. This paper developed collision avoidance algorithm to control trains of several units efficiently for this. In developing a collision avoidance algorithm, it is desirable to avoid the need for additional system. Additional system restricts the development of the algorithm by limiting the effectiveness of the algorithm to only those areas where the additional system can be afforded and has been installed.

A windshield wiper system plays a key part in assuring the driver's safety during the rainfall. However, because the quantity of rain and snow vary irregularly according to time and the velocity of the automobile, a driver changes wiper speed and interval from time to time to secure enough visual field in the traditional windshield wiper system. Because a manual operation of windshield wiper distracts driver's sensitivity and causes inadvertent driving, this is becoming a direct cause of traffic accidents. Therefore, this paper presents the basic architecture of a vision-based smart windshield wiper system and a rain sensing algorithm that regulates speed and interval of the windshield wiper automatically according to the quantity of rain or snow. This paper also introduces a fuzzy wiper control algorithm based on human's expertise, and evaluates the performance of the suggested algorithm in an experimental simulator.

In this paper, the automatic steering system for unmanned vehicle was developed. The vision system is used for the lane detection system. This paper defines two modes for detecting lanes on a road. First is searching mode and the other is recognition mode. We use inverse perspective transform and a linear approximation filter for accurate lane detections. The PD control theory is used for the design of the controller to compare with $H_{\infty}$ control theory. The $H_{\infty}$ control theory is used for the design of the controller to reduce the disturbance. The performance of the PD controller and $H_{\infty}$ controller is compared in simulations and tests. The PD controller is easy to tune in the test site. The $H_{\infty}$ controller is robust for the disturbances in the test results.

This paper demonstrates a unique method for measuring vehicle states such as body sideslip angle and tire sideslip angle using Global Positioning System(GPS) velocity information in conjunction with other sensors. A method for integrating Inertial Navigation System (INS) sensors with GPS measurements to provide higher update rate estimates of the vehicle states is presented, and the method can be used to estimate the tire cornering stiffness. The experimental results for the GPS velocity-based sideslip angle measurement. From the experimental results, it can be concluded that the proposed method has an advantage for future implementation in a vehicle safety system.

We developed the synthetic library automation system. Developed system is comprised of two main units: an auto sorting system of books and a wireless management system. An auto sorting system is composed of a book return machine, a robot system, and an emergency bookshelf. A book return machine is operated by magnetic removal-revival. A wireless management system is development of RFID, or radio frequency identification, and is composed of a RF module and uninhabited return machine and a loss prevention system. The software for the synthetic library automation system is divided into three groups. We realized the developed automation system, and then get the features.

Antilock Brake System (ABS) is indispensable safety equipment for vehicles today. In order to develop new ABS ECU suitable for pneumatic brake system of a bus, a Hardware In-the-Loop Simulation (HILS) System was developed. In this HILS, the pneumatic brake system of a bus and antilock brake component were used as hardware. For the computer simulation, the 14-Degree of Freedom (DOF) bus dynamic model was constructed using the Matlab/Simulink software package. This model was compiled and downloaded in the simulation board, where the Power PC processor was used for real-time simulation. Additional commercial package, the ControlDesk was used to monitor the dynamic simulation results and physical signal values. This paper will focus on the procedure and results of evaluating the ECU in the HILS simulation. Two representative cases, wet basalt road and $split-{\mu}$ road, were used to simulate real road conditions. At each simulated road, the vehicle was driven and stopped under the help of the developed ECU. In each simulation, the dynamical behavior of the vehicle was monitored. After enough tests in the laboratory using HILS, the parameter-tuned ECU was equipped in a real bus, which was driven and stopped in the real test field in Korea. And finally, the experiment results of ABS equipped vehicle's dynamic behavior both in HILS test and in test fields were compared.

Recently, as the road capacity reaches a limit and environmental problems becomes serious, there exists a gradually increased need for railway vehicles that are environment-friendly, punctual, reliable and safe. Accordingly, in addition to conventional railroad vehicles, lots of vehicles are being newly developed. Korean High Speed Train has been developed for last 6 years to satisfy the need. Authors developed a measurement system for on-line test and evaluation of performances of Korean High-Speed Train. The measurement system is composed of software part and hardware part. Perfect interface between multi-users is possible. A new method to measure temperature was applied to the measurement system. By using the system, measurement and evaluation of the mechanical characteristics of motors and main transformers in Korean High Speed Train was conducted during test running. The measured results for the temperature characteristics of electric devices verify that the measurement system is accurate and reliable.

Korean High-Speed Train (350km/h), composed of 2 power cars, 2 motorized car and 3 trailer cars, has been developed and is under trial test. To verify the design requirements for the functions and traction performances of the train, KRRI (Korea Railroad Research Institute) decided to evaluate traction performances of the train during trial test. For this purpose, torque, velocity, voltage and current must be measured. KRRI has developed a measurement system that can measure vast and various signals effectively. In this paper, we introduce traction performances of Korean High-Speed Train. The traction measurement items are focused on the verification of motor block performances. Motor block consists of 2 motors. By this test, we verified traction performances of Korean High-Speed Train.

In this paper we proposed backward fuzzy Petri-net to diagnoses faults in power systems by using the time sequence information of protection system. As the complexity of power systems increases, especially in the case of multiple faults or incorrect operation of protective devices, fault diagnosis requires new and systematic methods to the reasoning process, which improves both its accuracy and its efficiency. The fuzzy Petri-net models of protection system are composed of the operating process of protective devices and the fault diagnosis process. Fault diagnosis model, which makes use of the nature of fuzzy Petri-net, is developed to overcome the drawbacks of methods that depend on operator knowledge. The proposed method can reduce processing time and increase accuracy when compared with the traditional methods. And also this method covers online processing of real-time data from SCADA (Supervisory Control and Data Acquisition)

In this paper, a DSP-based test apparatus for Control Rod Drive Mechanism (CRDM) that is used in nuclear power plants is described. Using this apparatus, we can test the mechanical and electrical characteristics of CRDM and obtain some information about how to improve the CRDM further and how to design a power controller to actuate the CRDM. Since firing angles can be directly applied to the gate-drive circuits of thyristors in the power controller by using this apparatus, the maximum and minimum values of firing angles within available limits are easily measured. Also step-current inputs help us investigate each coil's response characteristics. Therefore, we can easily find the range of control gains which enables a stable CRDM operation in insertion and withdrawal actions at high speed, mid speed, and low speed. Since this apparatus has a test mode in which an insertion or withdrawal action is divided into several phases so that the current command for each phase is given step by step, we may judge whether the CRDM works as expected or not. We also describe a fault detection capability of the test apparatus for the power controller by using discrete Fourier transform.

POSCO Kwang-Yang Works #2 Cold Rolling Mill RCL has the main hydraulic system that controlled on/off control method. In the aspect of the consumption of electrical energy this system has some problem. So, we present a continuous control method instead of on/off control method that controls the pressure of main hydraulic system with saving the electric energy.

This study is a kind of preliminary research in order to propose and suggest the plan of performance improvement for the speed-up through the examination of operational condition on the field for signal system facility on the conventional railway, in order to obtain the elemental technology from the technical development for utilization of high speed train which will be run on the Korea Conventional Line and, finally, in order to propose the specification of signal system using for high speed and the scheme of establishment for the optimal signal system.

This paper presents a Train Communication Network simulator (TCNS) that can be used to evaluate the performance of TCN. TCN was accepted as the standard of the protocol for the communication network in trains. We carry out some simulation tests using the TCNS to show practical uses of the simulator. Results of some simulation tests are also reported

We proposed several systems for 1Giga bit Modem. The first, Binary ASK(Amplitude Shift Keying) system has a high speed shutter transmitter and no IF(Intermediate Frequency) receiver only by symbol synchronization. The advantage of proposed system is that circuitry is very simple without IF process. The disadvantage of proposed system are that line spectrum occurs interference to other channels, and enhancement to 4-level system is impossible due to its large SNR degradation. The second, Binary phase modulation system has a high speed shutter transmitter and IF-VCO(IF-Voltage Controlled Oscillator) control by base-band phase rotation. Polarity of shutter window is changed by the binary data. The window should be narrow same as above ASK. The advantage of proposed system is which error rate performance is superior. The disadvantage of proposed system are that Circuitry is more complex, narrow pull-in range of receiver caused by VCO and spectrum divergence by the non-linear amplifier. The third, 4-QAM(Quadrature Amplitude Modulation)system has a nyquist pulse transmitter and IF-VCO control by symbol clock. The advantage of proposed system are that signal frequency band is a half of 1GHz, reliable pull-in of VCO and possibility of double speed transmission(2Gbps) by keeping 1GHz frequency-band. The disadvantage of proposed system are that circuit complexity of pulse shaping and spectrum divergence by the non-linear amplifier.

This paper describes the pantograph design result for tilting train at conventional railway. EMU(Electrical Multiple Unit) Tilting Train is important tilting pantograph. Tilting train pantograh should be operated to commercial service speed 180Km/h of 200Km/h at KNR upgrade railroad. This paper is written about train pantograph control system

With distribution industrial control system, the use of low cost to achieve a highly reliable and safe system in real time distributed embedded application is proposed. This developed intelligent node is based on two microcontrollers, one for the execution of the application code, also as master controller for ensuring the real time control & the logic operation with PLD and other for communication task and the easy control execution, i.e., I/O digital input, digital output and interrupting. This paper also presents where the case NCS (Networked control system) with LonTalk protocol is applied for the filtration process control system of a small water treatment plant.

Millimeter-wave networking is composed of narrow beam link. it is very substantial that beam connecting point to point is fixed in right direction. It is major requirement in the beam network to keep the beam in best direction. In this paper, We propose the method to find a best suited direction of the antenna's beam using the Genetic Algorithm (GA) in point-to-point link. Proposed method presume that each station knows his direction ${\theta}_1$ , ${\theta}_2$ at every step of GA, then it can be expected that GA is possible to search the ideal solution. Intensity of the received signal is evaluated by the multiplication of lengths to the point which the lobe meets with the horizontal line.

This paper proposes an efficient network architecture for reflective memory system (RMS). Using this architecture, the time for broadcasting a shared-data to all nodes can be significantly shortened. The device named topology conversion switch (TCS) is implemented to realize the network architecture. The implemented TCS is applied to the ethernet based real time control network (ERCnet) to evaluate the performance.

In mobile robot navigation, one of the key problems is the pose estimation of the mobile robot. Although the odometry can be used to describe the motions of the mobile robots quite simple and accurately, the validities of the models are limited by a number of error sources contaminating the encoder outputs so that applying the conventional extended Kalman filter to these nominal model does not yield the satisfactory performance. As a remedy for this problem, we consider the uncertain nonlinear kinematic model of the mobile robot that contains the norm bounded uncertainties and also propose a new robust extended Kalman filter based on the Krein space approach. The proposed robust filter has the same recursive structure as the conventional extended Kalman filter and can hence be readily designed to effectively account for the uncertainties. The computer simulations will be given to verify the robustness against the parameter variation as well as the reliable performance of the proposed robust filter.

A face recognition is currently the field which many research have been processed actively. But many problems must be solved the previous problem. First, We must recognize the face of the object taking a location various lighting change and change of the camera into account. In this paper, we proposed that new method to find feature within fast and correct computation time after scanning PC camera and ID card picture. It converted RGB color space to YUV. A face skin color extracts which equalize a histogram of Y ingredient without the Luminance. After, the method use V' ingredient which transforms V ingredient of YUV and then find the face feature. The result of the experiment shows getting correct input face image from ID Card picture and camera.

The present of state is situation that is realized by necessity of maintenance of public security about great many information is real condition been increasing continually in knowledge info-age been situating in wide field of national defense, public peace, banking, politics, education etc. Also, loss or forgetfulness, and peculation by ID for individual information and number increase of password in Internet called that is sea of information is resulting various social problem. By alternative about these problem, including Biometrics, several authentication systems through sign(Signature), Smart Card, Watermarking technology are developed. Therefore, This paper shows that extract factor that efficiency can get into peculiar feature in physical features for good fingerprint recognition algorithm implementation with old study finding that take advantage of special quality of these fingerprint.

We developed a web-based virtual laboratory system for electronic circuit experiments on the client/ server distributed environment. Through our virtual laboratory, the learners will be capable of learning the concepts and theories related to electronic circuit experiments and how to operate the experimental equipments such as multimeters, function generators, digital oscilloscopes and DC power suppliers. The proposed virtual laboratory system is composed of four important components: Principle Classroom to explain the concepts and theories of electronic circuit operations, Virtual Experiment Classroom to provide interactive multimedia contents about the syllabus of off-line laboratory class, Assessment Classroom, and Management System. With the aid of the Management System every classroom is organically tied together collaborating to achieve maximum learning efficiency. We have obtained several affirmative effects such as high learning standard, reducing the total experimental hours and the damage rate for experimental equipments.

In this work the dynamic heat transfer occurring in a cable penetration fire stop system built in the firewall of nuclear power plants is three-dimensionally investigated to develop a test-simulator that can be used to verify effectiveness of the sealants. The dynamic heat transfer can be described by a partial differential equation (PDE) and its initial and boundary conditions. For the shake of simplicity PDE is divided into two parts; one corresponding to the heat transfer in the axial direction and the other corresponding to the heat transfer on the vertical layers. Two numerical methods, SOR (Sequential Over-Relaxation) and FEM (Finite Element Method), are implemented to solve these equations respectively. The axial line is discretized, and SOR is applied. Similarly, all the layers are separated into finite elements, where the time and spatial functions are assumed to be of orthogonal collocation state at each element. The heat fluxes on the layers are calculated by FEM. It is shown that the penetration cable influences the temperature distribution of the fire stop system very significantly. The simulation results are shown in the three-dimensional graphics for the understanding of the transient temperature distribution in the fire stop system.

In a large-scale chemical plant, there are scheduling problems in inventory and packing process although production process is stabilized. The profit of the plant is restricted by these problems. In order to improve these problems, integrated scheduling model, which is concerned with whole processes from production to shipment, has been developed in this paper. In this model, decision variables are production sequence, silo allocation, amounts of bulk shipment and packing amounts. In case of a real plant, it is hard to solve by deterministic methods because there are too many decision variables to solve. In this paper, genetic algorithm is presented to solve a PVC process scheduling model within an hour with PCs.

Sliding mode control with nonlinear interpolation in the boundary layer is proposed. A modified sigmoid function is used for nonlinear interpolation in the boundary layer and its parameter is tuned by a fuzzy logic controller. The fuzzy logic controller that takes the distance between the system state and the sliding surface as its input guides the choice of parameter of the modified sigmoid function and the parameter is on-line tuned. Owing to the decreased thickness, the proposed method has better tracking performance than the conventional linear interpolation method. To demonstrate its performance, the proposed control algorithm is applied to a simple nonlinear system model.

The thermoelectric device was applied to a car-seat to control the hot temperature in summer and cold temperature in the winter. The characteristics of the device used to a car-seat were analyzed. The air conditioning structure was designed to regulate the hot side of the thermoelectric device. To control the temperature of the car-seat, a robust control algorithm based on the sliding mode control was applied, and a controller using one-chip microprocessor was developed. The performance of the proposed controller through experiments was shown.

A practical range estimator based on the robust Kalman filter is proposed to solve the range estimation problem for surface to air missile(SAM) homing guidance. Apart from the previous works based on the extended Kalman filter(EKF) with bearing only measurement, the proposed scheme makes use of line-of-sight(LOS) rate to ensure the fast convergency at long-range. In this reason, the robust Kalman filter is considered to deal with LOS rate measurement error. The recursive linear structure of proposed filter is easy to implement and make it possible to reduce computational burdens. Moreover, it shows good estimation performance without specific guidance law such as oscillation proportional navigation guidance(OPNG).

