• International Journal of Aeronautical and Space Sciences
• /
• 제8권2호
• /
• pp.107-120
• /
• 2007

Coordination of multiple UAVs is an essential technology for various applications in robotics, automation, and artificial intelligence. In general, it includes 1) waypoints assignment and 2) trajectory generation. In this paper, we propose a new method for this problem. First, we modify the concept of the standard visibility graph to greatly improve the optimality of the generated trajectories and reduce the computational complexity. Second, we propose an efficient stochastic approach using simulated annealing that assigns waypoints to each UAV from the constructed visibility graph. Third, we describe a method to detect collision between two UAVs. FinallY, we suggest an efficient method of controlling the velocity of UAVs using A* algorithm in order to avoid inter-UAV collision. We present simulation results from various environments that verify the effectiveness of our approach.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.660-665
• /
• 1993

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD ( an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very fast training and processing implementation required for real time control.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.679-684
• /
• 1993

This article presents an approach to estimate the general 3D motion of a polyhedral object using multiple, sensory data some of which may not provide sufficient information for the estimation of object motion. Motion can be estimated continuously from each sensor through the analysis of the instantaneous state of an object. We have introduced a method based on Moore-Penrose pseudo-inverse theory to estimate the instantaneous state of an object. A linear feedback estimation algorithm is discussed to estimate the object 3D motion. Then, the motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown object. The techniques of multisensor data fusion can be categorized into three methods: averaging, decision, and guiding. We present a fusion algorithm which combines averaging and decision.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.450-455
• /
• 1993

Guidance commands for attitude controlled missiles inevitably take the form of attitude angle commands. On the other hand, many guidance laws compute the accelerations required to achieve their goals. Therefore some integrators must be in use for the attitude controlled missiles to implement the guidance laws. Naturally, the use of the integrator raises the problem of choosing a proper initial value. In this paper, we compute the integrator initial value which minimizes the terminal miss and show that if the total flight time of the mission is long enough, the "optimal" initial value becomes some multiple of the initial heading error or of the given impact angle to the target. We demonstrate the validity of the analysis by showing some linear and nonlinear simulation results.n results.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
• /
• pp.446-448
• /
• 1994

This paper proposes some dynamic navigation strategy for a mobile robot among multiple moving obstacles. The control force of the robot which consists of repulsive and attractive force is based on the artificial potential field. The artificial potential fields is derived with position or(and) velocities of the objects. The simulation results shows the properties of the proposed strategies.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
• /
• pp.390-394
• /
• 1994

A elevator group supervisory system is designed to perform efficient operation of multiple elevators, and its basic function is to assign an appropriate elevator to a given hall-cell. In this paper, in order to improve elevator group control performance, we propose a new dispatching system which includes fuzzy multi-attribute decision making(MADM). In most cases, the purpose of group control is to maximize control goals as much as possible. Unfortunately, the decision of optimal elevator to a given hall cell is made with very uncertain information of the system, and some of control goals are related each other. The uncertainty is mainly resulted from car calls generated by serving hall calls. A fuzzy MADM algorithm is proposed to deal with these problems to improve system performance.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.28-31
• /
• 1996

We propose an estimator design method of Stewart platform, which gives the 6DOF, positions and velcities of Stewart platform from the measured cylinder length. The solution of forward kinematics is not solved yet as a useful realtime application tool because of the complexity of the equation with multiple solutions. Hence we suggest an nonlinear estimator for the forward kinematics solution using Luenberger observer with nonlinear error correction term. But the way of residual gain selection of the estimator is not clear, so we suggest an algebraic Riccati equation for gain matrix using Lyapunov method. This algorithm gives the sufficient condition of the stability of error dynamics and can be extended to general nonlinear system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.125-129
• /
• 1996

This paper presents the haptic rendering algorithm which gives the feel information to the operator by manipulating a virtual tool with a haptic device in the simulated environment. The movement of a virtual tool grasped by the operator, which is modeled as a square is displayed in the graphic screen of a computer and the virtual environment is modeled as deformable thin film. When the tool contacts with the virtual environment, the operator is forced to feel the contact and the feature of the deformed virtual environment through the torque control of th haptic device. Contact situations are modeled as close as to the reality considering friction, elasticity and multiple contacts. Several experiments are conducted and the effectiveness of the proposed algorithm is confirmed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.632-635
• /
• 1996

Flexible parts can be deformed by the contact forces during assembly on the con to rigid parts and thus their successful assembly requires informations about their deformation as well as a misalignment between mating parts. However, because of the nonlinear and complex relationship between parts deformation and assembly reaction forces, it is difficult to acquire all required informations from only the reaction forces during assembly. In this paper, we propose a sensing system consisting of a camera and multiple mirrors for flexible parts assembly. Simulation results show that the system can be effectively used for detecting parts deformation and a misalignment between mating parts.

• International Journal of Control, Automation, and Systems
• /
• 제4권1호
• /
• pp.53-62
• /
• 2006

In this paper, ATM network congestion control with explicit rate feedback is considered. In ATM networks, delays commonly appear in data transmission and have to be considered in congestion control design. In this paper, a bounded single round delay on the return path is considered. Our objective is to design an explicit rate feedback control that achieves a robust optimal $H_2$ performance regardless of the bounded time-varying delays. An optimization approach in terms of linear matrix inequalities (LMIs) is given. Saturation in source rate and queue buffer is also taken into consideration in the proposed design. Simulations for the cases of single source and multiple sources are presented to demonstrate the effectiveness of the design.