Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204482
Yonglong Liao, Fu-cheng Liao
This paper studies a preview control problem for a class of linear continuous-time systems with multiple input delays. Firstly, the preview problem is transformed into a regulation one via constructing an augmented error system. Secondly, a variable substitution is given to eliminate the input delays. Then, based on the solution of an algebraic Riccati equation, a controller with delay compensation and preview compensation is obtained. Furthermore, the existence conditions of the preview controller and the asymptotic tracking properties of the closed-loop system are discussed. Finally, a numerical simulation is given to illustrate the effectiveness of the design method.
{"title":"A design method of preview controller for linear continuous-time systems with multiple input delays","authors":"Yonglong Liao, Fu-cheng Liao","doi":"10.23919/ICCAS.2017.8204482","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204482","url":null,"abstract":"This paper studies a preview control problem for a class of linear continuous-time systems with multiple input delays. Firstly, the preview problem is transformed into a regulation one via constructing an augmented error system. Secondly, a variable substitution is given to eliminate the input delays. Then, based on the solution of an algebraic Riccati equation, a controller with delay compensation and preview compensation is obtained. Furthermore, the existence conditions of the preview controller and the asymptotic tracking properties of the closed-loop system are discussed. Finally, a numerical simulation is given to illustrate the effectiveness of the design method.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"331 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116233630","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204232
A. Causo, Zheng-Hao Chong, Ramamoorthy Luxman, Yuan Yik Kok, I. Chen
This paper describes a task scheduling method designed for a robotic picking system. The main goal of the system is to fulfill an order, ie, pick all the items in an order list and place them into the order bin, as fast as possible with the least number of unfulfilled items or errors. Picking an item on the list is considered as one task. The system will prioritize and schedule first the tasks with higher chances of being executed successfully. The probability for successful pick is computed from the vision data and grasping information. The items with higher chances of failure to be picked are pushed to the end of the queue. Forty experiments were conducted using randomly generated arrangement of items in a shelf and a randomly generated task order list. The test result shows that the strategy delivers an average fulfillment rate of 90% and an average fulfillment efficiency rate of 71%. The strategy described in this paper could be used to determine items that could be picked with human assistance instead of by robot alone.
{"title":"Task prioritization for automated robotic item picking","authors":"A. Causo, Zheng-Hao Chong, Ramamoorthy Luxman, Yuan Yik Kok, I. Chen","doi":"10.23919/ICCAS.2017.8204232","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204232","url":null,"abstract":"This paper describes a task scheduling method designed for a robotic picking system. The main goal of the system is to fulfill an order, ie, pick all the items in an order list and place them into the order bin, as fast as possible with the least number of unfulfilled items or errors. Picking an item on the list is considered as one task. The system will prioritize and schedule first the tasks with higher chances of being executed successfully. The probability for successful pick is computed from the vision data and grasping information. The items with higher chances of failure to be picked are pushed to the end of the queue. Forty experiments were conducted using randomly generated arrangement of items in a shelf and a randomly generated task order list. The test result shows that the strategy delivers an average fulfillment rate of 90% and an average fulfillment efficiency rate of 71%. The strategy described in this paper could be used to determine items that could be picked with human assistance instead of by robot alone.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116459683","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204206
K. Asai, Norio Takase
We describe a method for estimating finger motion on the basis of the frequency conversion of electromyogram (EMG) signals and the image recognition by using a convolutional neural network (CNN). Since EMG signals are generated before finger motion, various EMG-based systems have been developed for smoothly controlling a robot hand. We used a simple CNN model for estimating finger motion by classifying images generated from a wavelet transform of EMG signals. The model has originally been used for document recognition, and it contains two pairs of convolution and pooling layers and two fully connected layers. A prototype system composed of inexpensive sensor devices was fabricated for acquiring EMG signals and capturing finger motion. The experimental results show that the test accuracy reached 83% in classifying EMG signals into four types; when a thumb opens or is closed, and fingers, except for the thumb, open or are closed.