Fine chemical production must assure high-standard product quality as well as characterized as multi-product production in small volumes. Installing high-precision batch distillation is one of the common elements in the successful manufacturing of fine chemicals, and the importance of the process operation strategy with quality assurance cannot be overemphasized. In this study, we investigate the optimal operation strategy and production planning of a sequential multi-purpose plants consisting of batch processes and batch distillation with unlimited intermediate storage. We formulated this problem as an MILP model. A mixed-integer linear programming model is developed based on the time slot, which is used to determine the production sequence and the production path of each batch. Illustrative examples show the effectiveness of the approach.

A novel index representing burden distribution form in the blast furnace is developed and index estimation model is built with an empirical modeling method to monitor inner condition of the furnace without expensive sensors. To find the best combination of index and modeling method, two candidates for the index and four modeling methods have been examined. Results have shown that 3-D index have more resolution in describing the distribution form than 1-D index and ANN model produces smallest RMSE due to nonlinearity between the indices and charging mode. Although ANN has shown the best prediction accuracy in this study, PLS can be a good alternative due to its advantages in generalization capability, consistency, simplicity and training time. The second best result of PLS in the prediction results supports this fact.

This paper, we propose a new phase-locked loop (PLL) system with the controllable output phase, independent from the output frequency, and lock-up time. This PLL system has a dual control loop is described, the inner loop greatly improved VCO characteristic such as faster speed response as well as higher operation bandwidth, to minimize the effect of the VCO noise and the power supply variation and also get better linearity of VCO output. The main loop is the heart of this PLL which greatly improved the output frequency instability due to the external high frequency noise coupling to the input reference frequency also the main loop can control the output phase, independent from the output frequency, and reduce the lock-up time of the step frequency response. The experimental results confirm the validity of the proposed strategy.

The mobile platform-manipulator discussed in this paper is a three link manipulator mounted on a mobile platform. This mobile manipulator is used for welding operation and it is able to operate in a narrow space. The task of the torch, which is mounted at the end effector of the manipulator, is to track along the seam line and the task of the mobile platform is to move the origin point of the manipulator in order to go away from the singularity of the manipulator’s configuration. In this paper, the path planning for the motion of two subsystems (i.e., the manipulator and the mobile platform) was presented by the decentralized control method. Two controllers for the mobile platform and the manipulator were designed, and the relationship between the independent controllers is its state information. The simulation results are also presented to demonstrate the effectiveness of the control method.

Ultrasonic motors have many excellent performances. A variety of ultrasonic motors has been developed and used as an actuator in motion control systems. However, this motor has nonlinear characteristics. Therefore, it is difficult to achieve the precise position control system incorporating with the ultrasonic motor. This paper describes a position control scheme for traveling-wave type ultrasonic motor using a pseudo-derivative control with feedforward gains (PDFF) controller designed by the coefficient diagram method (CDM). The PDFF control system satisfies both the tracking and regulation performances, which are the most important for the precise position control system. The CDM is shown to be an efficient and simple method to design the parameters of PDFF controller. The effectiveness of the proposed control system is demonstrated by experiments.

This paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. Since safety plays a key role in the development of an Automated Highway System, fault-tolerant control is vital. In this paper, we develop a control algorithm in vehicle platooning and prove that this control algorithm is stable for certain class of faults such as parameter uncertainties. The performance of the controller is demonstrated through a series of simulations incorporating various vehicles and AHS faults. Results of simulation shows that the vehicles have good performance in spite of simple automotive and AHS failure, such as actuator failure,that is to say, engine input failure, communication failure between lead vehicle and the another vehicles.

This paper proposes a method for controlling energy distribution to 1 phase induction heating coil by using the Binary Rate Modulation (BRM) Technique. Such method provides proper frequency to the heating coil's requirement by control the frequency at the resonance point, that is, 64-kHZ frequency band. System design are classified to 2 parts. The first part determines main frequency , and the second part generates the frequency from the 8-bit BRM derived from IC no. PAL22V10 in order to control the frequency for Full-bridge connected inverter when supplying the energy required by the 1 phase induction heating coil. Therefore, efficiency of the energy supply can be increate.

A control system design with Coefficient Diagram Method (CDM) is proven that effective for SISO control design. But the control system design for MIMO via CDM is not concrete procedure. In this paper presents the control system design method for quadruple-tank process via CDM. By using the decentralized method for both non-minimum phase and minimum phase are made. The results from Integral-Proportional (I-P) controller’s design via CDM and standard Proportional-Integral (PI) controls are also shown to compare the merits of the proposed controllers.

The analysis and simulation are the method to study the behavior, response, and specification of the driver device. This paper proposes brushless DC drive which using the vector control technique. The encoder is used detect the rotor position and decode to Three-phase step signal. The step signal is modulated with triangle signal and change to the pulse width modulation (PWM) signal. The PWM signal is used for control the input power of the motor based on the vector control technique. The experimental results of the driver circuit and motor response performed under the following condition: as the motor was started, change the load torque, and vary the supply voltage. The experimental performs with a dynamometer and the test results are compared to the simulation method is the same result.

The cancellation of the output signal occur between output tubs have occurred place an electromagnetic interference and deteriorated the light efficiency of the neon tub. In order to prevent this problems, we have developed the modified electronic ballast for neon(MEBN). The MEBN have used a shielded line to the output and designated partly the half-bridge in the middle of the circuit. In an experimental results, this will be lengthen the life of the neon tub and obtain the effect which shields an electromagnetic wave to injurious to the people’s body.

Due to the conventional half-bridge switch-mode converters for dc motor drive have been usually using unbalanced circuit topologies which generate common-mode currents through parasitic capacitors distributed between the ground and the dc motor frame such as the heat-sink of switching devices or the frame of the dc motor. This paper describes methods that cancel common-mode current generated in half-bridge switch-mode converters by using circuit balancing technique. The circuit balancing is to make the noise pickup or occurring in both conductor lines, signal and return pathes, is equal in amplitude and opposite in phase so that it will be canceled out in the ground plane. The common-mode current cancellation in the proposed converter is confirmed by experimental results.

In some requirements of dc motor drive circuit applications are high quality output with generation of low internal conducted EMI. However the conventional dc motor drive circuits have been usually using unbalanced circuit which generates the high conducted EMI to the frame ground. This paper presents a balanced dc motor drive circuit which is effective way to reduce the common-mode noise. The circuit balancing is to make the noise pick up or occurring in both conductor lines, signal path and return path is equal in amplitude and opposite phase so that it will cancel out in the frame ground. The common-mode conducted noise reduction of this proposed dc motor drive is confirmed by experimental results.

In this paper, we have developed the voltage controlled crystal oscillator (VCXO) with positive emitter coupled logic(PECL). The VCXO is a crystal oscillator which includes a varactor diode and associated circuitry allowing the frequency to be changed by application of a voltage across that diode. The characteristics of the PECL has the delay time less than 2 ns and the faster logic gate, and the high level output greater than 2.3 V and the low level output smaller than 1.68 V.

Switch-mode power supplies (SMPS) have become a major source of conducted electromagnetic interference (EMI) which is the combination between differential mode (DM) noise and common mode (CM) noise. This paper presents the conducted EMI reduction approach in flyback switched mode power supply by rerouting for circuit balance to reduce common mode noise. And differential mode noise can be reduce by adding $c_x$ capacitor across the input power line, and passive element to the gate drive of switching device MOSFET to slow down the switching times. This combination of our approach is the effective way to reduce the conducted EMI and it is also a cost effective for product design

In this paper, a new type of output feedback control, called a receding horizon finite memory control (RHFMC), is proposed for stochastic discrete-time state space systems. Constraints such as linearity and finite memory structure with respect to an input and an output, and unbiasedness from the optimal state feedback control are required in advance. The proposed RHFMC is chosen to minimize an optimal criterion with these constraints. The RHFMC is obtained in an explicit closed form using the output and input information on the recent time interval. It is shown that the RHFMC consists of a receding horizon control and an FIR filter. The stability of the RHFMC is investigated for stochastic systems.

MPC or model predictive control is representative of control methods which are able to handle physical constraints. Closed-loop stability can therefore be ensured only locally in the presence of constraints of this type. However, if the system is neutrally stable, and if the constraints are imposed only on the input, global aymptotic stability can be obtained; until recently, use of infinite horizons was thought to be inevitable in this case. A globally stabilizing finite-horizon MPC has lately been suggested for neutrally stable continuous-time systems using a non-quadratic terminal cost which consists of cubic as well as quadratic functions of the state. The idea originates from the so-called small gain control, where the global stability is proven using a non-quadratic Lyapunov function. The newly developed finite-horizon MPC employs the same form of Lyapunov function as the terminal cost, thereby leading to global asymptotic stability. A discrete-time version of this finite-horizon MPC is presented here. The proposed MPC algorithm is also coded using an SQP (Sequential Quadratic Programming) algorithm, and simulation results are given to show the effectiveness of the method.

It is well known that parameter uncertainties and time-delays cannot be avoided in practice and result in poor performance and even instability. Nevertheless, to the authors' best knowledge, there exist few results on model predictive control (MPC) handling explicitly uncertain time-delayed systems. In this paper, we present an MPC algorithm for uncertain time-varying systems with input constraints and state-delay. An optimization problem is suggested to find a memoryless state-feedback MPC law and the closed-loop stability is established under feasibility and certain conditions.

Parameter set of an LPV system is divided into a number of subsets so that robust feedback gains may be designed for each subset of parameters. A concept of quasi-invariant set is introduced, which allows finite steps of delay in reentrance to the set. A feasible and positively invariant set with respect to a gain-scheduled state feedback control can be easily obtained from the quasi-invariant set. A receding horizon control strategy can be derived based on this feasible and invariant set.

Automatic tracking of a moving object such as a person is a demanding technique especially in surveillance. This paper describes an experimental system for tracking a moving object on the ground by using a visually controlled aerial robot. A blimp is used as the aerial robot in the proposed system because of its locality in motion and its silent nature. The developed blimp is equipped with a camera for taking downward images and four rotors for controlling the progression. Once a camera takes an image of a specified moving object on the ground, the blimp is controlled so that it follows the object by the employment of the visual information. Experimental results show satisfactory performance of the system. Advantages of the present system include that images from the air often enable us to avoid occlusion among objects on the ground and that blimp’s progression is much less restricted in the air than, e.g., a mobile robot running on the ground.

We build a local minimum free motion planning for mobile robots considering dynamic environments by simple sensor fusion assuming that there are unknown obstacles which can be detected only partially at a time by proximity sensors and can be cleaned up or moved slowly (dynamic environments). Potential field is used as a basic platform for the motion planning. To clear local minimum problem, the partial information on the obstacles should be memorized and integrated effectively. Sets of linked line segments (SLLS) are proposed as the integration method. Then robot's target point is replaced by virtual target considering the integrated sensing information. As for the main proximity sensors, we use laser slit emission and simple web camera since the system gives more continuous data information. Also, we use ultrasonic sensors as the auxiliary sensors for simple sensor fusion considering the advantages in that they give exact information about the presence of any obstacle within certain range. By using this sensor fusion, the dynamic environments can be dealt easily. The performance of our algorithm is validated via simulations and experiments.

In a previous study, the authors have proposed the Cooperative Collision Avoidance (CCA) method which enables mobile robots to cooperatively avoid collisions, by extending the concept of the Velocity Obstacle to multiple robot systems. The method introduced an evaluation function considering an operation objective so that each robot can choose the velocity which optimizes the function. As the evaluation function could be of an arbitrary type, this method is applicable to a wide variety of tasks. However, it complicates the optimization of the function especially in real-time. In addition, construction of the evaluation function requires an operation objective of the other robot which is very hard to obtain without communication. In this paper, the CCA method is improved considering such problems for implementation. To decrease computational costs, the previous method is simplified by introducing two essential assumptions. Then, by treating the desired direction of locomotion for each robot as the operation objective, an operation objective estimator which estimates the desired direction of the other robot is introduced. The only measurement required is the other robot's relative position, since the other information can be obtained through the estimation. Hence, communicational devices that are necessary for most other cooperative methods are not required. Moreover, mobile robots employing the method can avoid collisions with uncooperative robots or moving obstacles as well as with cooperative robots. Consequently, this improved method can be applied to general dynamic environments consisting of various mobile robots.

A covariance matrix is a tool that expresses odometry uncertainty of the wheeled mobile robot. The covariance matrix is a key factor in various localization algorithms such as Kalman filter, topological matching and so on. However it is not easy to acquire an accurate covariance matrix because we do not know the real states of the robot. Up to the authors knowledge, there seems to be no established result on the covariance matrix estimation for the odometry. In this paper, we propose a new method which can estimate the covariance matrix from empirical data. It is based on the PC-method and shows a good estimation ability. The experimental results validate the performance of the proposed method.

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

Conceived to acquire personal information for an electronic medical record, the clinical interview contains probing questions. The number and type of inquiries are assumed to fulfill medical protocols, and therefore are deemed essential for treatment - but the rate can and should be controlled. High rates of inquiry merely intimidate the patient and affect replies. The purpose of this paper is to mathematically formulate permissible rates of clinical interviews held during telehomecare virtual visits and designed to avoid patient anxiety. Mental stress is derived as a function of the weight of importance assigned by the patient, virtual visit duration, and the rate of questioning in the direction of greater sensitivity. Two operations are of interest: Collecting and recording information by the provider, and maintaining synchrony of questions and answers by the patient. The Lorentz transformation yields the patient’s view of the operational rates. Conservation of information momentum is postulated and applied before and after replies are recorded. It is shown that the weight of importance designated by the patient to collecting and recording personal information is driven by a singularity that depends on the rate of questioning. The findings should serve as a guideline in interviewer training programs.

It is known that HIV (Human Immunodeficiency Virus) infection, which causes AIDS after some latent period, is a dynamic process that can be modeled mathematically. Effects of available anti-viral drugs, which prevent HIV from infecting healthy cells, can also be included in the model. In this paper we illustrate control theory can be applied to a model of HIV infection. In particular, the drug dose is regarded as control input and the goal is to excite an immune response so that the symptom of infected patient should not be developed into AIDS. Finite horizon optimal control is employed to obtain the optimal schedule of drug dose since the model is highly nonlinear and we want maximum performance for enhancing the immune response. From the simulation studies, we find that gradual reduction of drug dose is important for the optimality. We also demonstrate the obtained open-loop optimal control is vulnerable to parameter variation of the model and measurement noise. To overcome this difficulty, we finally present nonlinear receding horizon control to incorporate feedback in the drug treatment.

In order to design the phantom of heart, we have developed the multi-dipole current source system. Such a one be clue to the various motion of heart. The magnetocardiograph (MCG) system for diagnosing the disease of the heart due to an analysis of the heart signal. The multidipole current source system be built by microprocessor. We use the shield room to obtain a good experimental result. Then the signal acquired is mixed with a background noise, through a filtering extracts a pure signal. The pure signal such a heart phantom is analyzed by an electromagnetic map.

Communication device to use slight movement for serious disabled is proposed. This device is developed mainly for patients suffering from ALS or a cerebral infarction. They often have communication difficulty because of deterioration of muscular functions. Features of this device are that the device is wearable on the user’s body and that it detects the movement of eyebrow. Because of these features, it is quite easy to install the sensor on the patient’s body, not like the conventional sensors. Furthermore, an adaptive communication software is incorporated. A feature of this software is that the arrangement and size of the button and window on the display can be optimized depending on the user's physical ability. In the field test it is confirmed that the communication device developed in this study is successfully helped the people with disability for increasing their communication ability.

