• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.4
• /
• pp.458-463
• /
• 1998

This paper presents an autopilot design method for STT missiles using the intelligent control technique and multiple controllers. The mixed $H_2/H_{\infty}$ control technique is applied for each controller design and the control gains are implemented by using the genetic searching algorithm. To facilitate automatic switching of multiple controllers under different operating conditions, an error based switching scheme is also combined with the multiple controllers at a higher level, which constitutes a hierarchical intelligent control system. It is shown via computer simulation that the proposed autopilot outperforms the conventional one.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.3
• /
• pp.251-258
• /
• 2003

Optical Switching Matrix (OSM) or Optical Multistage Interconnection Networks (OMINs) comprising photonic switches have been studied extensively as important interconnecting blocks for Optical Cross Connects (OXC) based on Optical Burst Switching (OBS). A basic element of photonic switching networks is a 2$\times$2 directional coupler with two inputs and two outputs. This paper is concerned with the diagnosis of multiple crosstalk-faults in OSM. As the network size becomes larger in these days, the conventional diagnosis methods based on tests and simulation become inefficient, or even more impractical. We propose a simple and easily implementable algorithm for detection and isolation of the multiple crosstalk-faults in OSM. Specifically. we develop an algorithm for isolation of the source fault in switching elements whenever the multiple crosstalk-faults arc detected in OSM. The proposed algorithm is illustrated by an example of 16$\times$16 OSM.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.5
• /
• pp.438-443
• /
• 2006

In this paper, We had proposed SDR module, and designed FPGA to compose with channel separation of broadband CDMA signal what have multiple FA. At decomposition and composition process of multiple FA CDMA signal, system only progress decomposition and composition of channel selected by software. Therefore, proposed system can manage base station transceiver system very effectively than the other way what send on all band of multiple CDMA signal. Also, it is possible that system sets again coefficient of each filter because it is consisted of SDR module. Therefore, we can easily control coefficient each filter according to base station transceiver system environment.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.2
• /
• pp.151-157
• /
• 2002

A 3-dimenstional automatic solder paste inspection system is described that can be used to find defects occurring in solder paste printing process. This system extracts height and volume information very fast as well as area of solder paste printed, using multiple slit ray projection and Galvano-mirror scanning. Methods are presented on calibration of camera and slit projector, real-time image processing of multiple slit images, determination of reference height, and extraction of paste height information are proposed. Performance of the system was successfully demonstrated through field tests.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.8
• /
• pp.726-733
• /
• 2004

This paper presents a method to segment object ID(identification) marks on poor quality images under uncontrolled lighting conditions of automated inspection process. The method is based on dynamic programming using multiple templates and normalized gray-level correlation (NGC) method. If the lighting condition is not good and hence, we can not control the image quality, target image to be inspected presents poor quality ID marks and it is not easy to identify and recognize the ID characters. Conventional several methods to segment the interesting ID mark regions fail on the bad quality images. In this paper, we propose a multiple template method, which uses combinational relation of multiple templates from model templates to match several characters of the inspection images. To increase the computation speed to segment the ID mark regions, we introduce the dynamic programming based algorithm. Experimental results using images from real factory automation(FA) environment are presented.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.9
• /
• pp.795-802
• /
• 2002

We present a new dynamic routing scheme for multiple autonomous guided vehicles (AGVs) systems. There have been so many results concerned with scheduling and routing of multiple AGV systems; however, most of them are only applicable to systems with a small number of AGVs under a low degree of concurrency. With an increased number of AGVs in recent applications, these AGV systems are faced with another problem that has never been occurred in a system with a small number AGVs. This is the stop propagation problem. That is, if a leading AGV stops then all the following AGVs must stop to avoid any collision. In order to resolve this problem, we propose a nonstop preferential detour (NPD) algorithm which is a new dynamic routing scheme employing an election algorithm. For real time computation, we introduce two stage control scheme and propose a new path searching scheme, k-via shortest path scheme for an efficient dynamic routing algorithm. Finally, the proposed new dynamic routing scheme is illustrated by an example.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.373-378
• /
• 1998

A method to construct a memoryless feedback law for systems with multiple time-delays in the states is proposed. As a plant model, a differential-difference equation with multiple delayed terms is introduced, A stabilizability condition by memoryless feedback is presented. A feedback gain is calculated with a solution of a finite dimensional Riccati equation. It is shown that the resulting closed loop system is asymptotically stable, and moreover, it is a linear quadratic regulator for some cost functional. An alternative stabilizability condition which is easier to check is given.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.2
• /
• pp.104-109
• /
• 2016

In this paper, a localization method for multiple robots based on Bayesian inference is proposed when multiple robots adopting multi-RAT (Radio Access Technology) communications exist in cognitive radio networks. Multiple robots are separately defined by primary and secondary users as in conventional mobile communications system. In addition, the heterogeneous spectrum environment is considered in this paper. To improve the performance of localization for multiple robots, a realistic multiple primary user distribution is explained by using the probabilistic graphical model, and then we introduce the Gibbs sampler strategy based on Bayesian inference. In addition, the secondary user selection minimizing the value of GDOP (Geometric Dilution of Precision) is also proposed in order to overcome the limitations of localization accuracy with Gibbs sampling. Via the simulation results, we can show that the proposed localization method based on GDOP enhances the accuracy of localization for multiple robots. Furthermore, it can also be verified from the simulation results that localization performance is significantly improved with increasing number of observation samples when the GDOP is considered.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.3
• /
• pp.293-299
• /
• 2010

The multiple block localization method in a wide area for multiple robots using iGS is proposed in this paper. The iGS is developed for the indoor global localization using ultrasonic and RF sensors. To measure the distance between a mobile robot and a beacon, the tag on the mobile robot wakes up one beacon to send out the ultrasonic signal and measures the traveling time from the beacon to the mobile robot. As the number of robots is increased, the sampling time of localization also becomes longer. Note that only one robot can localize its own position calling beacons one by one during each of the sampling interval. This is a severe constraint for the localization of multiple robots in a wide area. This paper proposes an efficient localization algorithm for the multiple robots in a wide area which can be divided into multiple blocks. For a given block, a master beacon is designated to synchronize robots. By the access of the synchronization signal, each beacon in the selected group sends out an ultrasonic signal. When the robots in the block receive the ultrasonic signal, they can calculate their own locations based on the distances to the beacons, which are obtained by the multiplication of flight time and velocity of the ultrasonic signal. The efficiency of the algorithm is verified through the real experiments.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.73.5-73
• /
• 2001

In this paper, we present a procedure to design the robust optimal supervisor which has the minimal cost in the sense of average for a given multiple-modelled discrete event system DES. In order to design the robust optimal supervisor, we extend the optimal supervisor design algorithm for a deterministic DES to the case of multiple-modelled DESs. In addition, using the proposed algorithm with modified costs of events and penalities of states, we can show whether a robust supervisor for a given multiple-modelled DES exists and design the minimally restricted robust supervisor.