{"title":"Finger motion estimation based on frequency conversion of EMG signals and image recognition using convolutional neural network","authors":"K. Asai, Norio Takase","doi":"10.23919/ICCAS.2017.8204206","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204206","url":null,"abstract":"We describe a method for estimating finger motion on the basis of the frequency conversion of electromyogram (EMG) signals and the image recognition by using a convolutional neural network (CNN). Since EMG signals are generated before finger motion, various EMG-based systems have been developed for smoothly controlling a robot hand. We used a simple CNN model for estimating finger motion by classifying images generated from a wavelet transform of EMG signals. The model has originally been used for document recognition, and it contains two pairs of convolution and pooling layers and two fully connected layers. A prototype system composed of inexpensive sensor devices was fabricated for acquiring EMG signals and capturing finger motion. The experimental results show that the test accuracy reached 83% in classifying EMG signals into four types; when a thumb opens or is closed, and fingers, except for the thumb, open or are closed.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122380935","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204377
Sai Chen, Chaoyong Li, Shuo Zhuo
In this paper, we propose a distributed coverage algorithm for a group of UAVs to cover a convex region with average Voronoi partition which aims to ensure the areas of all Voronoi partitions are identical. The proposed algorithm iteratively updates the Voronoi partition through local information exchange with neighbors, and then moves along the computed direction. Different from existing results, the proposed algorithm could make the area difference infinitely small in theory to achieve indeed average area coverage. Simulation results are provided to illustrate the effectiveness of the proposed algorithm.
{"title":"A distributed coverage algorithm for multi-UAV with average Voronoi partition","authors":"Sai Chen, Chaoyong Li, Shuo Zhuo","doi":"10.23919/ICCAS.2017.8204377","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204377","url":null,"abstract":"In this paper, we propose a distributed coverage algorithm for a group of UAVs to cover a convex region with average Voronoi partition which aims to ensure the areas of all Voronoi partitions are identical. The proposed algorithm iteratively updates the Voronoi partition through local information exchange with neighbors, and then moves along the computed direction. Different from existing results, the proposed algorithm could make the area difference infinitely small in theory to achieve indeed average area coverage. Simulation results are provided to illustrate the effectiveness of the proposed algorithm.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122807370","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204398
Min Zhao, Yuangong Sun
In this paper we study a class of switched time-varying systems with delay and nonlinear disturbance. Based on a generalized integral inequality with time-varying delay, new sufficient conditions for exponential stability of the system are established for both the cases when the involved nonlinear disturbance satisfies linear and nonlinear growing conditions, respectively. Two numerical examples are also given to demonstrate the effectiveness of the theoretical results of this paper.
{"title":"Exponential stability of switched time-varying systems with delay and disturbance","authors":"Min Zhao, Yuangong Sun","doi":"10.23919/ICCAS.2017.8204398","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204398","url":null,"abstract":"In this paper we study a class of switched time-varying systems with delay and nonlinear disturbance. Based on a generalized integral inequality with time-varying delay, new sufficient conditions for exponential stability of the system are established for both the cases when the involved nonlinear disturbance satisfies linear and nonlinear growing conditions, respectively. Two numerical examples are also given to demonstrate the effectiveness of the theoretical results of this paper.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122649649","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204412
Hanbit Lee, Gyujin Na, Y. Eun
Disturbance compensation is one of the major problems in control system design. Due to external disturbance or model uncertainty that can be treated as disturbance, all control systems are subject to disturbances. When it comes to networked control systems, not only disturbances but also time delay is inevitable where controllers are remotely connected to plants through communication network. Hence, simultaneous compensation for disturbance and time delay is important. Prior work includes a various combinations of smith predictor, internal model control, and disturbance observer tailored to simultaneous compensation of both time delay and disturbance. In particular, simplified internal model control simultaneously compensates for time delay and disturbances. But simplified internal model control is not applicable to the plants that have two poles at the origin. We propose a modified simplified internal model control augmented with disturbance observer which simultaneously compensates time delay and disturbances for the plants with two poles at the origin. Simulation results are provided.