In this paper we propose a system to forecast the dangerous behavior of the dementia patients. Basic idea of our approach is to measure the body movements of the dementia patients using the acceleration sensor. Based on the data measured, warning the care-givers about possible dangerous actions like falling down from the bed and slipping down onto the floor to some extent. The signals measured by the acceleration sensor are processed by a one-chip computer. Based on the diagnosis of the one-chip computer , alert signal is generated to the care-giver by a wire-less signal. The sensor is implemented in a compact body . Applicability of the system is now being examined at a nursing home.

This paper describes a technique, which analyzes the functional instability of the ankle using three-dimensional scanner. The technique is based on the structured light pattern projection method, which is performed by using one digital still camera and one LCD projector. This system can be easily realized with the low cost. The measuring result has high accuracy. The measuring error is about 0.2 mm or less. Using this technique the three-dimensional posture of the leg and foot of the target person are measured and analyzed.

Except a desktop computer and workstation, an embedded system is a system containing microprocessors. While a desktop computer and a workstation are designed for a general purpose, an embedded system is designed for a dedicated purpose. Thus, an embedded system must meet some constraints such as low power consumption, low cost, small size, real-time, or user-defined ones. A simple and low cost embedded system may be able to be designed without using embedded operating systems (OS). However, considered design time and effort, some embedded system had better be designed with using embedded OS. Under given constraints and purpose of some embedded systems, one embedded OS can save more time, cost, and effort in designing those embedded systems than others. This paper compares four embedded OSs, Windows CE, Embedded Linux, pSOS, and uC/OS. It analyzes several issues of embedded OS such as process scheduling, inter-process communication (IPC), memory management, and network support. Also, it describes the product of each embedded OS.

Future cellular networks will mainly be driven by, high quality channels, high band with utilization, low power consumption and efficient network management. For a given channel allocation, the capacity and quality of communication of cellular radio systems using CDMA(Code Division Multiple Access) can be increased by using a transmitter power control scheme to combat the near-far problem. Centralized power control schemes or distributed ones to maximize the minimum signal-to-interference in each user of CDMA wireless network have been investigated. This paper has proposed a distributed power control algorithm, which employs an adaptive search scheme, in order to solve quickly the linear systems of equations for power update in CDMA cellular radio systems. The simulation results show that the proposed scheme has faster convergence rate than the typical bang-bang type of distributed power control algorithm, which has been much used as a reference algorithm in IS-95A and W-CDMA communication network.

This paper proposes the information retrieval improvement for the Web using the structure and hyperlinks of HTML documents along with user profile. The method bases on the rationale that terms appearing in different structure of documents may have different significance in identifying the documents. The method partitions the occurrence of terms in a document collection into six classes according to the tags in which particular terms occurred (such as Title, H1-H6 and Anchor). We use genetic algorithm to determine class importance values and expand user query. We also use this value in similarity computation and update user profile. Then a genetic algorithm is used again to select some terms from user profile to expand the original query. Lastly, the search engine uses the expanded query for searching and the results of the search engine are scored by similarity values between each result and the user profile. Vector space model is used and the weighting schemes of traditional information retrieval were extended to include class importance values. The tested results show that precision is up to 81.5%.

In this paper, we propose a technique for automatic spinal deformity detection from $moir\acute{e}$ topographic images. Normally the $moir\acute{e}$ stripes show symmetry as a human body is almost symmetric. According to the progress of the deformity of a spine, asymmetry becomes larger. Numerical representation of the degree of asymmetry is therefore useful in evaluating the deformity. First, displacement of local centroids and difference of gray values are evaluated statistically between the left- and the right-hand side regions of the $moir\acute{e}$ images with respect to the extracted middle line. We classify the moire images into two categories i.e., normal and abnormal cases from the features, employing discriminant analysis. An experiment was performed employing 1,200 $moir\acute{e}$ images and 85% of the images were classified correctly.

This paper discusses dynamic characteristics of motion of a pair of multi-degrees of freedom robot fingers executing grasp of a rigid object and controlling its orientation with the aid of rolling contacts. In particular, the discussions are focused on a problem of gain-tuning of sensory feedback signals proposed from the viewpoint of sensorymotor coordination, which consist of a feedforward term, a feedback term for controlling rotational moment of the object, and another term for controlling its rotational angle. It is found through computer simulations of the overall fingersobject dynamics subject to rolling contact constraints that some dynamic characteristics of torque-angular velocity relation may play an important role likely as reported by experimental results in muscle physiology and therefore selection of damping gains in angular velocity feedback depending on the guess of object mass is crucial. Finally, a guidance of gain-tuning in each feedback term is suggested and its validity is discussed by various computer simulations.

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method finding the Q weighting matrix is shown. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the result of the simulation shows that the proposed algorithm is very effective for a robust control of robotic systems.

In this paper, a design and control of the safe arm with passive compliant joints(PCJ) is presented. Each PCJ has a magneto- rheological damper and maximum 6 springs. Compliance analysis in Cartesian space is performed with the compliance ellipsoid; this analysis shows a map between compliance in the joint space and compliance in Cartesian space. Vibration control of the arm using an input shaping technique is also presented; the results of a simulation and an experiment prove that a fast motion of the safe arm without residual vibration can be performed.

This paper deals with a control technique of eliminating the transient vibration with respect to a waist axis of an articulated robot. This control technique is based on a model-based control in order to establish the damping effect on the driven mechanical part. The control model is composed of reduced-order electrical and mechanical parts related to the velocity control loop. The parameters of the control model can be obtained from design data or experimental data. This model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration. This control method is applied to an articulated robot regarded as a time-invariant system. The effectiveness of the model-based control integrated into the position control loop is verified by simulations. Simulations show satisfactory control results to reduce the transient vibration at the end-effector.

We define that the end effector is the device which interact environment or objects with contact to execute tasks. Up to now, many researchers developed anthropomorphic robotic hands as end effectors. In this paper, we will discuss a problem on the development of a human-scale and motor-driven anthropomorphic robot hand. In this paper, design concept, actuator and transmission, kinematic design and sensing device are presented. By imitating the physiology of human hands, we devised new metacarpalphalangeal joint and interphalangeal joint suitable for human-size robot hands

For action selection as well as learning, simple associations between stimulus and response have been employed in most of literatures. But, for a successful task accomplishment, it is required that an animat can learn and express behavioral sequences. In this paper, we propose a novel action-selection-mechanism to deal with sequential behaviors. For this, we define behavioral motivation as a primitive node for action selection, and then hierarchically construct a network with behavioral motivations. The vertical path of the network represents behavioral sequences. Here, such a tree for our proposed ASM can be newly generated and/or updated, whenever a new sequential behaviors is learned. To show the validity of our proposed ASM, three 2-D grid world simulations will be illustrated.

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

The advanced infrastructure for accelerating the development of personal robots is presented. Based on this structure, effective ways for integrating the various commercial components and interfacing among them are studied. The infrastructure includes the technology such as modularization based on independent processing and standardization open to other developers. The infrastructure supports not only that each hardware component of a personal robot can be easily attached to and detached from the whole system mechanically but also that each software of the components can be functionally distributed. As a result, we developed the fully modularized personal robots mechanically, and a virtual machine for the control of these robots. In this paper the proposed infrastructure and its implementations are described.

This paper describes the development of service robotic systems with the Tripodal schematic control architecture. We show practical advantages of the proposed architecture by giving examples of our experience. First, we explain how to add new task using Tripodal architecture approach. The Tripodal architecture provides some crucial organizing principles and core components that are used to build the basis for the system. Thus, the newly developed behaviors, motion algorithm, knowledge, and planning schemes are arranged so as to guarantee the efficiency of the performance of components. Second, we describe the reusability and scaleability of our architecture by introducing the implementation process of the guide robot Jinny. Most of modules developed for former robots like PSR-1 and PSR-2 systems are used directly to the Jinny system without significant modification. Experimental results clearly showed that the developed strategy is useful, even if the hardware configurations as well as software algorithms are more complex and more accumulating.

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

Chained form mobile robots have been studied from the viewpoint of the control and analysis of nonholonomic mechanical systems in literature. However, researches for the detailed closed form kinematic modeling are rarely progressed. Nothing that a chained form mobile robot can be considered as a parallel system including several chains and wheels, the transfer method using augmented generalized coordinates is applied to obtain inverse and forward kinematic models of chained form mobile robots. Various numerical simulations are conducted to verify the effectiveness of the suggested kinematic model.

The control rod drive mechanisms in a reactor head are arranged too narrow for a human worker to approach. Moreover, the working environment is in high radiation area. In order to inspect defections in the surfaces of the reactor head and welding parts, a visual inspection device that can approach such a narrow and high radiation area is required. This paper introduces a tele-operated mobile robot for visual inspection of a reactor head, which has pan/tilt camera, fixed rear camera, ultrasonic collision detection system, and so on. Moreover, the host controller and digital video logging system are developed and integrated control software is also developed. The robot is operated by a wireless control, which gives flexibility for the inspection.

In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having $n({\ge}3)$ actuated joints, which are imposed on two Jacobian matrices, $A{\in}R^{n{\times}3}$ and $B{\in}R^{6{\times}6}$. Under the condition of $B{\propto}I_6$, three caster wheels should have identical structure with the length of the steering link equal to the radius of the wheel. Third, depending on the selection of actuated joints, we derive the conditions for $A^t$ $A{\propto}I_3$ and identify the isotropic configurations of a COMR. All possible actuation sets with different number of actuated joints and different combination of rotating and steering joins are considered.

Animal-like robots are serving an important role as a linkage between biology and engineering. So, in this paper, we aim to develop a biomimetic microrobot that mimics the locomotion mechanism of a gastropod. This microrobot has 3 DOF (x, y translation and rotation), and has small size, unlimited traveling range, high resolution and low cost. Its movement can be made using propagation wave that is generated by the controllable sinusoidal voltage source and piezoelectric effects. This soft motion that can be generated by propagation wave and piezoelectric mechanism would be useful for the motion on the slippery surface. So we modeled the propagation wave mechanism including piezoelectric effect and friction on the contact surface, and could know the velocity of the microrobot is dependent on the driving frequency, input voltage peak, propagation wavelength and surface friction coefficient. With these results we design the microrobot, and accomplish its fabrication and experimentation. The development of this microrobot shall be aimed to design an autonomous moving actuator like animal. Also it can be used from micromanipulation system technology to biology and medicine.

This paper presents the studies on prediction models of tropospheric scintillation. The prediction scintillation models are Karasawa and ITU-R , which can be improved for different locations and circumstances. In this paper, the investigation of average time between variance ${\sigma}_n\;^2$ and the wet part of refractivity $N_{wet}$ under various conditions of meteorological parameters have been carried out at King Mongkut’s Institute of Technology Lankrabang , Bangkok , Thailand , in the range of Ku-band (12.260 GHz) on high elevation angle from Thaicom2 satellite. From the studies results shows that average period of time of 30 days are best suitable for find out the relation between average time variance ${\sigma}_n\;^2$ and the wet part of refractivity $N_{wet}$ according to Karasawa model, the average time variance is express as ${\sigma}_n\;^2=(0.003N_{wet}-0.1313)^2$ , the appropriation model for occurrence of scintillation has been analyzed and experimental results are carried out.

This paper presents the analysis of satellite received signal by focus on the new prediction method for amplitude scintillation expression. A predict method based in the relationship of standard deviation values and the peak to peak values of amplitude scintillation in various of time period and various of sampling rate of signal variation. The principal techniques finding, the proper sampling rate and time interval, for the best expression method. The experiment has been performed in Bangkok of Thailand, at King Mongkut's Institute of Technology, Ladkrabang, data collected in C-Band and Ku-Band on high elevation angles. The result of analysis shows the relationship between two methods is given by ${\sigma}_x={\alpha}(P-P)+{\beta}$. The value of ${\alpha}$ depends on sampling rate by closely with three-minute maximum time interval.

The presence of narrowband interference (NBI) in Direct-sequence code division multiple access (DS/CDMA) systems is an inevitable problem when the interference is strong enough. The improvement in the system performance employs by adaptive narrowband interference suppression techniques. Basically there have been two types of method for narrowband interference suppression estimator/subtracter approaches and transform domain approaches. In this paper the focus is on the type of estimator/subtracter approaches. However, the binary direct sequence (DS) signal, that acts as noise in the prediction process is highly non-Gaussian. The case of a Gaussian interferer with known in an autoregressive (AR) signal or a digital signal and also in a sinusoidal signal (Tone) that included in is paper. The proposed NBI suppression is presence in an adaptive IIR notch filter for lattice structure and more powerful by using a variable step-size algorithm. The simulation results show that the proposed algorithm can significantly increase the convergence rate and improved system performance when compare with adaptive least mean square algorithm (LMS).

Adaptive algorithms are widely used for various applications. One challenging application is an echo canceller in the long distance telephony network. This paper proposes the new variable step-size algorithm for adaptive lattice structure for echo cancellation. The new algorithm is using power of the output signal and the error signal to controlled the step of adaptation process. By this technique, the proposed algorithm is an excellent and effective in good stability. Performance comparison of the proposed algorithm and the other algorithm is made through simulation results.

Trusted operating systems (OS) provide the basic security mechanisms and services that allow a computer system to protect, distinguish, and separate classified data. Trusted operating systems have been developed since the early 1980s and began to receive National Security Agency (NSA) evaluation in 1984. The researches about trusted OS are proceeding over the world, and new product type using the loadable security kernel module (LSKM) or dynamic link library (DLL) is being developed. This paper proposes a special type of product using LSKM and specific conditions for operational environment should be assumed.

Many studies have been done on secure operating system using secure kernel that has various access control policies for system security. Secure kernel can protect user or system data from unauthorized and/or illegal accesses by applying various access control policies like DAC(Discretionary Access Control), MAC(Mandatory Access Control), RBAC(Role Based Access Control), and so on. But, even if secure operating system is running under various access control policies, network traffic among these secure operating systems can be captured and exposed easily by network monitoring tools like packet sniffer if there is no protection policy for network traffic among secure operating systems. For this reason, protection for data within network traffic is as important as protection for data within local system. In this paper, we propose a secure operating system trusted channel, SOSTC, as a prototype of a simple secure network protocol that can protect network traffic among secure operating systems and can transfer security information of the subject. It is significant that SOSTC can be used to extend a security range of secure operating system to the network environment.

Recently the number of Internet users has very sharply increased, and the number of intrusions has also increased very much. Consequently, security products are being developed and adapted to prevent systems and networks from being hacked and intruded. Even if security products are adapted, however, hackers can still attack a system and get a special authorization because the security products cannot prevent a system and network from every instance of hacking and intrusion. Therefore, the researchers have focused on an active hacking prevention method, and they have tried to develop a traceback system that can find the real location of an attacker. At present, however, because of the characteristics of Internet - diversity, anonymity - the real-time traceback is very difficult. To over-come this problem the Network-based Real-Time Connection Traceback System (NRCTS) was proposed. But there is a security problem that the victim system can be hacked during the traceback. So, in this paper, we propose modified NRCTS with connection redirection technique. We call this traceback system as Connection Redirected Network-based Real-Time Connection Traceback System (CR-NRCTS).

