Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204320
K. Kwak, Jihong Min, Seongyong Ahn
Models are very important for many computer vision applications, such as object recognition, detection, and tracking. One can manage to perform the tasks without models, but with models, one can perform the tasks better. These tasks must also handle situation where previously unseen objects appear. In such cases the system must learn the new object or simply derive the descriptions for the object never seen before. In this paper, we propose the creation and use of an online approximate object model using a lidar and vision. The approximate model is represented with the approximate geometry and appearance of 3D objects. We build the model online by tracking the object consistently and estimating the connectivity of cliques representing different views of the same object. To create an model online by the sensor fusion, we investigate two stepwise modeling approaches: 1) motion-based modeling and 2) approximate 3D modeling. Experimental results demonstrate the viability of the proposed time-accumulated 2D and 3D model representation.
{"title":"Incremental model learning and building of unknown objects","authors":"K. Kwak, Jihong Min, Seongyong Ahn","doi":"10.23919/ICCAS.2017.8204320","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204320","url":null,"abstract":"Models are very important for many computer vision applications, such as object recognition, detection, and tracking. One can manage to perform the tasks without models, but with models, one can perform the tasks better. These tasks must also handle situation where previously unseen objects appear. In such cases the system must learn the new object or simply derive the descriptions for the object never seen before. In this paper, we propose the creation and use of an online approximate object model using a lidar and vision. The approximate model is represented with the approximate geometry and appearance of 3D objects. We build the model online by tracking the object consistently and estimating the connectivity of cliques representing different views of the same object. To create an model online by the sensor fusion, we investigate two stepwise modeling approaches: 1) motion-based modeling and 2) approximate 3D modeling. Experimental results demonstrate the viability of the proposed time-accumulated 2D and 3D model representation.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"4 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":"126993330","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.2017.8204238
Ha-Hyoung Jung, Min-Kyoung Kim, J. Lyou
In this paper, we propose a hybrid human motion capture method that combines the advantages of optical motion capture device and sensor type motion capture device. First, calibration of multiple cameras is performed to obtain position and attitude information of a rigid body composed of markers. Then, 15 AHRS sensor modules were attached to individual segments of the human body, arms, legs, and body to reproduce human skeletal movements by analyzing the kinematic relationship of joint rotation information. By overcoming the disadvantages of motion capture method of optical and sensor type, many people can simultaneously capture motion. From our experiments, an actor was asked to hold different poses with this system and then the motion capture was conducted. It resulted in a 3D character can reproduce the motions of the actor.
{"title":"Realization of a hybrid human motion capture system","authors":"Ha-Hyoung Jung, Min-Kyoung Kim, J. Lyou","doi":"10.23919/ICCAS.2017.8204238","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204238","url":null,"abstract":"In this paper, we propose a hybrid human motion capture method that combines the advantages of optical motion capture device and sensor type motion capture device. First, calibration of multiple cameras is performed to obtain position and attitude information of a rigid body composed of markers. Then, 15 AHRS sensor modules were attached to individual segments of the human body, arms, legs, and body to reproduce human skeletal movements by analyzing the kinematic relationship of joint rotation information. By overcoming the disadvantages of motion capture method of optical and sensor type, many people can simultaneously capture motion. From our experiments, an actor was asked to hold different poses with this system and then the motion capture was conducted. It resulted in a 3D character can reproduce the motions of the actor.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"31 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":"123487489","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.2017.8204359
M. Babazadeh
In this paper, robust H2 and H∞ performance analysis of continuous-time and discrete-time positive systems are studied. Necessary and sufficient conditions are presented to ensure H2 and H∞ performance of interval positive systems in terms of semi-definite programming and linear programming, respectively. Based on the direct compatibility of L1 and L∞ induced norms with linear positive Lyapunov functions, the problem is well-established for L1 and L∞ norms, recently. The results of this paper, fill the literature gap by considering robust performance criteria for interval positive systems in terms of H2 and H∞ norms.
