Pub Date : 2023-09-30DOI: 10.5302/j.icros.2023.23.0048
Shinwoo Park, Hyun-Min Joe
This paper describes the design and control of a mobile crane used for walking experiments conducted on humanoid robots. To prevent humanoid robots from overturning, experiments are conducted while they are connected to a crane. To conduct the walking experiment, a minimum of one operator each is required for controlling the robot and moving the crane. Thus far, an automated mobile crane that can perform the function of a crane operator has not been developed. To obtain high stability and efficiency during the walking experiment, we propose a mobile crane that moves according to the locomotion of humanoid robots. Considering the locomotive property of humanoid robots, the mobile crane was designed to be able to move omnidirectionally, and a control algorithm was developed for the mobile crane to track the position and orientation of the humanoid robot being studied. The performance of the developed mobile crane was evaluated through a walking experiment conducted using a humanoid robot.
{"title":"Mobile Crane for Path Tracking of Humanoid Robots","authors":"Shinwoo Park, Hyun-Min Joe","doi":"10.5302/j.icros.2023.23.0048","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0048","url":null,"abstract":"This paper describes the design and control of a mobile crane used for walking experiments conducted on humanoid robots. To prevent humanoid robots from overturning, experiments are conducted while they are connected to a crane. To conduct the walking experiment, a minimum of one operator each is required for controlling the robot and moving the crane. Thus far, an automated mobile crane that can perform the function of a crane operator has not been developed. To obtain high stability and efficiency during the walking experiment, we propose a mobile crane that moves according to the locomotion of humanoid robots. Considering the locomotive property of humanoid robots, the mobile crane was designed to be able to move omnidirectionally, and a control algorithm was developed for the mobile crane to track the position and orientation of the humanoid robot being studied. The performance of the developed mobile crane was evaluated through a walking experiment conducted using a humanoid robot.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136276820","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-09-30DOI: 10.5302/j.icros.2023.23.0085
Bo-yeong Park, Jee-Youl Ryu
In this paper, we present a 12-bit SAR (Successive-Approximation-Register) ADC (Analog-to-Digital Converter). The proposed ADC comprises sample-and-hold, capacitor array network, SAR control logic, comparator, DAC (Digital-to-Analog Converter) control logic, and DAC stages. This SAR ADC employs a method of changing the total capacitor capacity by adding a split capacitor to the capacitor array network, because area of the capacitor and the capacitor array network increase with the increase in resolution. A sample-and-hold circuit combined with a bootstrip technique can reduce distortion and unnecessary power consumption, as this circuit is designed to operate with a single input clock. To optimize power consumption and chip area, a 1MSps sampling rate with 12-bit resolution was designed. The proposed ADC was designed using the 1poly-6 metal 0.13㎛ CMOS process, and it operates at 1.2V. A SNDR (Signal-to-Noise Distortion Ratio) and an ENOB (Effective Number of Bits) of approximately 80.09㏈ and 11.86bits, respectively ware achieved. Compared with previous research results, the effective small chip area is approximately 0.028mm2 and the low power consumption is 63.07㎼.