In this paper we discuss an algorithm for a real time transmission of moving color images on the TCP/IP network using wavelet transform and neural network. The image frames received from the camera are two-level wavelet-trans formed in the server, and are transmitted to the client on the network. Then, the client performs the inverse wavelet-transform using only the received pieces of each image frame within the prescribed time limit to display the moving images. When the TCP/IP network is busy, only a fraction of each image frame will be delivered. When the line is free, the whole frame of each image will be transferred to the client. The receiver warns the sender of the condition of traffic congestion in the network by sending a special short frame for this specific purpose. The sender can respond to this information of warning by simply reducing the data rate which is adjusted by a back-propagation neural network. In this way we can send a stream of moving images adaptively adjusting to the network traffic condition.

In this paper, we describe a SSAS (stepping stones attack simulator) that is automatic tool for testing and evaluation in TCP connection traceback system. The SSAS can pass multiple hosts that are included with hacker, middle-path hosts and victim’s system. And SSAS can also attack through commands to exploit the victim’s system. Usually, hackers do not expose their real attack positions through compromising the middle-path hosts like stepping-stones. Namely, hackers perform the stepping stones attacks in Internet. The SSAS can be utilized by developments and tests of the various countermeasure techniques of hacking. Specially, in this paper, it is used to test the performance of TCP connection traceback system.

A frame buffer device is an abstraction for the graphic hardware. It allows application software to access the graphic hardware through a well-defined interface, so that the software doesn’t need to know anything about the low-level interface stuff. We develop a frame buffer driver for VIA’s CLE266 graphic system based on ‘Qplus’, an embedded linux operating system developed by ETRI. Then, it will be seen that our frame buffer system is applied to embedded solutions such as movie player and X server successfully.

This paper proposes a fast distributed constrained power control (FDCPC) with non-stationary relaxation factor to next power update in CDMA cellular power control system. We review unconstrained control algorithms, the distributed power control (DPC), unconstrained second order power control (USOPC) and DPC with stationary relaxation factor (DPCSRF). Under the unconstrained condition, the convergence analysis shows theoretically that the convergence rate of DPC is the fastest one. However, under the constrained control algorithms, DCPC is not the fastest one any more because of transmission power constraint. To improve the convergence speed, the DCPC with non-stationary relaxation factor (FDCPC) are proposed. Under the constrained condition, the convergence rate of FDCPC outperforms that of DCPC and CSOPC.

In the integrated systems, that is integrated digital TV(DTV) internet and home automation, like home server, is needed integration of digital TV video signal and computer graphic signal. The graphic signal is operating at the high speed and has time-divide-stream. So the re-request of data is not easy at the time of error detection. therefore EDAC algorithm is efficient. In this paper, we show a scheme, that is integration of graphic and dtv format signal for DTV monitor display. This paper also presents the efficiency error detection auto correction(EDAC) for conversion of graphics signal to DTV video signal. A presented EDAC algorithms use the modified hamming code for enhancing video quality and reliability. A EDAC algorithm of this paper can detect single error, double error, triple error and more error for preventing from incorrect correction. And it is not necessary an additional memory. In this paper The comparison between digital TV video signal and graphic signal, a EDAC algorithm and a design of conversion graphic signal to DTV signal with EDAC function in DTV system is described.

Since the number of user-requests increases dramatically on the Internet, the servers and networks can be swamped unexpectedly without any prior notice. Therefore, the end-users are waiting or refused for the responses of the contents from the originating servers. To solve this problem, it has been considered that a distributed web caching system efficiently utilizes structural elements of the network. Because a distributed web caching system uses the caches that are close to end-users on the network, it transmits the contents to users faster than the original network system. This paper proposes a simple client-based distributed web caching system(2HRCS) that client can directly perform object allocation and load balancing without an additional DNS for load balancing in CARP (Cache Array Routing Protocol) and GHS (Global Hosting System) that are the recent distributed web caching system protocol. The proposed system reduces the cost of setup and operation by removing DNS that needs to balance the load in the existing system. The system has clients with consistent hashing method, so it extends its environment to other distributed web caching system that has caches of different capacity. A distributed web caching system is composed and tested to evaluate the performance. As a result, it shows superior performance to consistent hashing system. Because this system can keep performance of the existing system and reduce costs, it has the advantage of constructing medium or small scale CDN (Contents Delivery Network).

One of the important performance metrics of the World Wide Web is how fast and precise a request from users will be serviced successfully. Shared Web Caching (SWC) is one of the techniques to improve the performance of the network system. In Shared Web Caching Systems, the key issue is on deciding when and where an item is cached, and also how to transfer the correct and reliable information to the users quickly. Such SWC distributes the items to the proxies which have sufficient capacity such as the processing time and the cache sizes. In this study, the Hot Spot Prediction Algorithm (HSPA) has been suggested to improve the consistent hashing algorithm in the point of the load balancing, hit rate with a shorter response time. This method predicts the popular hot spots using a prediction model. The hot spots have been patched to the proper proxies according to the load-balancing algorithm. Also a simulator is developed to utilize the suggested algorithm using PERL language. The computer simulation result proves the performance of the suggested algorithm. The suggested algorithm is tested using the consistent hashing in the point of the load balancing and the hit rate.

We propose, for the first time to our knowledge, a novel gain-clamping method for EDFA in WDM Add/Drop networks by introducing a disturbance observer technique. The proposed gain-clamping control input consists of the nominal gain-clamping control such as PI(Proportional and Integral) control and the additional control input for the compensation of the effects caused by channel add/drops. The additional control input is designed using the wellknown disturbance observer technique and can be implemented very easily with general electric elements. We proved the superiority of the new technique over the previous methods by showing simulation result of minimized dips and spikes that appear in power profile of EDFA output.

Recently, many technologies of the P.L.C (Power Line Carrier) are introduced for an efficient communication. P.L.C communication sends information in the carrier signals by conduction over the power wire. An arc detector is proposed in this paper for the effective transmission. The Power Line Carrier has an advantage in low cost because it uses existent power line. It can be easily applied anywhere that a power line socket is available. But the P.L.C. is very noisy, because many electronic devices in generate electronic noise in modulated signals. This problem should be considered carefully in the design of the arc detector system using P.L.C in railway. The proposed system can be applied for monitoring the arc detector system and the arc locator system in railway. Hence the system will be able to exchange the arc information to be T.C.M.S. (Train Control Management System), bogies and even between a station and trains in railway and use to suspicion fire in train.

Internet is deeply rooted in everyday life and many things are performed using internet in real-world, therefore internet users increased because of convenience. Also internet accident is on the increase rapidly. The security vendor developed security system to protect network and system from intruder. Many hackings can be prevented and detected by using these security solutions. However, the new hacking methods and tools that can detour or defeat these solutions have been emerging and even script kids using these methods and tools can easily hack the systems. In consequence, system has gone through various difficulties. So, Necessity of intruder trace-back technology is increased gradually. Trace-back technology is tracing back a malicious hacker to his real location. trace-back technology is largely divided into TCP connection trace-back and IP packet trace-back to trace spoofed IP of form denial-of-service attacks. TCP connection trace-back technology that autonomously traces back the real location of hacker who attacks system using stepping stone at real time. In this paper, We will describe watermark trace-back system using TCP hijacking technique to supplement difficult problem of connection maintenance happened at watermark insertion. Through proposed result, we may search attacker's real location which attempt attack through multiple connection by real time.

A term of home automation that was in fashion only a few years ago has not been used any more. Nowadays, We have been used a term of home network or digital home than home automation much. While internet infra is diffused at home, data network corp., communication corp., electric appliance corp. and home automation control system corp. which we did not mind each other particularly constructed consortium, and they have designs on home network market. Also, cellular phone's growth tried home networking by using not only wired internet but also broadband wireless communication. Regardless, many solutions are coming out it is few to be applied to real life because the standard is not determined with the protocol each other. Therefore, we developed home network system using USB(Universal Serial Bus) that has the possibility most in home networking standard. The mobile USB home control system is excellent at expansibility and portability. Also we can complete low cost and stable system using an embedded system.

Hand carried computing machinery and tools have been developed into an embedded system which the small footprint operating system is contained internally. Windows CE which is one of imbedded operating system is a lightweight, multithreaded operating system with an optional graphical user interface. Its strength lies in its small size, its Win32 subset API, and its multiplatform support. Therefore we choose to port this OS on Arm based board that is provided high performance, low cost, and low power consumption. In this paper, we describe the architecture of ARM based board, the feature of Windows CE, techniques and steps involved in this porting process.

Real time control system such as in factory automation fields, defense field, aerospace, railway industries, financial trading and so forth, includes multiple computers on multiple nodes, and share data to process various actions and functions. This is similar to multitasking in a multiprocessor computer system. The task processing efficiency of such system is proportionally increased by process speed of each process computer. And also it is greatly influenced by communication latencies of each node. To provide proper operation of such real time system, a network that can guarantee deterministic exchange of certain amount of data within a limited time is required. Such network is called as a real time network. As for modern distributed control system, the timeliness of data exchange gives important factor for the dynamics of entire control system. In a real time network system, exchanged data are determined by off-line design process to provide the timeliness of data. In other word, designer of network makes up a network data table that describes the specification of data exchanged between control equipments. And by this off-line design result, the network data are exchanged by predetermined schedule. First, this paper explains international standard real time network TCN (Train Communication Network) applied to the KHST (Korean High Speed Train) project. And then it explains the computer program developed for design tool of network data table of TCN.

The development project of Korean High Speed Train (KHST) was started in 1996. As a national research project, the KHST project aims for a development of the next generation prototype train that has a maximum speed of 350 km/h. The development process of prototype KHST including 7 vehicles was completed last year and currently the prototype train is on its way of test running over the test track with gradually increased speed. The prototype KHST uses the real time network called TCN (Train Communication Network) for exchanging information between various onboard control equipments. After 10 years of development and modification period, TCN was confirmed as international standard (IEC61375-1) for the electrical railway equipment train bus. In the prototype KHST, all major control devices are connected by TCN and exchange their information. Such devices include SCU (Supervisory Control Unit), ATC (Automatic Train Control), TCU (Traction Control Unit), and so forth. For each device that sends and receives data using TCN, a device has to find out whether TCN is in normal or failure state before its data exchange. And also a device must have a proper method of data validation that was received in a normal TCN state. This is a one of the major important factors for devices using network. Some misleading information can lead the entire system to a catastrophic condition. This paper briefly explains how TCN was implemented in the prototype KHST train, and also shows what kind of the fault diagnosis method was adopted for a fail safe operation of TCN system

Internet is exposed to network attacks as Internet has a security weakness. Network attacks which are virus, system intrusion, and deny of service, put Internet in the risk of hacking, so the damage of public organization and banking facilities are more increased. So, it is necessary that the security technologies about intrusion detection and controlling attacks minimize the damage of hacking. Router is the network device of managing traffic between Internets or Intranets. The damage of router attack causes the problem of the entire network. The security technology about router is necessary to defend Internet against network attacks. Router has the need of access control and security skills that prevent from illegal attacks. We developed integrated security management framework for secure networking and kernel-level security engine that filters the network packets, detects the network intrusion, and reports the network intrusion. The security engine on the router protects router or gateway from the network attacks and provides secure networking environments. It manages the network with security policy and handles the network attacks dynamically.

Active networks allow active node’s functionality to be extended dynamically through the use of active extensions. This flexible architecture facilitates the deployment of new network protocols and services. However, the active nature of a network also raises serious safety and security concerns. These concerns must be addressed before active networks can be deployed. In this paper we look at how we can control active extension’s access to different active nodes. Specifically, the authentication between active nodes is very important in this case. We use unique identity each node has for transferring access policies between active nodes. In this paper, we suggest a new method of transferring access policies performing authentications using identities between active nodes.

This paper presents the differential type resonant accelerometer (DRXL) and its performance test results. The DRXL is the INS grade, surface micro-machined sensor. The proposed DRXL device produces a differential digital output upon an applied acceleration, and the principle is a gap-dependent electrical stiffness variation of the electrostatic resonator with torsion beam structures. Using this new operating concept, we designed, fabricated and tested the proposed device. The final device was fabricated by using the wafer level vacuum packaging process. To test the performance of the DRXL, a nonlinear self-oscillation loop is designed using describing function technique. The oscillation loop is implemented using discrete electronic elements. The performance test of the DRXL shows that the sensitivity of the accelerometer is 12 Hz/g and its long term bias stability is about $2mg(1{\sigma})$. The turn on repeatability, bandwidth, and dynamic range are 4.38 mg, 100 Hz, and ${\pm}\;70g$, respectively.

In this paper, a x/y-axis accelerometer is fabricated, using the SBM process on a <111> SOI wafer. This fabrication method solves the problem of the footing phenomenon in the conventional SOI process for improved manufacturability and performance. The roughened lower parts as well as the loose silicon fragments due to the footing phenomenon are removed by the alkaline lateral etching step of the SBM process. The fabricated accelerometer has a demodulated signal-to-noise ratio of 92 dB, when 40Hz, 5 g input acceleration is applied. The noise equivalent input acceleration resolution and bandwidth are $125.59\;{\mu}g$ and over 100 Hz, respectively. The acceleration random walk is $12.5\;{\mu}g/\sqrt{Hz}$. The output linearity is measured to be 1.2 % FSO(Full Scale Output) at 40 Hz, and the input range is over ${\pm}\;10g$.

This paper suggests remote experiments using the internet for the control education. The remote experiment is composed of equipment server computers, networks accessible to internet, and real plants such as inverted pendulums, crane systems and microcontrollers. Additionally, it requires a server program that has I/O functions with plants and calculate the control, an interface program bridging between web and the server program, and the home page including the detail explanation for the usage. For effective educations, how to perform experiments and how to combine the experiment with lectures will be discussed. The simple experiments by entering a few control parameters and the complex experiments by designing overall controls, will be explained. Technologies related with the remote experiment and other possible remote experiment will be introduced. It is demonstrated that the remote experiment will be very useful, particular for control education where students have difficulties in performing the experiments for lack of experimental equipments.

The data transmission of MVB(Multifunction Vehicle Bus) of TCN(Train Network Communication) is divided into the periodic transmission phase and the sporadic transmission phase. TCN standard defines the event-polling method for the message transfer in the sporadic phase. However, since the event-polling method does not use pre-scheduling to the priority of the messages to be transmitted, it is inefficient for the real-time systems. To schedule message transmission, a master node should know the priority of message to be transmitted by a slave node prior to the scheduling the sporadic phase, but the existing TCN standard does not support any protocol for this. This paper proposes the slave frame bit-stuffing algorithm, with which a master node gets the necessary information for transmission scheduling and includes the simulation results of the event-polling method and the proposed algorithm.

KIRAMS-13, the first medical cyclotron developed by domestic technique, is used to produce radio-isotope such as $^{18}F$ whose life time is relatively short through test operation. For high-power operation of charged particle accelerators, the power coupler must withstand enormous stresses due to charging induced by high RF power passing through. High-power RF testing with peak power in excess of 30kW has been performed on prototype power coupler for KIRAMS-13 normal conducting cavities. CST MICROWAVE STUDIO(CST MWS) is used for fundamental RF Design, and power coupler is manufactured according to fundamental power coupler design requisite. The qualification of the couplers has occurred for the time being only in a limited set of conditions as the available RF system and control instrumentation are under improvement.