{"title":"Extension of simplified internal model control for systems with double integrators","authors":"Hanbit Lee, Gyujin Na, Y. Eun","doi":"10.23919/ICCAS.2017.8204412","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204412","url":null,"abstract":"Disturbance compensation is one of the major problems in control system design. Due to external disturbance or model uncertainty that can be treated as disturbance, all control systems are subject to disturbances. When it comes to networked control systems, not only disturbances but also time delay is inevitable where controllers are remotely connected to plants through communication network. Hence, simultaneous compensation for disturbance and time delay is important. Prior work includes a various combinations of smith predictor, internal model control, and disturbance observer tailored to simultaneous compensation of both time delay and disturbance. In particular, simplified internal model control simultaneously compensates for time delay and disturbances. But simplified internal model control is not applicable to the plants that have two poles at the origin. We propose a modified simplified internal model control augmented with disturbance observer which simultaneously compensates time delay and disturbances for the plants with two poles at the origin. Simulation results are provided.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"351 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122840451","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204461
Bakhytzhan Omarov
The paper studies the behavior of the Web Services deployed on the cloud, and investigates their performance and the instability of the underlying communication medium. Our result shows how these two factors affect the dependability of cloud-based Service Oriented Architectures (SOA). This study is based on our experiments with the Web Services which were deployed and run on Amazon. We deployed the same service on several Amazon locations and analyzed variations in the response time and the ratio between delays and standard deviation of the average values.
{"title":"Exploring uncertainty of delays of the cloud-based web services","authors":"Bakhytzhan Omarov","doi":"10.23919/ICCAS.2017.8204461","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204461","url":null,"abstract":"The paper studies the behavior of the Web Services deployed on the cloud, and investigates their performance and the instability of the underlying communication medium. Our result shows how these two factors affect the dependability of cloud-based Service Oriented Architectures (SOA). This study is based on our experiments with the Web Services which were deployed and run on Amazon. We deployed the same service on several Amazon locations and analyzed variations in the response time and the ratio between delays and standard deviation of the average values.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129604708","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204216
Husnu Baris Baydargil, Keumyoung Son, Jangsik Park, Jong-Gwan Song
There are many object detection and tracking algorithms and mechanisms that have been developed for various environments and for various reasons, all with their strengths and weaknesses. A real-life application of object detection should be as fast as possible, and as lightweight as possible given the circumstances of many people in a single area increasing the computational cost. The emphasized lightweight method that's been developed in this paper is composed of two stages: First, the pedestrian detection is done in two steps, initially with Haar-like features of Adaboost for full body detection, and Local Binary Patterns (LBP) for head detection. The chosen tracking algorithm is Probabilistic Data Association Filter (PDAF) for its robustness and lightweight nature. The developed system is used for coastline safety near tetrapods against emergency situations.
有许多针对各种环境和各种原因开发的目标检测和跟踪算法和机制，都有其优缺点。在现实生活中，物体检测的应用应该尽可能快，并且考虑到单个区域中有许多人的情况，这增加了计算成本。本文所开发的重点轻量化方法由两个阶段组成:首先，行人检测分两步完成，首先使用Adaboost的haar样特征进行全身检测，然后使用局部二值模式(Local Binary Patterns, LBP)进行头部检测。基于PDAF (probability Data Association Filter)的鲁棒性和轻量级特点，本文选择了PDAF跟踪算法。开发的系统用于四足动物附近的海岸线安全，以应对紧急情况。
{"title":"Implementation of safety monitoring system at the waterfront based on video analysis technique","authors":"Husnu Baris Baydargil, Keumyoung Son, Jangsik Park, Jong-Gwan Song","doi":"10.23919/ICCAS.2017.8204216","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204216","url":null,"abstract":"There are many object detection and tracking algorithms and mechanisms that have been developed for various environments and for various reasons, all with their strengths and weaknesses. A real-life application of object detection should be as fast as possible, and as lightweight as possible given the circumstances of many people in a single area increasing the computational cost. The emphasized lightweight method that's been developed in this paper is composed of two stages: First, the pedestrian detection is done in two steps, initially with Haar-like features of Adaboost for full body detection, and Local Binary Patterns (LBP) for head detection. The chosen tracking algorithm is Probabilistic Data Association Filter (PDAF) for its robustness and lightweight nature. The developed system is used for coastline safety near tetrapods against emergency situations.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128657925","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204369
Hyun-Jun Jo, Yong-Ho Na, Jae-Bok Song
Recently deep learning-based research has been conducted in various fields. Deep learning algorithms require vast amounts of data for good performance. Therefore, collecting such a huge amount of high-quality data is crucial to the deep learning-based methods. Data collection is simple but very time-consuming. To cope with this difficulty, in this study we propose a method to generate a dataset by synthesizing the images of background and object. Various images can be generated through post-processes such as adding noise and changing brightness to the images of objects obtained from different viewpoints. Furthermore, we do not need to manually annotate the dataset for object detection because we can calculate the parameters of the bounding boxes from the location and size of object images during the synthesis process. Faster R-CNN, one of the deep learning algorithms for object recognition, was used to verify the proposed method. The performance based on the dataset generated by the proposed method is comparable to that based on the real dataset.