{"title":"On the H2 and H∞ performance of uncertain positive systems","authors":"M. Babazadeh","doi":"10.23919/ICCAS.2017.8204359","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204359","url":null,"abstract":"In this paper, robust H<inf>2</inf> and H<inf>∞</inf> performance analysis of continuous-time and discrete-time positive systems are studied. Necessary and sufficient conditions are presented to ensure H<inf>2</inf> and H<inf>∞</inf> performance of interval positive systems in terms of semi-definite programming and linear programming, respectively. Based on the direct compatibility of L<inf>1</inf> and L<inf>∞</inf> induced norms with linear positive Lyapunov functions, the problem is well-established for L<inf>1</inf> and L<inf>∞</inf> norms, recently. The results of this paper, fill the literature gap by considering robust performance criteria for interval positive systems in terms of H<inf>2</inf> and H<inf>∞</inf> norms.","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":"114090156","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.2017.8204306
T. Sangsuwan, Nopthawach Whatphat, J. Chanwutitum, T. Thepmanee, A. Julsereewong
In case of device and communication failures, a basic process control using Foundation Fieldbus technology can be configured to provide either safety improvement for preventing hazards or availability enhancement for minimizing production losses. The purpose of this paper is to introduce a system modeling with Petri Net technique for representing the behaviors of the proportional-integral-derivative (PID) and cascade loops with ‘Control in the Field’ (CIF) and ‘Control in the Host’ (CIH) architectures in response to instrument and communication failures. The proposed modeling is useful for performance analysis of the interested control loops in terms of safety and availability improvement. Stakeholders of both brownfield and greenfield projects in process industry sector can select a proper solution to their necessary performance requirements.
{"title":"Petri net modeling for performance analysis of FF-based process control in terms of safety and availability enhancement","authors":"T. Sangsuwan, Nopthawach Whatphat, J. Chanwutitum, T. Thepmanee, A. Julsereewong","doi":"10.23919/ICCAS.2017.8204306","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204306","url":null,"abstract":"In case of device and communication failures, a basic process control using Foundation Fieldbus technology can be configured to provide either safety improvement for preventing hazards or availability enhancement for minimizing production losses. The purpose of this paper is to introduce a system modeling with Petri Net technique for representing the behaviors of the proportional-integral-derivative (PID) and cascade loops with ‘Control in the Field’ (CIF) and ‘Control in the Host’ (CIH) architectures in response to instrument and communication failures. The proposed modeling is useful for performance analysis of the interested control loops in terms of safety and availability improvement. Stakeholders of both brownfield and greenfield projects in process industry sector can select a proper solution to their necessary performance requirements.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"150 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":"116345656","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.2017.8204275
Jaesub Shin, Jongwoon Woo
The definition of a cleaning robot is an automatic floor cleaner that operates autonomously without human intervention in a defined area. The definition of a household cleaning robot is a cleaning robot that only removes non-liquid materials from the floor using methods other than using a solution or a liquid. Currently, IEC TC59 SC59F WG5 is working to establish standards for the performance evaluation of such household cleaning robots. And in 2014, IEC 62929, the standard for household cleaning robots, was released. IEC 62929 is a standard that includes a test item for evaluating the suction power and autonomous driving performance of a cleaning robot. IEC 62885-7 is the second edition of IEC 62929, with additional test items being discussed. In this paper, in order to evaluate the performance of home cleaning robots, I propose the test results and the method for improving the test performance of the autonomous evaluation items.