This paper is performed to find the effects on body heat by stimulating the skin with the heat of a moxibustion cauterizer and the Artemisia-lotion which cause the extension of the blood vessel. The Artemisia-lotion is made by extracting the vasodilator and antioxidant compounds from the $Artemisia-CH_2Cl_2$ fraction. The moxibustion cauterizer is constructed with a DC power supply and 3 heating electrodes with PTC(Positive Temperature Coefficients) thermistor. The stimulation temperature level of the moxibustion cauterizer is $45^{\circ}C\;-48^{\circ}C$. We gave the subjects the following stimulating conditions; only heat stimulation, only Artemisia -lotion stimulation, and both stimulations. The measurement of body heat was performed with a infrared thermography system . Finally we could estimate the effects of a betterment of circulation of the blood from $Artemisia-CH_2Cl_2$ fraction.

In this paper, we propose the method to extract the important frequency bands from the EMG signal, and for generation of feature vector using the important frequency bands. The EMG signal is measured with 4 sensor and is recorded as 4 channel’s time series data. The same frequency bands from 4 channel’s frequency components are selected as the important frequency bands. The feature vector is calculated by the function formed using the combination of selected same important frequency bands. The EMG signals acquired from seven wrist motion type are recognized by changing into the feature vector formed. Then, the extraction and generation is performed by using the double combination of the genetic algorithm (GA) and the neural network (NN). Finally, in order to illustrate the effectiveness of the proposed method, computer simulations are done.

In this paper, we propose the face identification method which is robust for lighting based on the feature points method. First of all, the proposed method extracts an edge of facial feature. Then, by the hough transform, it determines ellipse parameters of each facial feature from the extracted edge. Finally, proposed method performs the face identification by using parameters. Even if face image is taken under various lighting condition, it is easy to extract the facial feature edge. Moreover, it is possible to extract a subject even if the object has not appeared enough because this method extracts approximately the parameters by the hough transformation. Therefore, proposed method is robust for the lighting condition compared with conventional method. In order to show the effectiveness of the proposed method, computer simulations are done by using the real images.

It is known that an EEG is characterized by the unique and personal characteristics of an individual. Little research has been done to take into account these personal characteristics when analyzing EEG signals. Often the EEG has frequency components which can describe most of the significant characteristics. These combinations are often unique like individual human beings and yet they have an underlying basic characteristics as well. We think that these combinations are the personal characteristics frequency components of the EEG. In this seminar, the EEG analysis method by using the Genetic Algorithms (GA), Factor Analysis (FA), and the Neural Networks (NN) is proposed. The GA is used for selecting the personal characteristic frequency components. The FA is used for extracting the characteristics data of the EEG. The NN is used for estimating the characteristics data of the EEG. Finally, in order to show the effectiveness of the proposed method, classifying the EEG pattern is carried out via computer simulations. The EEG pattern is evaluated under 4 conditions: listening to Rock music, Schmaltzy Japanese ballad music, Healing music, and Classical music. The results, when personal characteristics frequency components are NOT used, gave over 80 % accuracy versus a 95 % accuracy when personal characteristics frequency components are used. This result of our experiment shows the effectiveness of the proposed method.

As a result of using a heat generator to experiment the physiological influence of the human body due to the warming effect of far-infrared radiation (FIR), the blood pressure of the subjects lowered and stabilized due the expansion of capillary vessels and salt discharge during perspiration as the temperature of the generator elevated($30{\sim}65^{\circ}C$). In case of heart rate, it decreased and stabilized when the temperature of the ‘far-infrared radiation heat generator’ was at a low temperature below $40^{\circ}C$. At a high temperature above $44^{\circ}C$, there was a slow elevation in the heart rate. However, the elevation of the heart rate is not a sudden elevation, therefore, does not give much stress to the heart.

A new method is presented to construct a classifier. This was accomplished by combining a generalized regression neural network (GRNN) and a genetic algorithm (GA). The classifier constructed in this way is referred to as a GA-GRNN. The GA played a role of controlling training factors simultaneously. In GA optimization, neuron spreads were represented in a chromosome. The proposed optimization method was applied to a data set, consisted of 4 different promoter sequences. The training and test data were composed of 115 and 58 sequence patterns, respectively. The range of neuron spreads was experimentally varied from 0.4 to 1.4 with an increment of 0.1. The GA-GRNN was compared to a conventional GRNN. The classifier performance was investigated in terms of the classification sensitivity and prediction accuracy. The GA-GRNN significantly improved the total classification sensitivity compared to the conventional GRNN. Also, the GA-GRNN demonstrated an improvement of about 10.1% in the total prediction accuracy. As a result, the proposed GA-GRNN illustrated improved classification sensitivity and prediction accuracy over the conventional GRNN.

This paper proposes a distributed simulator for general control system in CEMTool. Systems can be described by SIMTool likes the simulink in Matlab. For distributed simulation, we can seperate any system into several parallel subsystems in SIMTool. The number of parallel subsystem can be determined by the system's property. After seperation, parallel simulator will do initialization, one-step-ahead simulation, block-distribution and ordering and so on. Finally, simulator will create independent C codes and executive files for each subsystem. The whole system is fulfilled by several PCs, and each PC executes one subsystem. There are communications among these subsystem using reflective memory or ethernet. We have made several experiments, and the 5-stand cold rolling mill control system is our main target. The result of parallel simulation has shown effective speedup in comparison with one pc simulation.

The aim of this research is to study and develop enabling technologies for home healthcare device with ubiquitous network. The motivation of this paper is to enable healthcare in home, to development the device for smart home health care. To achieve the aim, we must develop the prototype platform based on home gateways, distributed context user interface based on UPnP and support for information sharing with high speed power line communication and mobile infra-structures. And IPv6 is the base technology of this platform. In this paper, we concern that physical health, mental health and medical emergencies is all of home healthcare. With the smart device, we evaluate the connectivity, automatic information extraction and private data exchange and event driven message. The result of this paper is demonstration of smart device for ubiquitous communication in a healthcare application such as patient monitoring device and several information services. In conclusion, home healthcare will support more healthy and easy living for a human.

In this paper, the controller design by coefficient diagram method (CDM) for controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system simultaneously is proposed. The overhead crane system is a MIMO system consisting of two inputs and three outputs. Its mathematical model is nonlinear with coupling characteristics. This nonlinear model can be approximated to obtain a linear model where the first input mainly affects the trolley position and the load-swing angle while the second input mainly affects the hoisting rope length. In order to utilize the CDM concept for assigning the controllers, namely PID, PD and PI controllers separately, the model is approximated to be three transfer functions in accordance with trolley position, the load-swing angle and the hoisting rope length controls respectively. The satisfied performances of the overhead crane system controlled by the these controllers and fast rejection of the disturbance effect occurred at the trolley position are shown by simulation and experimental results.

This paper proposes shape design of frame structures for vibration suppression and weight reduction. The $H_{\infty}$ norm of the transfer function from disturbance sources to the output points where vibration should be suppressed, is adopted as the performance index to represent the magnitude of vibration transfer. The design parameters are the node positions of the frame structure, on which constraints are imposed so that the structure achieves given tasks. For computation of Pareto optimal solutions to the two-objective design problem, a number of linear combinations of the $H_{\infty}$ norm and the total weight of the structure are considered and minimized. For minimization of the scalared objective function, a Lagrange function is defined by the objective function and the imposed constraints on the design parameters. The solution for which the Lagrange function satisfies the Karush-Kuhn-Tucker condition, is searched by the sequential quadratic programming (SQP) method. Numerical examples are presented to demonstrate the effectiveness of the proposed design method.

In this paper, we develop the so-called functional test model for magnetic bearing reaction wheels. The functional test model has three degree of freedom, which consists of one axial suspension from gravity and the other two axes gimbaling capability to small angle, and does not include the motor. For the control of the functional test model, we derive the optimal electromagnetic forces based on the least squares method, and use the proportional-integral-derivative controller. Then, we develop a hardware setup, which mainly consists of the digital signal processor and the 12-bit analog-to-digital and digital-to-analog converters, and show the experimental results.

This paper presents the design and development of an optimal fuzzy logic controller (FLC) for a laser tracking system. An optimal intelligent fuzzy logic controller was founded on integral criterion of the fuzzy models and three-dimensional fuzzy control. Research had been also concentrated on the methods for multivariable fuzzy models for the purposes of real-time process. Simulation results have shown remarkable tracking performance of this fuzzy PID controller.

This paper presents an improved method that constructs an equivalent T-S fuzzy model for nonlinear systems expressed by nonlinear differential equations including terms of power series. The method in this paper has fewer numbers of the rules than the previous methods as well as exactly expresses nonlinear systems. Moreover, this method can get wider feasible area satisfying the stability conditions than the previous methods. We show the improvement of modeling by comparing the proposed method with two previous methods through an inverted pendulum on a cart.

Fuzzy logic control has been widely implemented in air conditioning and ventilation systems which has uncertainty or high robust system. Since the dynamic behaviors of the systems contain complexity and uncertainty in its parameters , several fuzzy logic controllers had been implemented to control room temperature in the field of air conditioning system. In this paper, the fuzzy logic control has been developed to control room temperature and humidity in the precision air conditioning systems. The nonlinear mathematical model was formulated using energy and continuity equations. MATLAB was used to simulate the fuzzy logic control of the multi-variable air conditioning systems. The simulation results show that fuzzy logic controller can reduce the steady-state errors of the room temperature and relative humidity in multivariable air conditioning systems. The offset are less than 0.5 degree Celsius and 3 percent in relative humidity respectively under random step disturbance in heating load and moisture load respectively

A cylindrical permanent magnet inside the four-phase permanent magnet (PM) stepping motor is employed as the rotor. The stator has four teeth around, which its coils are wound. The mode of excitation can be classified into 3 modes: single-phase excitation, two-phase excitation and ministep excitation. The ministep drive is a method to subdivide one step into several small steps by means of electronics. The paper presents the programmable ministep technique drive. This technique decodes the results obtained from the counter to locate the data in Read Only Memory (ROM). The Sinusoidal Pulse Width Modulation (SPWM) is transformed to binary file and saved to the ROM. The experiment is performed with the four-phase PM stepping motor and drives from a two-phase programmable sinusoidal ministep signal, instead of square wave. The results show that the performances of the proposed programmable ministep technique drive have high efficiency, smooth step motion, and high speed response. Moreover, the resolution of sinusoidal ministep signal can be controlled by the input frequency (f command).

In this paper the structure of 2-DOF controller based on artificial immune network algorithms has been suggested for nonlinear system. Up to present time, a number of structures of the 2-DOF controllers are considered as 2-DOF (2-Degrees Of Freedom) control functions. However, a general view is provided that they are the special cases of either the state feedback or the modification of PID controllers. On the other hand, the immune network system possesses a self organizing and distributed memory, also it has an adaptive function by feed back law to its external environment and allows a PDP (parallel distributed processing) network to complete patterns against the environmental situation, since antibody recognizes specific antigens which are the foreign substances that invade living creatures. Therefore, it can provide optimal solution to external environment. Simulation results by immune based 2-DOF controller reveal that immune algorithm is an effective approach to search for 2-DOF controller.

This paper presents conservation of electrical energy in building with harmonics analysis and compensation which occur in electrical system. We use load controlling and management system in order to adjust load factor of system.The maximum demand limiting and controlling are used ,then the system can acquire the prediction and compare it to the maximum demand set point.The electrical signal analysis based on FFT technique. The harmonics are compensated by using harmonic filters.This system consists computer which works as controller, processor , analysis and database unit together with digital power meter in form of multidrop network through serial communication via RS-485.The load control system uses PLC to control load via serial communication RS-485. The A/D converter is used for sampling the electrical signals via parallel port of computer.The harmonic filters are controlled by a computer.The data of measurement such as voltage, current, power, power factor, total harmonic distortion, energy, etc., can be saved as database and analysis. The load factor is adjusted by limiting and controlling maximum demand. The load factor adjustment can reduce the cost of electric consumption and energy generation together with harmonics compensation in order to increase high efficiency of electrical system.

The electrical characteristics of power devices such as BJT (Bipolar Junction Transistor), and MOSFET (Metal Oxide Field Effect Transistor), etc, are altered due to impinging photon radiation and temperature in the nuclear or the space environment. In this paper, BJT and MOSFET are the two devices subjected to ${\gamma}$ radiation. In the case of BJT, the current gain (${\beta}$) and the collector to Emiter breakdown voltage ($V_{CEO}$) are the two main parameters considered. When it was subjected to ${\gamma}$ rays, the ${\beta}$ decreases as the dose level increases, whereas, $V_{CEO}$ gradually increases as the dose level increases. In the case of MOSFET, the threshold voltage is decreasing as the dose level increases. Here it has been observed the decent rate is an increasing function of the threshold voltage. The on-resistance does not change with respect to the dose. Both the devices recover back the original specification after the annealing is finished. No permanent damage has been occurred.

In this paper, analysis and control design of ac-dc converter, normally nonlinear time-varying system, using sliding mode controller to achieve fast output voltage response, disturbance rejection and robust system in the presence of load variation are demonstrated. The objective of this method is to develop methodology for output voltage to be constant and input current sinusoidal that results in nearly unity power factor, respectively. In addition the converter can be also bidirectional power flow. Simulation results using Matlab/Simulink show the effectiveness of sliding mode control system compared with linear feedback controller to guarantee enhanced PF>0.98, THD<5%, and ripple output voltage is less than 1% at the maximum output power.

The major problem encountered in satellite design is EMI (Electro-Magnetic Interference) and EMC (Electro-Magnetic Compatibility). Here, our focus is on the effects of protons on the electronic system. The SEU (Single Event Upset) results from the level change of stored information due to photon radiation and temperature in the space and the nuclear power plant environment. The impact of SEU on PLD (Programmable Logic Devices) technology is most apparent in ROM/SRAM/DRAM devices wherein the state of storage cell can be upset. In this paper, a simple and powerful test techniques is suggested, and the results are presented for the analysis and future reference. The test results are compared with that of JPL test report. In our experiment, the proton radiation facility available at KIRAMS (Korea Institute of Radiological Medical Sciences) has been applied on a commercially available SRAM manufactured by Hynix Semiconductor Company.

In this paper, very simple methods based on the exponential analysis are presented by which transfer function models for processes can easily be obtained. These methods employ step responses or impulse responses of the processes. These can also give a more precise transfer function model compared to the well-known graphical methods. Transfer functions are determined based on Prony method, which is one of the oldest and the most representative methods in the exponential analysis. Here, the method is reformed and applied to obtain the so-called low-order transfer function with pure time delay from the data of the step response. The effectiveness of the proposed method is examined through several numerical examples and experiments of the 2-tank level control process.

Ocean thermal energy conversion (OTEC) is an effective method of power generation, which has a small impact on the environment and can be utilized semi-permanently. This paper describes a dynamic model for a pilot OTEC plant built by the Institute of Ocean Energy, Saga University, Japan. This plant is based on Uehara cycle, in which binary mixtures of ammonia and water is used as the working fluid. Some simulation results attained by this model and the analysis of the results are presented. The developed computer simulation can be used to actual practice effectively, such as stable control in a steady operation, optimal determination of the plant specifications for a higher thermal efficiency and evaluation of the economic prospects and off-line training for the operators of OTEC plant.

This paper presents the minimization of the energy costs based on energy saving for industrial retort process of canned food. The approved proposed method is related the optimal steam or hot water flow control to achieve desired temperature of retort process. The smooth response and zero steady state error can be also achieved. The performances of the proposed control technique were observed using a small tuna canned food plant in Thailand as an illustrative example. The experimental results are given to support the saving in energy costs and some benefits of the proposed technique.

