This paper studies the problem of pole placement by an LQ controller for system having two distinct real poles. Using the so-called Pole's Moving Range (PMR) drawn in the s-plane and relational equations between closed-loop system poles and weighting matrices, we calculate the state weighting matrix to move two distinct real poles to a pair of complex poles. By numerical examples, we show that the proposed method is applied to improve system performance.

The robust stabilization problem of a multivariable uncertain system with a polytopic model is considered. A PI-type $H_{\infty}$ controller with a low pass filter is used for robust stabilization and noise rejection. The problem is reduced to an LMI optimization problem. A sufficient condition for the existence of the PI controller is derived in terms of LMIs. The PI gain matrices are parameterized by using the solution matrices to the existence conditions. Finally, a numerical design example is given.

This paper presents two control algorithms for the frequency and amplitude of the resonator of a micro sensor. One algorithm excites the resonator at its a priori unknown resonant frequency, and the other algorithm alters the resonator dynamics to place the resonant frequency at a fixed frequency, chosen by the designer. Both algorithms maintain a specified amplitude of oscillations. The control system behavior is analyzed using an averaging method, and a quantitative criterion is provided for the selecting the control gain to achieve stability. Tracking and estimation accuracy of the natural frequency under the presence of measurement noise is also analyzed. The proposed control algorithms are applied to the MEMS dual-mass gyroscope without mechanical connecting beam between two proof-masses. Simulation results show the effectiveness of the proposed control algorithms which guarantee the proof-masses of the gyroscope to move in opposite directions with the same resonant frequency and oscillation amplitude.

In this paper, a simple optical method that uses an infrared(IR) cut filter is proposed to minimize variation of eye image by external infrared(IR) sources in a video based head mounted eye tracking system that is used in the field of sports. For this, the IR cut filter is attached to a head mount of the eye tracking system, and the camera with an IR LED is located between the IR cut filter and eye. In this structure, external IR is blocked by the IR cut filter, and the IR intensity on the eye can be controlled by the IR LED. Therefore, the illumination condition of the camera to capture the eye can be stable without being affected by external IR illuminations. To verify the proposed idea, variation of the eye image and intensity of the IR with/without the IR cut filter is measured under various illumination conditions. The measured data show that the IR cut filter method can block external IR effectively, and complex pupil detection algorithms can be replaced by a simple binarized method.

In this paper, we address the problem of detecting incorrect sonar measurements. We use ideas from the inconsistency of information among sonar measurements together with the sound pressure of the wave from the sonar sensor to develop a new method, called the comparison of the sound pressure (CSP), to detect incorrect sonar readings. The inconsistency of information in cells can be a clue that indicates candidates for incorrect measurements, and the sound pressure of the wave from the sonar sensor determines incorrect readings among the candidates. From various experiments, the proposed method is confirmed that it is better than existing method at deciding the state of sonar measurements.

This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a PGA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. Injection-migration PGA technique is introduced and compared with EMO and various migration topologies. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.

This paper proposes a knee-wearable robot system for assisting the muscle power of human knee by processing EMG (Electromyogram) signals. Although there are many muscles affecting the knee joint motion, the rectus femoris and biceps femoris among them play a core role in the extension and flexion motion, respectively, of the knee joint. The proposed knee-wearable robot system consists of three parts; the sensor for measuring and processing EMG signals, controller for estimating and applying the required knee torque, and actuator for driving the knee-wearable mechanism. Ultimately, we suggest the motion control method for knee-wearable robot system by processing the EMG signals of corresponding two muscles in this paper. Also, we show the effectiveness of the proposed knee-wearable robot system through the experimental results.

This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

The pelvis platform is the mechanical part which accomplishes the activities of diminishing the disturbances from the lower body and maintaining a balanced posture. When a biped robot walks, a lot of disturbances and irregular vibrations are generated and transmitted to the upper body. As there are some important machines and instruments in the upper body or head such as CPU, controller units, vision system, etc., the upper part should be isolated from disturbances or vibrations to functions properly and finally to improve the biped stability. This platform has 3 rotational degrees of freedom and is able to maintain balanced level by feedback control system. Some sensors are fused for more accurate estimation and the control system which integrates synchronization and active filtering is simulated on the virtual environment.

This paper explains a control and navigation algorithm of a 6-DOF gait rehabilitation robot, which can allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as a user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections. The suggested navigation scheme for gait rehabilitation robot will allow various and effective rehabilitation training modes.

This paper presents an automatic LCD gamma control system using gamma curve optimization. It controls automatically gamma adjustment registers in mobile LCD driver IC to reduce gamma correction error and adjusting time. The proposed gamma system contains Module-Under-Test (MUT, LCD module), PC installed with program, multimedia display tester for measuring luminance, and control board for interface between PC and LCD module. Proposed algorithm and program are applicable for most of the LCD modules. It is realized to calibrate gamma values of 1.8, 2.0, 2.2 and 3.0. The control board is designed with DSP and FPGA, and it supports various interfaces such as RGB and CPU. Developed automatic gamma control system showed significantly reduced gamma adjusting time of 240 sec. and much less average gamma error of 11% than 42h and 27% with conventional manual method. We believe that the proposed system is very useful to provide high-quality LCD and to improve production process.

This paper studies on the new control algorithm for the mass-flow stabilization in strip head part of a hot strip mill. A new strip tension model in the strip head part is derived using the current deviation of two neighboring stands. The current deviation means a difference between a measured current and a lock-on current, where the lock-on current is set up when a strip tension or a looper angle reaches each target value or time is about 0.4sec, respectively. On the basis of the tension calculation model, a mill velocity of a backward stand is controlled to stabilize a strip mass-flow by PI control algorithm. Therefore, the mass-flow control for strip head part is executed from a metal-in time into a foreward stand till the looper works normally. It is known by the results of a computer simulation and an experiment that the proposed control algorithm is very effective in stabilizing the mass flow of the strip head part.

The dependence of numerous systems on electronic devices is causing rapidly increasing concern over fault tolerance because of safety issues of safety critical system. As an example, a vehicle with electronics-controlled system such as x-by-wire systems, which are replacing rigid mechanical components with dynamically configurable electronic elements, should be fault￢tolerant because a devastating failure could arise without warning. Fault-tolerant systems have been studied in detail, mainly in the field of aeronautics. As an alternative to solve these problems, this paper presents the fuzzy hybrid redundancy system that can remove most erroneous faults with fuzzy fault detection algorithm. In addition, several numerical simulation results are given where the fuzzy hybrid redundancy outperforms with general voting method.

UTC (Coordinated Universal Time) has been made by the comparison results and the statistical analysis of primary clocks maintained by national standard institutes. Some kinds of technique have been used for international time transfer; since 1980s the study on methods and development of time transfer has conducted with activation of GPS application. And the more accurate and easier method made it use the official time transfer method for the generation of UTC. But recently TWSTFT (Two-Way Satellite Time and Frequency Transfers) as well as GPS time transfer are increasing in number because the TWSTFT is able to improve the accuracy and precision of time comparison owing to the elimination of the ionospheric and tropospheric delay errors thanks to the reciprocal propagation path. In this paper, we introduce the TWSTFT results by a multi-channel modem comparing with GPS P3-code.