{"title":"Test and evaluation for the autonomous multi-zone navigation coverage test in IEC 62885-7","authors":"Jaesub Shin, Jongwoon Woo","doi":"10.23919/ICCAS.2017.8204275","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204275","url":null,"abstract":"The definition of a cleaning robot is an automatic floor cleaner that operates autonomously without human intervention in a defined area. The definition of a household cleaning robot is a cleaning robot that only removes non-liquid materials from the floor using methods other than using a solution or a liquid. Currently, IEC TC59 SC59F WG5 is working to establish standards for the performance evaluation of such household cleaning robots. And in 2014, IEC 62929, the standard for household cleaning robots, was released. IEC 62929 is a standard that includes a test item for evaluating the suction power and autonomous driving performance of a cleaning robot. IEC 62885-7 is the second edition of IEC 62929, with additional test items being discussed. In this paper, in order to evaluate the performance of home cleaning robots, I propose the test results and the method for improving the test performance of the autonomous evaluation items.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"53 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":"114791471","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.2017.8204345
Pongsakorn Somkane, V. Kongratana, S. Gulpanich, V. Tipsuwanporn, N. Wongvanich
This work presents a cascade control architecture to combat network induced delays in Wireless network controlled systems. Specifically a flow-level cascade control system is considered whereby the primary process variable is liquid level, and the secondary process variable is the flow rate. The flow-level process variables are measured by Wireless HART differential Pressure (DP) transmitter and sent through a WirelessHART gateway. Control actions are provided by a control valve actuator which is manipulated through a PLC. The PLC and the WirelessHART gateway are managed by an OPC server providing a medium of communication. The PID controller gains are designed through the LabView software, in which the network induced delays is offset by adjusting the controller interval until the responses are satisfactory. Results show that cascade control outperformed the single loop control, in both handling network induced delays and coping with disturbances.
{"title":"A study of flow-level cascade control with WirelessHARTTM transmitter using LabVIEW","authors":"Pongsakorn Somkane, V. Kongratana, S. Gulpanich, V. Tipsuwanporn, N. Wongvanich","doi":"10.23919/ICCAS.2017.8204345","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204345","url":null,"abstract":"This work presents a cascade control architecture to combat network induced delays in Wireless network controlled systems. Specifically a flow-level cascade control system is considered whereby the primary process variable is liquid level, and the secondary process variable is the flow rate. The flow-level process variables are measured by Wireless HART differential Pressure (DP) transmitter and sent through a WirelessHART gateway. Control actions are provided by a control valve actuator which is manipulated through a PLC. The PLC and the WirelessHART gateway are managed by an OPC server providing a medium of communication. The PID controller gains are designed through the LabView software, in which the network induced delays is offset by adjusting the controller interval until the responses are satisfactory. Results show that cascade control outperformed the single loop control, in both handling network induced delays and coping with disturbances.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"142 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":"124526009","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.2017.8204207
H. Min, Myeongjin Kim, ChengJie Li, D. Lee
This paper proposes a model of the skin stiffness including the effect of the pressure of the radial artery, which is transmitted to the palpating doctor's hand. The transmitted stiffness is modeled with serially linked skin and radial artery stiffness. The stiffness of the radial artery comes from the inner pressure and stiffness of the artery wall. The relation between the stiffness and the inner pressure of the radial artery is experimentally determined. The proposed model is used to control the haptic interface of a training simulation of the radial artery palpation.
{"title":"Model of transmitted stiffness including the radial artery pressure","authors":"H. Min, Myeongjin Kim, ChengJie Li, D. Lee","doi":"10.23919/ICCAS.2017.8204207","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204207","url":null,"abstract":"This paper proposes a model of the skin stiffness including the effect of the pressure of the radial artery, which is transmitted to the palpating doctor's hand. The transmitted stiffness is modeled with serially linked skin and radial artery stiffness. The stiffness of the radial artery comes from the inner pressure and stiffness of the artery wall. The relation between the stiffness and the inner pressure of the radial artery is experimentally determined. The proposed model is used to control the haptic interface of a training simulation of the radial artery palpation.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"63 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":"126436508","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.2017.8204474
Jonghyun Yoon, Sung Wook Hwang, J. Bak, J. Park
CDPR(Cable Driven Parallel Robot) is flexible robot system that can be applied to various environment and energy effective system. Because the rigid actuators of the conventional robots are changed into cables. Cable can generate only tensile force and has nonlinear features, such as nonlinear stiffness, hysteresis, creep, and so on, so it occurs unexpected vibration. In this paper adaptive controller is used to track the desired trajectory and estimated coefficient of cable model. This methods show that tracking error is reduced even though estimated parameter value has 40% error rate. The algorithm is implied to 2-D planar CDPR simulator and confirm performance of it.