By means of flexible forming processes in sheet metal manufacturing it is possible to produce parts of complex geometry within short manufacturing time. These procedures are suitable especially for prototyping or adjustment of deformation. Here formative procedures like laser forming are increasingly important, because they make the large-scale-like production of the prototypes with the required materials possible. High accuracy and reproducibility of the products is the precondition of the production. Due to the lack of a forming tool, complex geometries can hardly be manufactured within tolerances. To overcome this problem an automatic closed loop control system for the adjustment of deformations has been developed. An important element of the closed loop control system is the definition of a suitable irradiation strategy for laser forming. For the determination of the irradiation strategy a lot of influences must be taken into consideration from the field of material, geometry and laser. In this paper the improved closed loop control system and the development of an irradiation strategy for 4 mm deep buckles in an ALMgSi1 sheet will be represented. This system can be used e.g. in the automated adjustment of hail damage in car bodies or deformation by heat treatment.

This paper addresses the optimal design of dividing wall distillation column which is rapidly applied in a variety of chemical processes over recent several years because of its high energy saving efficiency. A general dividing wall column model which can cope with the heat transfer through the dividing wall is developed using rigorous computer simulation. Based on the simulation model, the effects of the internal recycle flow distribution around the dividing wall and the heat transfer across the dividing wall on overall system performance are investigated. An improved method is suggested to utilize the heat transfer through the wall to optimal column design. The suggested method is compared with the existing method via. simulation study and shows more improved energy saving result. Several control strategies for the divided wall column are tested and the optimal control strategy is propose

GPS based orbit determination system for the KOMPSAT-2 has been developed. Two types of orbit determination software such as operational orbit determination and precise orbit determination are designed and implemented. GPS navigation solutions from on-board the satellite are used for the operational orbit determination and raw measurements data such as C/A code pseudo-range and L1 carrier phase for the precise orbit determination. Operational concept, architectural design, software implementation, and performance test are described.

The basic difference between the EKF(Extended Kalman Filter) and UKF(Unscented Kalman Filter) stems from the manner in which Gaussian random variables(GRV) are represented for propagating through system dynamics. In the EKF, the state distribution is approximated by a GRV, which is then propagated analytically through the first-order linearization of the nonlinear system. This can possibly introduce large errors in the true posterior mean and covariance of the transformed GRV, which may lead to sub-optimal performance and sometimes divergence of the filter. However, the UKF addresses this problem by using a deterministic sampling approach. The state distribution is also approximated by a GRV, but is now represented using a minimal set of carefully chosen sample points. These sample points completely capture the true mean and covariance of the GRV, and UKF captures the posterior mean and covariance accurately up to the 2nd order(Taylor series expansion) for any nonlinearity. This paper utilizes the UKF to determine spacecraft orbit when only magnetometer is available. Several catastrophic failures of spacecraft in orbit have been attributed to failures of the spacecraft mission. Recently studies on contingency-major sensor failure cases- have been performed. For mission success, contingency design or plan should be implemented in case of a major sensor failure. Therefore the algorithm presented in this paper can be used for a spacecraft without GPS or contingency design in case of GPS failure.

To prevent the critical situation due to the fault in the aircraft sensor system, the fault tolerant system with triple or quadruple redundancy can be made. However, if the faults are occurred in two or more than sensors simultaneously, the conventional fault detection process, such as cross-channel monitoring, may give the wrong fault alarm. For this case, we can detect the fault by estimating the state vector based on the system dynamics model, which is nonlinear for aircraft. In this paper, we propose the unscented Kalman filter to estimate the nonlinear state vector. This filter utilizes the so-called unscented transformation of sigma points featured the statistical characteristics of the random variable. For verification, we perform the simulations for F-16 aircraft with accelerometers, gyros, GPS and air data system.

This paper considers a tracking filter algorithm which can track a maneuvering target. Multiresolutional Interacting Multiple Model (MRIMM) algorithm is proposed to reduce computational burden. In this paper multiresolutional state space model equation and multiresolutional measurement equation are derived by using wavelet transform. This paper shows the outline of MRIMM algorithm. Simulation results show that MRIMM algorithm maintains a good tracking performance and reduces computational burden.

This paper deals with a problem of automatic landing guidance and control system design. The auto-landing control system for the longitudinal motion is designed in the classical PID controller. The controller gains are properly adapted to variation of the performance using fuzzy logic as a gain scheduler for the PID gains. This control logic is applied to the problem of the automatic landing control system design. From the numerical simulation using the 6DOF nonlinear model of the associated airplane, it is shown that the auto-landing maneuver is successfully achieved from the start of the flight conditions: 1500 ft altitude, 250 ft/sec airspeed and zero flight path angle.

This paper reports a novel microfluidic system, by which microfluidic delivery, transport and control can be digitally realized in femtoliter scale. Microelectronic grade $N_2$ from a pressurized canister was passed through HPLC tubing into a micro injector. The micro injector was driven and controlled digitally by the control system that can apply various control parameters such as pulse frequencies. A front-end of micro nozzle was inserted the dyed oil to collect droplets injected. The diameter of a droplet was measured by a microscope and a CCD camera, and then its volume can be calculated on the assumption that the droplet is spherical. The micro nozzles were simply pulled in glass capillary tubes by the micro puller self-made, and the geometry parameters of the micro nozzles can be adjusted easily. Experiments have successfully been carried out, and the results demonstrated that the proposed digital micro injector possesses three significant advantages : precise ultra-small liquid volume in femtoliter scale, digital microfluidic control and micro devices fabricated by simple glass process, not based on IC process.

In recent yeas, studies on computer aided diagnosis (CAD) using image analysis on CT images have been conducted with respect to various diseases. Extracting ground-glass opacities (GGO) on lung CT images is one of such subjects, though it has not found an established method yet. If the region of ground-glass opacities is large on CT images, it can be detected without much difficulty. On the other hand, if the region is small, it is still difficult to find it exactly. In the latter case, increasing overlooking possibility cannot be avoided according to smaller size of the region. To solve this difficulty, this paper proposes an automatic technique for extracting ground-glass opacities on lung CT images employing some statistical parameters of a gray level histogram and a differential histogram. The proposed technique is applied to some lung CT images in the performed experiment. The results are shown with discussion on future work.

Proteome research in the medical field is expected to accelerate the understanding of disease mechanism, and to create new diagnostic concept. For protein profiling, this paper proposes a new methodology named CPDIB (Crude Protein Direct Blotting). In the CPDIB procedure, crude protein sample is directly immobilized on a membrane and the expression of protein molecules in the sample are analyzed quantitatively by using a special device called ImmobiChip, where the membrane is used as a field of the immune reaction. The over-all structure of the ImmobiChip is based on the conventional Slot blot device. Mechanical improvement in the air-tightness of the case holding the membrane realizes the direct blotting and results in high performance of stability in the immune reaction. In the measurement of multiple proteins, a dispensing robot is used for increasing the efficiency of handling of liquid. Cooperation of the dispensing robot with the ImmobiChip for immobilizing proteins realizes automated and stable performance of the CPDIB procedure. This paper shows the evaluation of the air-tightness of the ImmobiChip, the ability of analyzing proteins using the CPDIB procedure and the performance of the automated equipment.

The paper describes a new instrument for early detection of Alzheimer's disease. A new instrument for early detection of Alzheimer's disease is constructed on both the questionnaire for the investigation of living environment, and the lists for the functional tests of the sense, the physiology, and the left and right brains. When the medical doctor has made a diagnosis of Alzheimer's disease, the demented patient does not recover the indication adding available treatments. Then, the indication of a patient only takes a turn for the worse. For the demented patient can be kept his/her life style, Alzheimer's disease can make an early detection using a new instrument before a diagnosis of the dementia. And the indication of a demented patient can be delayed by the available medical treatments.

A new instrument for early detection of Alzheimer's disease is constructed from the investigative items with both the investigation of living environment, and the functional tests of the sense, the physiology, and the left and right brains. This paper describes the indexes obtained from the results of test using a new instrument for early detection of Alzheimer's disease. The indexes for early detection of Alzheimer's disease were obtained from the investigations of the living environment and the social adaptability, the functional tests of the sight and the hearing in the five senses, and the functional tests of left hemispheres in brain.

Nonlinear dynamic system exist widely in many types of systems such as chemical processes, biomedical processes, and the main steam temperature control system of the thermal power plant. Up to the present time, PID Controllers have been used to operate these systems. However, it is very difficult to achieve an optimal PID gain with no experience, because of the interaction between loops and gain of the PID controller has to be manually tuned by trial and error. This paper suggests control approaches by immune fuzzy for the nonlinear control system inverted pendulum, through computer simulation. This paper defines relationship state variables $x,{\dot{x}},{\theta},\dot{\theta}$ using immune fuzzy and applied its results to stability.

In recent years, fuzzy logic has received greater emphasis in the field of power electronics and motion control by virtue of its adaptive capability. A new fuzzy logic based soft-start scheme for induction motor drives close to load detection has been discussed here using microcontroller based thyristorised voltage controller. Rule based soft-start algorithm is fully realised through a software approach only. The soft-start strategy is based on the change of input impedance during starting period. The prototype has been tested under various loading conditions and found to be reliable.

The Global Positioning System(GPS) is a satellite based precise positioning system avaliable worldwide. The GPS have many error sources. The earth's ionosphere and atmosphere cause delays in the GPS signal that translate into position errors. Some errors can be factored out using mathematics and modeling. The configuration of the satellites in the sky can magnify other errors. The problem of accuracy on GPS measurement data can be meaningful. In this study, we propose the method for GPS positioning accuracy improvement. The FUZZY set theory on PDOP(Position Dilution of Precision) and SNR(Signal to Noise Ratio) provide improved for measured positioning data. The accuracy of positioning has been improved by selecting data from original using the FUZZY set theory on PDOP and SNR.

In this paper, We designed the local path planning direction algorithmusing fuzzy controller applied fuzzy logic. Algorithm decieded a direction angle by theposition of obstacle, the distance with obstacle, the progress direction of robot, the speed of vehicles and the perception area of sensor. The robot designed with proposed algorithm carried out soft moving without any particular operation, and we could observe that it had very soft curved moving as if an expert drove.

In this paper, we proposes a new fuzzy inference system for modeling nonlinear systems given input and output data. In the suggested fuzzy inference system, the number of fuzzy rules and parameter values of membership functions are automatically decided by using the kernel-based method. The kernel-based method individually performs linear transformation and kernel mapping. Linear transformation projects input space into linearly transformed input space. Kernel mapping projects linearly transformed input space into high dimensional feature space. The structure of the proposed fuzzy inference system is equal to a Takagi-Sugeno fuzzy model whose input variables are weighted linear combinations of input variables. In addition, the number of fuzzy rules can be reduced under the condition of optimizing a given criterion by adjusting linear transformation matrix and parameter values of kernel functions using the gradient descent method. Once a structure is selected, coefficients in consequent part are determined by the least square method. Simulated result illustrates the effectiveness of the proposed technique.

This paper aims at the construction of the system that outputs subjective and consistent linguistic expressions of some pictures. Input to this system is information on some pictures and this system outputs explanations of basic contents of pictures and consistent connective relationships between pictures. The present system consists of the explaining part of basic contents and the explaining part of connective relationship. The former part explains behaviors and feelings of objects drawn in pictures. The latter one explains the matters not drawn in pictures by guessing them from pictures. This part considers consistency of connective relationships. From the viewpoint that the interpretation of pictures is dependent on individual subjectivity, the present system has individual database for individual subjectivity. In order to confirm the usefulness of the present approach, simulation experiments are performed. In the experiments the individual databases of subjects are constructed and the outputs of the system are evaluated. Experiment results show that good evaluation is obtained.

We propose a feedback-based congestion control algorithm for the wireless TCP network. In this paper, we present a new TCP protocol to control the congestion window size. In particular, the asymptotic analysis of the wireless TCP is presented. Through simulations, our algorithm shows an improvement of TCP’s performance in wireless networks.

Recently the idea of a home automation has been an important issue in many publications and home appliances companies. Home automation is a house or living environment that contains the technology to allow devices and systems to be controlled automatically. Remote and local control are useful to keep home comfortable and to support the elderly and the disabled people. In this paper, we discuss possible developments of Bluetooth wireless technologies and describe the hardware for devices and software for the considerations of a home automation system. Finally, we have validated the testbed by simulating in the Bluetooth home network.

This paper proposes an improvement of a QoS based routing protocol. The hierarchical source routing algorithm[4] was improved by including of the Crank-Back algorithm[2]. The Crank-Back capability is the ability to solve the problem of selecting the wrong route because of using unsynchronized routing information in the ingress router. In order to reduce time of reversing the call-setup process back to the ingress router, spare-route information is included with a call-setup packet. Spare-route information could be used by every router to find the next appropriated link itself when insufficient resource of the selected link was found. The proposed algorithm improves the performance of the source routing call-setup process significantly.

Bluetooth is a low cost, license-free, and short-range radio communication technology. This gradually gaining de facto standard for applications of a personal area network over the world. To make it further popular, it should provide faster and more flexible connectivity than that supported by the existing bluetooth specification. This paper proposes a new Ad hoc scatternet formation algorithm that supports those connectivity under circumstances such that devices can not get in direct touch with one another; say out-of-bounded case. It also maintains the character that those connectivity minimizes the number of piconets when all devices are in the communication range with one another, say in-bounded case, as pervious works.

The importance of e-Learning, which supports to study anywhere and anytime, has been pointed out for improving education. There have been various research papers on e-Learning system for educations. Most of literatures have focused on guiding the student or measuring understanding their level etc. Design method of e-Learning system has not been discussed based on structure and analysis of the class. In this paper, scheme of the class is proposed by analyzing and structuring class, then design method of e-Learning system is discussed based on it.

This paper provides a new approach to analyze the stability of TCP Vegas, which is a kind of feedback-based congestion control algorithm. Whereas the conventional approaches use the approximately linearized model of the TCP Vegas along equilibrium points, this approach uses the exactly characterized dynamic model to get a new stability criterion via a piecewise and delay-dependent Lyapunov-Krasovskii function. Especially, the resulting stability criterion is formulated in terms of linear matrix inequalities (LMIs). Using the new criterion, this paper shows that the current TCP Vegas algorithm is stable in the sufficiently wide region of network delay and link capacity.

Manipulation of the nano/micro scale object has been a key technology in biology as the sizes of DNA, chromosome, nucleus, cell and embryo are within such order. For instance, for embryo cell manipulation, the cell injection is performed manually. The operator often spends over a year to carry out a cell manipulation project. Since the typical success rate of such operation is extremely low, automation of such biological cell manipulation has been asked. As the operator spends most of his time in finding the position of cell in the Petri dish and in injecting bio-material to the cell from the best orientation. In this paper, we propose a new strategy and a vision system, by which one can find, recognize and track nucleus, polar body, and zona pellucida of the embryo cell for automatic biomanipulation. The deformable template matching algorithm has been used in recognizing the nucleus and polar body of each cell. Result suggests that it outperforms the conventional methods.

This paper describes fabrication of a micro cell counter integrated with an oxygen micropump and Sephadex G-25 beads counting experiment. The device utilized a phototransistor, microwindow, and light source of microscope for beads detection. Microheater and microchannel were used for pumping and guiding of beads to the microwindow. Counting capability of the device was tested with a peristaltic pump and the measured signals (${\sim}10\;mV$) with oscilloscope showed peak shape when beads passed the microwindow. Pumping of beads by the oxygen micropump was carried out by heating paraffin, which enveloped manganese dioxide (catalyst), to trigger the decomposition of hydrogen peroxide into water and oxygen. It lasted for 5 min with $7\;{\mu}l$ of wt. 30 % hydrogen peroxide. Beads counting by oxygen micropump showed peaks ($2{\sim}20\;mV$) with $30\;{\mu}l$ of beads sample and the number of peaks by magnitude was acquired.

