Journal•ISSN: 1796-5622
Journal of Institute of Control Robotics and Systems
Institute of Control, Robotics and Systems
About: Journal of Institute of Control Robotics and Systems is an academic journal published by Institute of Control, Robotics and Systems. The journal publishes majorly in the area(s): Mobile robot & Control theory. It has an ISSN identifier of 1796-5622. Over the lifetime, 2459 publications have been published receiving 4959 citations.
Topics: Mobile robot, Control theory, Robot, Control system, Robot control
Papers published on a yearly basis
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Journal Article•
TL;DR: In this paper, the Smart UAV Development Program, one of 21st Centry Frontier R&D Program funded by the Ministry of Science and Technology of Korea, was used for the development of a UAV.
Abstract: This research was performed for the Smart UAV Development
Program, one of 21st Centry Frontier R&D
Program funded by the Ministry of Science and Technology
of Korea.
69 citations
Journal Article•
TL;DR: A practical polytope method is proposed which can be applied to general 6-dimensional task space and may fail to give exact dexterousness measure and optimal direction of motion in task space but can handle such problems.
Abstract: Regarding the measure of dexterity of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used technique, it is shown that the manipulability ellipsoid transforms the inexact joint velocity constraints into task space and so it may fail to give an exact measure of dexterity and optimal direction of motion in task space. After showing that the polytope approach can handle such problems, we propose a practical polytope method which can be applied to 3-dimensional task space in general. The relation between manipulability ellipsoids and manipulability polytopes are also explored for a redundant case and a non-redundant one.
60 citations
TL;DR: In this article, an LMI-based method to design sliding mode observers for a class of uncertain systems is presented, where an existence condition of a sliding mode observer guaranteeing a stable sliding motion is derived using LIs.
Abstract: This paper presents an LMI-based method to design sliding mode observers for a class of uncertain systems. Using LIs we derive an existence condition of a sliding mode observer guaranteeing a stable sliding motion. And we give explicit formulas of the observer gain matrices. We also consider sliding mode observer design problems under an α-stability constraint or an LQ performance bound constraint. Finally, we give a numerical design example.
47 citations
TL;DR: Based on the experimental results, the fuzzy logic controller can be a viable choice far NCS due to its robustness against parameter uncertainty.
Abstract: This paper investigates on the feasibility of fuzzy logic control for networked control systems. In order to evaluate its feasibility, a networked control system for motor speed control is implemented on a Profibus-DP network. The NCS consists of several inde-pendent, but interacting processes running on two separate stations. By using this NCS, the network-induced delay is analyzed to find the cause and effect of the delay. Furthermore, in order to prove the feasibility, the fuzzy logic controller`s performance is compared with those of conventional PID controllers. Based on the experimental results, the fuzzy logic controller can be a viable choice far NCS due to its robustness against parameter uncertainty.
40 citations
TL;DR: In this article, a non-terminal-based approach using an array of pyroelectric infrared sensors (PIRs) that can detect residents is presented, and the feasibility of the system is evaluated experimentally on a test bed.
Abstract: Smart homes are expected to offer various intelligent services by recognizing the residents` life pattern, health, and feeling. One of the key issues for realizing the smart home is how to detect the locations of residents. Currently, the research effort is focused on two approaches: terminal-based and non-terminal-based method. The terminal-based method employs a type of device that should be carried by the resident while the non-terminal-based method has no such device. This paper presents a novel non-terminal-based approach using an array of pyroelectric infrared sensors (PIRs) that can detect residents. The feasibility of the system is evaluated experimentally on a test bed.
40 citations