{"title":"Adaptive control for cable driven parallel robots","authors":"Jonghyun Yoon, Sung Wook Hwang, J. Bak, J. Park","doi":"10.23919/ICCAS.2017.8204474","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204474","url":null,"abstract":"CDPR(Cable Driven Parallel Robot) is flexible robot system that can be applied to various environment and energy effective system. Because the rigid actuators of the conventional robots are changed into cables. Cable can generate only tensile force and has nonlinear features, such as nonlinear stiffness, hysteresis, creep, and so on, so it occurs unexpected vibration. In this paper adaptive controller is used to track the desired trajectory and estimated coefficient of cable model. This methods show that tracking error is reduced even though estimated parameter value has 40% error rate. The algorithm is implied to 2-D planar CDPR simulator and confirm performance of it.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"42 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":"128018580","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.2017.8204435
Abdel O. Ghrieb, Y. Kourd, N. Guersi
It This study focuses on the supervision of industrial manipulators with two degree of freedom. The aims are to detect the faults of viscous friction at robot joints and to ensure real-time control reconfiguration in order to ensure the continuation of the robot operation. This approach used the hierarchical internet connection protocol (TCP-IP) for sure data transmission and real time. Residual generation method is used with static threshold for faults detection and also a Fault Tolerant Control (FTC) in order to correct the control signal by ANFIS corrector technique.
{"title":"Supervision of industrial manipulators using ANFIS system","authors":"Abdel O. Ghrieb, Y. Kourd, N. Guersi","doi":"10.23919/ICCAS.2017.8204435","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204435","url":null,"abstract":"It This study focuses on the supervision of industrial manipulators with two degree of freedom. The aims are to detect the faults of viscous friction at robot joints and to ensure real-time control reconfiguration in order to ensure the continuation of the robot operation. This approach used the hierarchical internet connection protocol (TCP-IP) for sure data transmission and real time. Residual generation method is used with static threshold for faults detection and also a Fault Tolerant Control (FTC) in order to correct the control signal by ANFIS corrector technique.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"17 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":"128176006","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.2017.8204433
B. Yu, Y. Eun
Attacks on control systems have become an important issue due to recently reported actual cases. As a counter measure, attacks on sensors and their detection have been investigated. The approach of existing work is mostly based on exploiting sensor redundancies. In this work, a sensor attack detection method is suggested using topographic information for railway vehicles. The method detects sensor attack not by using redundancies, but by using topographic information of the railways. Specifically, the method detects sensor attack by comparing predicted disturbance predefined by topographic information or normal operating data, and estimated disturbance calculated by disturbance observer. We verified the method through experiment on a scale train testbed. This method is applicable not only to railway vehicles but also to systems such as vehicle-platooning that repeatedly operate on the same section.
{"title":"Sensor attack detection for railway vehicles using topographic information","authors":"B. Yu, Y. Eun","doi":"10.23919/ICCAS.2017.8204433","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204433","url":null,"abstract":"Attacks on control systems have become an important issue due to recently reported actual cases. As a counter measure, attacks on sensors and their detection have been investigated. The approach of existing work is mostly based on exploiting sensor redundancies. In this work, a sensor attack detection method is suggested using topographic information for railway vehicles. The method detects sensor attack not by using redundancies, but by using topographic information of the railways. Specifically, the method detects sensor attack by comparing predicted disturbance predefined by topographic information or normal operating data, and estimated disturbance calculated by disturbance observer. We verified the method through experiment on a scale train testbed. This method is applicable not only to railway vehicles but also to systems such as vehicle-platooning that repeatedly operate on the same section.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"24 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":"121748348","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}
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