Recently, biological technology industry shows great development. Instruments and systems related biological technology have been developed actively. In this paper, we developed a new micro end-effector for biological cell manipulation. The existing micro end-effector for biological cell manipulation has not any force sensing mechanism. Usually, excessive contact force occurring when the end-effector and a cell collide might make a damage on the cell. However, unfortunately, user can not notice the condition in case of using the existing end-effector. In order to overcome we proposed the improved micro end-effector having a force sensing mechanism. This paper presents the design concepts of the new micro end-effector. We carried out calibration of the force sensor and tested the performance of the proposed micro end-effector. Through a series of experiments the new micro end-effector shows the possibility of application for precision biological cell manipulation such as DNA operation

In biological cell manipulation, manual thrust or penetration of an injection pipette into an egg is currently performed by a skilled operator, relying only on visual feedback information. Massive load of various micro injection of either genes, fluid or cells in the postgenomic era calls a more reliable and automatic micro injection system that can test hundreds of genes or cell types at a single experiment. We initiated to study cellular force sensing in zebrafish eggs as the first step for the development of a more controllable micro injection system by any inexperienced operator. Zebrafish eggs at different developmental stages were collected and an integrated biomanipulation system was employed to measure cellular force during penetrating the egg envelope, the chorion. First of all, the biomanipulation system integrated with cellular force sensing instrument is implemented to measure the penetration force of cell membranes and characterize mechanical properties of zebrafish embryo cells. Furthermore, implementation of cellular force sensing system and calibration are presented. Finally, the cellular force sensing of penetrating cell membranes at each developmental stages was experimentally performed. The results demonstrated that the biomanipulation system with force sensing capability can measure cellular force at real-time while the injection operation is undergoing. The magnitude of the measured force was in the range of several hundreds of uN. The precise real-time measurement should provide the first step forwards for the development of an automatic and reliable injection system of various materials into biological cells.

There is a great demand to manipulate biological cell autonomously since biologist should spend much time to obtain skillful manipulation techniques. For this purpose, we propose a cell chip to control, carry, fix and locate the cell. In this paper, we focus on the cell rotator to rotate individual biological cell based on a micro fluidics technology. The cell rotator consists of injection hole and rotation well to rotate a biological cell properly. Under the variation of flow rate in injection hole, the angular velocity of a biological cell is evaluated to find the feasibility of the proposed rotation method. As a practical experiment, Zebrafish egg is employed. Based on this research, we find the possibility of non-contact rotation way that can highly reduce the damage of the biological cell during manipulation. To realize an autonomous biological cell manipulation, a cell chip with manipulation well and micro channel in this research will be utilized effectively in near future.

This paper presents a simple sensor fusion algorithm using neural network for navigation of mobile robots with obstacle avoidance and trap recovery. The multiple sensors input sensor data to the input layer of neural network activating the input nodes. The multiple sensors used include optical encoders, ultrasonic sensors, infrared sensors, a magnetic compass sensor, and GPS sensors. The proposed sensor fusion algorithm is combined with the VFH(Vector Field Histogram) algorithm for obstacle avoidance and AGPM(Adaptive Goal Perturbation Method) which sets adaptive virtual goals to escape trap situations. The experiment results show that the proposed low-level fusion algorithm is effective for real-time navigation of mobile robot.

In this paper, fault tolerant mechanisms are presented for a servo manipulator system designed to operate in a hot cell. A hot cell is a sealed and shielded room to handle radioactive materials, and it is dangerous for people to work in the hot cell. So, remote operations are necessary to handle radioactive materials in the hot cell. KAERI has developed a servo manipulator system to perform such remote operations. However, since electric components such as servo motors are weak to radiations, fault tolerant mechanisms have to be considered. For fault tolerance of the servo manipulator system, hardware and software redundancy have been considered. In case of hardware, radioactive resistant electric components such as cables and connectors have been adopted and motors driving a transport have been duplicated. In case of software, a reconfiguration algorithm accommodating one motor's failure has been developed. The algorithm uses redundant axis to recover the end effector's motion in spite of one motor's failure.

This paper focuses on the stability and operability of a man-machine system considering a human operator. Some papers' main interest has been the stability only, but the operability such as fatigue is also the other main interest. In a man-machine system, feelings such as motional, visual, and kinesthetic are important since those enable operators to work easily or fatigue operators. A model of a man-machine system has been developed. Motional, visual, and kinesthetic feelings may be considered as feedbacked sensor signals. We also have quantified the degree of fatigue with respect to reference operation. This is a performance index to be optimized. Several methods are presented to optimize the degree of fatigue and the stability of the integrated system. Examples are presented to show that the usefulness of the proposed modeling method and fatigue mitigating algorithm.

A control system design based on coupled nonlinear oscillators (CNOs) for a self-organized swarm system is presented. In this scheme, agents self-organize to flock and arrange group formations through attractive and repulsive forces among themselves using CNOs. Virtual agents are also used to create richer group formation patterns. The objective of the swarm control in this paper is to follow a moving target with a final group formation in the shortest possible time despite some obstacles. The simulation results have shown that the proposed scheme can effectively construct a self-organized multi-agent swarm system capable of group formation and group immigration despite the emergence of obstacles.

In this paper novel concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by two human operator through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and send them to GUI on the screen of human operators’ PC. The human operator can login to boxing game from any computer in any place if he/she is permitted. Remote control of boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved.

This paper presents a method to segment object ID marks on poor quality images under uncontrolled lighting conditions of FA inspection process. The method is based on multiple templates and normalized gray-level correlation (NGC) method. We propose a multiple template method, called as ATM (Active Template Model) which uses combinational relation of multiple templates from model templates to match and segment several characters of the inspection images. Conventional Snakes algorithm provides a good methodology to model the functional of ATM. To increase the computation speed to segment the ID mark regions, we introduce the Dynamic Programming based algorithm. Experimental results using images from real FA environment are presented.

This paper presents optimal walking trajectory generation for a quadruped robot with genetic-fuzzy algorithm. In order to move a quadruped robot smoothly, both generations of optimal leg trajectory and free walking are required. Generally, making free walking is difficult to realize for a quadruped robot, because the patterned trajectory may interfere in the free walking. In this paper, we suggest the generation method for the leg trajectory satisfied with free walking pattern so as to avoid obstacle and walk smoothly. We generate via points of leg with respect to body motion, and then we use the genetic-fuzzy algorithm to search for the optimal via velocity and acceleration information of legs. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

In this paper, we present a wavelet neural network (WNN) approach to the solution of the path tracking problem for mobile robots that possess complexity, nonlinearity and noise. First, we discuss a WNN based control system where the control signals are directly obtained by minimizing the difference between the reference track and the pose of a mobile robot. This compact network structure is helpful to determine the number of hidden nodes and the initial value of weights. Then, the data with various noises provided by odometric and external sensors are here fused together by means of an Extended Kalman Filter (EKF) approach for the pose estimation problem of mobile robots. This control process is a dynamic on-line process that uses the wavelet neural network trained via the gradient-descent method with estimates from EKF. Finally, we verify the effectiveness and feasibility of the proposed control system through simulations.

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

High-precision position system is widely used in lots of fields such as semiconductor industry, biotechnology, display and other up-to-date industry field. One of the main issues is to have a long traveling range with precision. There are a few solutions. For instance, there are inchworm methods, lever principle. In this study, we use lever principle to amplify output displacement with a new mechanical amplification structure. We designed new type 3DOF stage with PZT actuator and capacitive sensor. Non-monolithic structure is suggested to obtain the convenience of assembly and modification. Driving parts are designed as modules that generate displacement amplification of each axis. Designed motion module consists of 3 flexure hinges and a PZT actuator with double L lever structure.

A quadruped walking robot has a superior adaptablility as well as highly adaptable mobility in various environments. These special advantages are outstanding in the mobile robot group. In this work, we introduce the method for omni-directional gait and rotational gait which is the generalized control algorithm to perform any direction commands. In addition, to improve the stability of quadruped walking robot, we performed the optimization between walking angle and sequence of feet. The proposed ideas are applied to the actual design of MRWALLSPECT III(Multifunctional Robot for Wall inSpection version 3) that is designed to inspect of the large surface of industrial utilities. By implementing the proposed idea on the robot, it’s effectiveness is experimentally confirmed.

The haptic system becomes an essential device in the area of tele-operation, video entertainment and medical operation. To control a haptic device, impedance control method is widely used, but force sensor costs so much that open-loop control method is usually preferred for commercial purpose. In this case, modeled/un-modeled dynamics affects the performance of device. In this paper, we present a new 3DOF five-link type haptic device that we can reduce the effect of device dynamics and compensate its dynamics. We also evaluate its performance.

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

We propose a new method of robot manipulator modeling. Different from existing modelers, our modeler provides a convenient robot modeling configured from modules from module library or module modeling. In addition, a way of using D-H parameters to configure a robot is proposed. These additional functions of robot modeling can be a powerful and flexible tool for various needs of robot modeling. We show an example of modeling with our approach.

In this paper, we describe the nonlinear character for a friction control. The nonlinear character of friction control is inherent in mechanical system, which has gained more and more interest. The modeling and compensation of nonlinear friction are difficult tasks for precise motion control. This paper is performance evaluation of nonlinearities and mechanical compliance exists together with friction control system.

In this study, we develop an automatic sorting system, which is mostly affected by frictional forces between a veneer and friction-generating device. So we will make a suitable dynamic model and mechanism to control friction force using a AC servo-motor. We suggest Stick friction and Column friction model, which is occurred between roller and veneer and within veneers as well. A kind of sensor can get the velocity of roller and movement of roller vertical direction. We assume that the several things to simplify the complicate and difficult nonlinear friction phenomenon. And to create an optimal normal force, which can generate a suitable friction force, we control the movement of sorting roller and supporter as well. We introduce several results about a friction character and suggest the value of calibration of sorting roller movement and supporters as well.

The paper presented here covers the work associated with the flight control law design, ground based and in flight simulation and handling qualities assessment of the Fly-by-Wire type Aircraft (FBWA). The control law was designed for the most unstable aircraft configuration flight regime for the target aircraft (FBWA). The ground based simulation including math-model, real-time pilot-in-the-loop and iron bird simulation were used for validation of the control law before the experimental in-flight simulation on the IFS (In.Flight-Simulator) aircraft. The flight tests results showed that Level 1 handling qualities for the most unstable flight regime were achieved.

An alternative optimal control law formulation is introduced and compared with two different control law, a conventional linear quadratic regulator and the control law based on game theory. This formulation eliminates the undesired modes of the system by the projection of a controller onto the subspace orthogonal to that of the bad modes. In conventional LQR control law, the control performance can be improved only by using proper weighting matrices in performance index, normally, with high cost. The control law formulation by game theory may provide various ways to obtain the desired performance. The control law modified by the elimination of bad modes provides efficient ways to get rid of an undesired performance since it eliminates the exact modes which cause the bad control performance.

Monitoring a power transmission line is significant for power electric companies. In this paper, we propose a new method for detecting an fault point of power transmission line by use of M-sequence correlation technique. In this method, detecting signal is used as one or plural M-sequences ( same characteristic polynomial, including normal and reverse mark, synchronized ). In receiving point, we make same sequence with the input one and take crosscorrelation function between M-sequence and the received signal. We can see transfer fanctions of plural paths between inputs and a output taps separated from different of delay times on the crosscorrelation function, and from these transfer fanctions, so we compare them when fault occurred with in usual.

We consider fault detection and isolation (FDI) problem for inertial navigation systems (INS) which use redundant inertial sensors and propose an FDI method using average of multiple parity vectors which reduce false alarm and wrong isolation, and improve correct isolation. We suggest optimal isolation threshold based on navigation performance, and suggest optimal sample number to obtain short detection time and to enhance detectability of faults little larger than threshold.

This paper proposes an application of sliding mode observer to the problem of fault detection and reconstruction for descriptor systems with both actuator and sensor faults. In detecting and reconstructing the faults simultaneously, first, we will consider the fault detection problem for sensor fault. The detection of sensor fault is achieved from the design of the matrix which eliminates the influence of actuator fault. Secondly, the sliding mode observer which adds the general full-order observer for descriptor system to feedforward injection map and feedforward compensation signal is designed, and through which the sensor fault is reconstructed. Finally, with the reconstructed sensor fault, and by eliminating differential term of the sensor fault, the actuator fault is detected and reconstructed.

Any system has the possibility of an error occurrence. Even if trivial errors were occurred, the original system would be fatally affected by the occurring errors. Accordingly, the error detection must be demanded. In this paper, we developed a real-time error detection system would be able to apply to an electronic Jacquard system. A Jacquard is a machine, which controls warps while weaving textiles, for manufacturing patterned cloth. There are two types of mechanical and electronic Jacquard. An electronic Jacquard is better than a mechanical Jacquard in view of the productivity and realizability for weaving various cloths. Recent weaving industry is growing up increasingly due to the electronic Jacquard. But, the problem of wrong weaving from error data exists in the electronic Jacquard. In this research, a real-time error detection system for an electronic Jacquard is developed for detecting errors in an electronic Jacquard in real-time. The real-time system is constructed using PC-based embedded system architecture. The system detects the occurring errors in real-time by storing 1344 data transferred in serial from an electronic Jacquard into memory, and then by comparing synchronously 1344 data stored into memory with 1344 data in a design file before the next data would be transferred to the Jacquard for weaving. The information of detected errors are monitored to the screen and stored into a file in real-time as the outputs of the system. In this research, we solve the problem of wrong weaving through checking the weaving data and detecting the occurred errors of an electronic Jacquard in real-time.

We consider some problems of the Modified SPRT(Sequential Probability Ratio Test) method for fault detection and isolation of inertial redundant sensor systems and propose an Advanced SPRT method to solve the problems of the Modified SPRT method. One problem of the Modified SPRT method to apply to inertial sensor system comes from the effect of inertial sensor errors such as misalignment, scale factor error and sensor bias in the parity vector, which make the Modified SPRT method hard to be applicable. The other problem is due to the correlation of parity vector components which may induce false alarm. We use a two-stage Kalman filter to remove effects of the inertial sensor errors and propose the modified parity vector and the controlled parity vector which removes the effect of correlation of parity vector components. The Advanced SPRT method is derived form the modified parity vector and the controlled parity vector. Some simulation results are presented to show the usefulness of the Advanced SPRT method to redundant inertial sensor systems.

The PBL (Poly-butadiene Latex) production process is a typical batch process. Changes of the reactor characteristics due to the accumulated scaling with the increase of batch cycles require adaptive tuning of the PID controller being used. In this work we propose a tuning method for PID controllers based on the closed-loop identification and the genetic algorithm (GA) and apply it to control the PBL process. An approximated process transfer function for the PBL reactor is obtained from the closed-loop data using a suitable closed-loop identification method. Tuning is performed by GA optimization in which the objective function is given by ITAE for the setpoint change. The proposed tuning method showed good control performance in actual operations.