{"title":"Design of Low Power 12-bit SAR Analog-to-digital Converter","authors":"Bo-yeong Park, Jee-Youl Ryu","doi":"10.5302/j.icros.2023.23.0085","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0085","url":null,"abstract":"In this paper, we present a 12-bit SAR (Successive-Approximation-Register) ADC (Analog-to-Digital Converter). The proposed ADC comprises sample-and-hold, capacitor array network, SAR control logic, comparator, DAC (Digital-to-Analog Converter) control logic, and DAC stages. This SAR ADC employs a method of changing the total capacitor capacity by adding a split capacitor to the capacitor array network, because area of the capacitor and the capacitor array network increase with the increase in resolution. A sample-and-hold circuit combined with a bootstrip technique can reduce distortion and unnecessary power consumption, as this circuit is designed to operate with a single input clock. To optimize power consumption and chip area, a 1MSps sampling rate with 12-bit resolution was designed. The proposed ADC was designed using the 1poly-6 metal 0.13㎛ CMOS process, and it operates at 1.2V. A SNDR (Signal-to-Noise Distortion Ratio) and an ENOB (Effective Number of Bits) of approximately 80.09㏈ and 11.86bits, respectively ware achieved. Compared with previous research results, the effective small chip area is approximately 0.028mm2 and the low power consumption is 63.07㎼.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136277038","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-31DOI: 10.5302/j.icros.2023.23.0051
T. Kang, Ha-Min Jeon, Ha-young Yang, Jongho Park, C. Ryoo
{"title":"Estimation of Guidance Law Parameters Using Recurrent Neural Network","authors":"T. Kang, Ha-Min Jeon, Ha-young Yang, Jongho Park, C. Ryoo","doi":"10.5302/j.icros.2023.23.0051","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0051","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"4 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83699446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-31DOI: 10.5302/j.icros.2023.23.0055
I. Jeong, Hyeong-Geun Kim
{"title":"Nonlinear Control for Missile Autopilot Based on Control Allocation for Dual Aero/Propulsive Inputs","authors":"I. Jeong, Hyeong-Geun Kim","doi":"10.5302/j.icros.2023.23.0055","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0055","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"43 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85549059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-31DOI: 10.5302/j.icros.2023.23.0050
Heemin Shin, Seok Choi, Seung-Bum Kim, Sung-Heun Cho
{"title":"Anti-drone System and Operation Framework for the Security of National Major Facilities","authors":"Heemin Shin, Seok Choi, Seung-Bum Kim, Sung-Heun Cho","doi":"10.5302/j.icros.2023.23.0050","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0050","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"61 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84542850","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-31DOI: 10.5302/j.icros.2023.23.0052
Jaehyun Jin, Chang-Hun Lee, Hyo-Choong Bang, Young-Won Kim, Junwoo Park, Tae-Hun Kim
{"title":"Performance Analysis for Configuration Design Optimization of Hit-to-kill Interceptor Missile Against Ballistic Missiles","authors":"Jaehyun Jin, Chang-Hun Lee, Hyo-Choong Bang, Young-Won Kim, Junwoo Park, Tae-Hun Kim","doi":"10.5302/j.icros.2023.23.0052","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0052","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"17 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86733832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-31DOI: 10.5302/j.icros.2023.23.0043
Ha-Min Jeon, T. Kang, Jong-Sou Park, C. Ryoo
{"title":"Attitude Control Loop Design of Missile With Front Lateral Thruster Using Dynamic Inversion and Greedy Algorithm","authors":"Ha-Min Jeon, T. Kang, Jong-Sou Park, C. Ryoo","doi":"10.5302/j.icros.2023.23.0043","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0043","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75662490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-31DOI: 10.5302/j.icros.2023.23.0058
Sang-Eun Yoo, Dae-Sung Jang
{"title":"Analysis of Defense Effectiveness in Cooperative Engagement for Multi-layered Missile Defense System With Differing Ballistic Missile Trajectories","authors":"Sang-Eun Yoo, Dae-Sung Jang","doi":"10.5302/j.icros.2023.23.0058","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0058","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"126 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76701289","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-31DOI: 10.5302/j.icros.2023.23.0075
Gyubin Park, Dahoon Jeong, Jong-Han Kim
{"title":"Optimal Impact Angle Guidance via Numerical Optimization Under Non-convex Constraints","authors":"Gyubin Park, Dahoon Jeong, Jong-Han Kim","doi":"10.5302/j.icros.2023.23.0075","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0075","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"32 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78412394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-31DOI: 10.5302/j.icros.2023.23.0073
Bo-Young Jung, Seon-Gyo Jeong, Sung-Joo Lee, W. Ra
{"title":"Radar Cross Section-based Multiple Hypothesis Target Identification Algorithm Using Aspect Angle Dynamics","authors":"Bo-Young Jung, Seon-Gyo Jeong, Sung-Joo Lee, W. Ra","doi":"10.5302/j.icros.2023.23.0073","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0073","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"20 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85808361","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：