{"title":"Data augmentation using synthesized images for object detection","authors":"Hyun-Jun Jo, Yong-Ho Na, Jae-Bok Song","doi":"10.23919/ICCAS.2017.8204369","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204369","url":null,"abstract":"Recently deep learning-based research has been conducted in various fields. Deep learning algorithms require vast amounts of data for good performance. Therefore, collecting such a huge amount of high-quality data is crucial to the deep learning-based methods. Data collection is simple but very time-consuming. To cope with this difficulty, in this study we propose a method to generate a dataset by synthesizing the images of background and object. Various images can be generated through post-processes such as adding noise and changing brightness to the images of objects obtained from different viewpoints. Furthermore, we do not need to manually annotate the dataset for object detection because we can calculate the parameters of the bounding boxes from the location and size of object images during the synthesis process. Faster R-CNN, one of the deep learning algorithms for object recognition, was used to verify the proposed method. The performance based on the dataset generated by the proposed method is comparable to that based on the real dataset.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129592767","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204405
Hyung-Jin Lim, Seong-Hwan Choi, Jangjin Oh, Seongyoung Kim, Jiwon Lee, Byoung-Soo Kim, Seungkeun Kim, J. H. Yang
This study presents the results of a preliminary experiment comparing physiological metrics and task performance between different workload conditions of operating multiple UAVs. With the development of UAV automation technology, one operator is able to supervisory-control multiple-UAVs. However, as the number of UAVs assigned increases, the amount of information involved is also expected to increase, intensifying the workload for the operator and potentially reducing UAV control performance. Thus, this study compares potential metrics to assess the different levels of workload conditions based on human-in-the-loop experiments. The results indicate statistically significant differences between high-vs. low-workload conditions in eye-tracking data and heart rate data. Future research will build an on-line workload metrics based on this study's comparative results.
{"title":"Comparison study of potential workload index in a simulated multiple-UAV operation environment","authors":"Hyung-Jin Lim, Seong-Hwan Choi, Jangjin Oh, Seongyoung Kim, Jiwon Lee, Byoung-Soo Kim, Seungkeun Kim, J. H. Yang","doi":"10.23919/ICCAS.2017.8204405","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204405","url":null,"abstract":"This study presents the results of a preliminary experiment comparing physiological metrics and task performance between different workload conditions of operating multiple UAVs. With the development of UAV automation technology, one operator is able to supervisory-control multiple-UAVs. However, as the number of UAVs assigned increases, the amount of information involved is also expected to increase, intensifying the workload for the operator and potentially reducing UAV control performance. Thus, this study compares potential metrics to assess the different levels of workload conditions based on human-in-the-loop experiments. The results indicate statistically significant differences between high-vs. low-workload conditions in eye-tracking data and heart rate data. Future research will build an on-line workload metrics based on this study's comparative results.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130399274","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：