Comprehensive study on the control system design for a RTP process has been conducted. The purpose of the control system is to maintain maximum temperature uniformity across the silicon wafer achieving precise tracking for various reference trajectories. The study has been carried out in two stages: thermal balance modeling on the basis of a semi-empirical radiation model, and optimal iterative learning controller design on the basis of a linear state space model. First, we found through steady state radiation modeling that the fourth power of wafer temperatures, lamp powers, and the fourth power of chamber wall temperature are related by an emissivity-independent linear equation. Next, for control of the MIMO system, a state space modeland LQG-based two-stage batch control technique was derived and employed to reduce the heavy computational demand in the original two-stage batch control technique. By accommodating the first result, a linear state space model for the controller design was identified between the lamp powers and the fourth power of wafer temperatures as inputs and outputs, respectively. The control system was applied to an experimental RTP equipment. As a consequence, great uniformity improvement could be attained over the entire time horizon compared to the original multi-loop PID control. In addition, controller implementation was standardized and facilitated by completely eliminating the tedious and lengthy control tuning trial.

Method for performance monitoring and diagnosis of a MIMO control system has been studied aiming at application to model predictive control (MPC) for industrial processes. The performance monitoring part is designed on the basis of the traditional SPC/SQC method. To meet the underlying premise of Schwart chart observation that the observed variable should be univariate and independent, the process variables are decorrelated temporally as well as spatially before monitoring. The diagnosis part was designed to identify the root of performance degradation among the controller, process, and disturbance. For this, a method to estimate the model-error and disturbance signal has been devised. The proposed methods were evaluated through numerical examples.

The pH neutralization process has long been taken as a representative benchmark problem of nonlinear chemical process control due to its nonlinearity and time-varying nature. For general nonlinear processes, it is difficult to control with a linear model-based control method so nonlinear controls must be considered. Among the numerous approaches suggested, the most rigorous approach is the dynamic optimization. However, as the size of the problem grows, the dynamic programming approach is suffered from the curse of dimensionality. In order to avoid this problem, the Neuro-Dynamic Programming (NDP) approach was proposed by Bertsekas and Tsitsiklis (1996). The NDP approach is to utilize all the data collected to generate an approximation of optimal cost-to-go function which was used to find the optimal input movement in real time control. The approximation could be any type of function such as polynomials, neural networks and etc. In this study, an algorithm using NDP approach was applied to a pH neutralization process to investigate the feasibility of the NDP algorithm and to deepen the understanding of the basic characteristics of this algorithm. As the global approximator, the neural network which requires training and k-nearest neighbor method which requires querying instead of training are investigated. The global approximator requires optimal control strategy. If the optimal control strategy is not available, suboptimal control strategy can be used even though the laborious Bellman iterations are necessary. For pH neutralization process it is rather easy to devise an optimal control strategy. Thus, we used an optimal control strategy and did not perform the Bellman iteration. Also, the effects of constraints on control moves are studied. From the simulations, the NDP method outperforms the conventional PID control.

GPS provides two services which include SPS(Standard Positioning Service) and PPS(Precise Positioning Service). While SPS users can navigate in more precise due to cancellation of SA(Selective Availability), SPS users has still less precision navigation than PPS users. L1/L2CS integrated receiver can provide more precise navigation to SPS users because the delay of Ionosphere will be cancelled by using two frequencies (L1 and L2). This paper designs an integrated L1/L2CS digital correlator to prepare the L2C signal that will be provided in 2003. Also L2CS transmitter is designed to confirm L2CS correlator.

With the development of RAIM techniques for single failure, there has been increasing interest in the multiple failure problem. There have been many approaches to tackle the problem from various points of view. This paper approaches to two failure problem with total least squares (TLS) technique, which has rarely been addressed because TLS requires a great number of computations. In this paper, the special form of the observation matrix H, that is, one column is exactly known, is exploited so as to develop an algorithm in a sequential form, which reduces computational burden. The algorithm makes us enjoy the advantages of TLS without much computational burden. The proposed algorithm is verified through a numerical simulation.

This paper designs a software signal generator for the new GPS L2 civil signal. The CM/CL code and the message structure of L2CS described in GPS ICD PPIRN-200C-007 are used in designing the signal generator. The output of the GPS signal generator is designed as the sampled IF data with the sampling frequency 5.7MHz and stored in the binary data format. By analyzing both the spectrum characteristics of the output signal and the correlation properties of the CM/CL code, the validation of the designed GPS signal generator is shown. It should be mentioned that the modeling of the GPS satellite constellation and the error sources remains for implementing the software space segment of GPS.

KARI had developed an Local Area Augmentation System for aircraft precision landing as following ICAO SARPs(Standards and Recommended Practices) draft and FAA's recommended algorithm( carrier smoothing techniques). JPO in charge of managing GPS has introduced the signal structure of GPS modernization program. This paper estimates the accuracy performance of KARI-LAAS with modernized GPS signal but the same processing algorithm.

Conventional DLLs estimate the delay times of satellite signals individually and feed back these measurements to the VCO independently. But VDLL estimates delay times and user position directly and then estimate the feedback term for VCO using the estimated position changes. In this process, input measurements are treated as vectors and these vectors are used for navigation. First advantage of VDLL is that noise is reduced in all of the tracking channels making them less likely to enter the nonlinear region and fall below threshold. Second is that VDLL can operate successfully when the conventional independent parallel DLL approach fails completely. It means that VDLL receiver can get enough total signal power to track successfully to obtain accurate position estimates under the same conditions where the signal strength from each individual satellite is so low or week that none of the individual scalar DLL can remain in lock when operating independently. To operate VDLL successfully, it needs to know the initial user dynamics and position and prevents total system from the divergence. The suggested integration method is to use the inertial navigation system to provide initial dynamics for VDLL and to maintain total system stable. We designed the GPS/INS integrated navigation system. This new type of integrated system contained the vector pseudorange format generation block, VDLL signal processing block, position estimation block and the conversion block from position change to delay time feedback term aided by INS.

This paper describes the development of a 3-DOF laparoscopic assistant robot system with motor-controlled bending and zooming mechanisms using the voice command motion control and auto-tracking control. The system is designed with two major criteria: safety and adaptability. To satisfy the safety criteria we designed the robot with optimized range of motion. For adaptability, the robot is designed with compact size to minimize interference with the staffs in the operating room. The required external motions were replaced by the bending mechanism within the abdomen using flexible laparoscope. The zooming of the robot is achieved through in and out motion at the port where the laparoscope is inserted. The robot is attachable to the bedside using a conventional laparoscope holder with multiple DOF joints and is compact enough for hand-carry. The voice-controlled command input and auto-tracking control is expected to enhance the overall performance of the system while reducing the control load imposed on the surgeon during a laparoscopic surgery. The proposed system is expected to have sufficient safety features and an easy-to-use interface to enhance the overall performance of current laparoscopy.

In this paper, we present biomimetic hopping strategy which is more human-like for legged robot through stiffness modulation. Stiffness value is calculated from the motion of body center of gravity. This method enable to reduce impact force on touch-down, adaption on ground stiffness change and height modulation. Simple selected models will be used to validate this method. For general model, singular perturbation is used for control and simulation using stiffness modulation is presented.

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

A wearable device to assist fingering function for disabled is developed in this study. This is the second paper to report the progress in development of this assisting device. The device is developed for a patient who suffers from cervical spinal cord injury. In the first paper, it was reported that the patient could successfully pick up several types of objects with his paralyzed fingers by using this device. As a next step, the maneuverability of the device under grasping operation is discussed in this paper. Maneuverability of the system is experimentally evaluated. The dexterity in controlling finger force is compared between the cases that non-disabled examinees operate their finger with inherent abilities and that a disabled examinee operates his finger by using the assisting device.

A human-friendly interactive system, based on the harmonious symbiotic coexistence of human and robots, is explored. Based on interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly among obstacles and other hazards faced by blind pedestrians. Robotic aids, such as robotic canes, require cooperation between humans and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction of human and robot, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.

The Haptic Exploration Laboratory at The Johns Hopkins University is currently exploring many problems related to haptics (force and tactile information) in human-machine systems. We divide our work into two main areas: virtual environments and robot-assisted manipulation systems. Our interest in virtual environments focuses on reality-based modeling, in which measurements of the static and dynamic properties of actual objects are taken in order to produce realistic virtual environments. Thus, we must develop methods for acquiring data from real objects and populating pre-defined models. We also seek to create systems that can provide active manipulation assistance to the operator through haptic, visual, and audio cues. These systems may be teleoperated systems, which allow human users to operate in environments that would normally be inaccessible due to hazards, distance, or scale. Alternatively, cooperative manipulation systems allow a user and a robot to share a tool, allowing the user to guide or override the robot directly if necessary. Haptics in human-machine systems can have many applications, such as undersea and space operations, training for pilots and surgeons, and manufacturing. We focus much of our work on medical applications.

Recent paradigm in technology shifts from object-based technology to environment-based technology. Issue here is interaction among human, machines, and environment. This requires new interpretations for the space among them. Holistic interactions based on “Mom (embodiment)” suggest a good starting point for this endeavor. The past, present, future of technology are presented in terms of technology’s fundamental virtue: “humanizing technology” or “technology serving human.” Interactive technology initiative (ITI) is an interdisciplinary research group to search for the proper technology and the proper way of implementing technology: “interactive technology” or “soft engineering.” Some experimental activities conducted by ITI are presented in this organized session, “Interactive Technology.” Metatechnology, soft engineering, “Mom (embodiment),” holistic interactions, tangible space, and ubiquitous computing are key concepts in interactive technology.

Recent advancement in information technology requires new interpretations for the space among human, machines and environment. Investigation of space between information and human could lead to the proper ways, in which human and machines meet. Various concepts regarding space have been explored in terms of “virtual reality in cyberspace” and “embodiment in tangible space.” “Mom (embodiment),” space, virtuality, sensation/perception, and interactive technology are some of the key ideas to be explored. Human “Mom” is such a fundamental membrane through which human can interact with the environment physically and mentally. An embodied interaction paradigm, based on “Mom,” is investigated. This leads to interactive technology paradigm. Sound space is an invisible but a tangible space in a sense that it travels in emotional tremors and stimulates new sensations and perceptions. Three cases are introduced to experiment such tangible space as a new and proper interactive paradigm. Also, a historical model of interaction is reviewed, which includes electrical, symbolic, textual, graphical, tangible, and social interaction.

Recent advancement in technology raises fundamental questions: "what is right technology for human?", "how can we build machines for human welfare?" Interactive technology and soft engineering deals with these problems. Personal robotics for the elderly seems to be a major area in which to explore these ideas. We can start by asking "what are inhumane human conditions to be resolved by technology?" Issues lain robotics for the elderly are described and desirable roles for the robots in such applications are presented. Interdisciplinary science approach is proposed to successfully implement this technology for the elderly.

Nuclear robots should be developed for the reduction of radiation exposure, lower man hours, shorter power outage, and also improved worker safety concerns in performing hazardous and dangerous tasks. Among the components of a nuclear robot system, a robot control system equivalent to a human brain is a crucial point because a nuclear robot does not work without a control system. Therefore, in this paper, we will explain the requirements for a robot control system for a nuclear robot from a general point of view and also review the robot control systems of nuclear robots that were developed domestically, to assist a researcher beginning with the design for the control system of nuclear robots. The explained robot control system will be useful to develop the control system for industrial robots, home robots and other robots which are needed for tele-operation and are controlled through the internet.

This paper describes weld seam tracking and error compensation methods of automatic plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Realizing automatic welding system, we are faced with two problems. One is a precise seam tracking and the other is an arc length control. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, laser vision sensor for seam tracking is equipped for sensing the seam position and controlling the height of a torch automatically. To attain more precise measurement of an arc length, we measure the 3D shape of the panel and analyze error factors according to the various panel states and caused errors are predicted through the welding process. Using that result, compensation algorithm is added to that of arc length control and real time error compensation is achieved. The result shows that these two methods work effectively.

In this paper, with the utilization of a three-dimensional version of Leibniz’s rule, the procedure of deriving the time rate of change of an energy functional for axially moving continua is investigated. It will be shown that the method in [14], which describes the way of getting the time rate of change of an energy functional in Eulerian description, and subsequent results in [10, 11] are not complete. The key point is that the time derivatives at boundaries in the Eulerian description of axially moving continua should take into account the velocity of the moving material itself. A noble way of deriving the time rate of change of the energy functional is proposed. The correctness of the proposed method has been confirmed by other approaches. Two examples, one-dimensional axially moving string and beam equations, are provided for the purpose of demonstration. The results following the procedure proposed and the results in [14] are compared.

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control parameter. The purpose of this work is to introduce a new concept of an effective mass in sawing task and to suggest an external impulse model in sawing task. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Experiments are performed for soft and hard workpieces to justify the external impulse model in the sawing task. It is demonstrated through simulation and experiment that the proposed external impulse model is effective to characterize the impact property.

In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

In highly informative, perception-rich environments that we call Omniscient Spaces, robots interact with physical objects which in turn afford robots the information showing how the objects should be manipulated. Object manipulation is commonly believed one of the most basic tasks in robot applications. However, no approaches including visual servoing seem satisfactory in unstructured environments such as our everyday life. Thus, in Omniscient Spaces, the features of the environments embed themselves in every entity, allowing robots to easily identify and manipulate unknown objects. To achieve this end, we propose a new paradigm of the interaction through Radio Frequency Identification (RFID). The aim of this paper is to learn about RFID and investigate how it works in object manipulation. Specifically, as an innovative trial for autonomous, real-time manipulation, a likely mobile robot equipped with an RFID system is developed. Details on the experiments are described together with some preliminary results.

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

In this paper, we propose a new weaving trajectory algorithm for the arc welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. The algorithm has been implemented on to the industrial manipulator of DR6 so as to show its real possibility. Through simulations and real implementations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning and can reduce the processing time because it needs one-half calculation compared to the conventional algorithm using Catmull-Rom curve.

This paper has develops a new framework to understand the human’s driving maneuver based on the expression as HDS focusing on the driver’s stopping maneuver. The driving data has been collected by using the three-dimensional driving simulator based on CAVE, which provides three-dimensional visual information. In our modeling, the relationship between the measured information such as distance to the stop line, its first and second derivatives and the braking amount has been expressed by the PWPS model, which is a class of HDS. The key idea to solve the identification problem was to formulate the problem as the MILP with replacing the switching conditions by binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control law’ according to the following scenario: At the beginning of the stopping behavior (just after finding the stopping point), the driver decelerate the vehicle based on the acceleration information, and then switch to the control law based on the distance to the stop line.

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

Humans usually employ more joints than they actually need, and thus they can be categorized as a kinematically redundant system. Therefore, the behavior of the human body can be analyzed by several redundancy resolution algorithms. Different from typical industrial robots that are fixed to the ground, the COG/ZMP condition should be taken into account in the human body motion in order not to fall down. Thus a COG/ZMP stability index is employed as a measure of stability. Kinematic redundancy inherent in the human body can be exploited to satisfy the COG/ZMP condition. Simulation result shows that the COG/ZMP condition can be satisfied by exploiting the null space motion of the kinematically redundant human body model.

This paper introduces a novel control algorithm, energy bounding algorithm, for stable haptic interaction. The energy bounding algorithm restricts energy generated by zero-order hold within consumable energy by physical damping that is energy consumption element in the haptic interface. The passivity condition can always be guaranteed by the energy bounding algorithm. The virtual coupling algorithm restricts the actuator force with respect to the penetration depth and restricts generated energy. In contrast, energy bounding algorithm restricts the change of actuator force with respect to time and restricts generated energy by zero-order hold. Therefore, much stiffer contact simulation can be implemented by the energy bounding algorithm. Moreover, the energy bounding algorithm doesn’t is not computationally intensive and the implementation of it is very simple.