Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204354
Seong Ho Yeon, Dayeon Kim, Gilhyun Ryou, Youngwoo Sim
This paper presents design methodologies and an implementation of autonomous table tennis ball collecting robot. The robot is designed with three major emphases to collect balls effectively in a real table tennis court: ball detection, navigation, and ball collection. For ball detection, a combination of blob detection and cascade classifier was utilized. The robot generates an optimal path toward detected balls using A∗ graph search algorithm and follows the path based on a mecanum-wheeled platform. The detected balls are collected using a suction motor and a 2-DOF active nozzle. The integrated system successfully demonstrates the given task in a real table tennis court.
{"title":"System design for autonomous table tennis ball collecting robot","authors":"Seong Ho Yeon, Dayeon Kim, Gilhyun Ryou, Youngwoo Sim","doi":"10.23919/ICCAS.2017.8204354","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204354","url":null,"abstract":"This paper presents design methodologies and an implementation of autonomous table tennis ball collecting robot. The robot is designed with three major emphases to collect balls effectively in a real table tennis court: ball detection, navigation, and ball collection. For ball detection, a combination of blob detection and cascade classifier was utilized. The robot generates an optimal path toward detected balls using A∗ graph search algorithm and follows the path based on a mecanum-wheeled platform. The detected balls are collected using a suction motor and a 2-DOF active nozzle. The integrated system successfully demonstrates the given task in a real table tennis court.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"15 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":"129999300","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}
The computation cost is always the big problem for particle filter because the number of samples and iterations until convergence. It is decreased by using back projection-based sampling method, which applied the concept of corresponding between 3D world space and 2D image plane. Size of search space is reduced by sampling the particles in 2D image plane then will be back projected to 3D world space. Although back projection-based sampling method can reduce the search space, the search space is extended larger and more samples are necessary if the objects appear far away from each other. This paper applied object detection algorithm as saliency segmentation using RGB-D information. It is used to obtain the object saliency before sampling the particles. The required number of samples is more decreased because the samples are not generated into the background boundary. In additional, the modified Augmented MCL is adapted to increase occasion of particles sampling around the target object region, which makes algorithm rapidly successful.
{"title":"Object tracking using particle filter with back projection-based sampling on saliency","authors":"Alongkorn Pirayawaraporn, Nachaya Chindakham, Mun-Ho Jeong","doi":"10.23919/ICCAS.2017.8204255","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204255","url":null,"abstract":"The computation cost is always the big problem for particle filter because the number of samples and iterations until convergence. It is decreased by using back projection-based sampling method, which applied the concept of corresponding between 3D world space and 2D image plane. Size of search space is reduced by sampling the particles in 2D image plane then will be back projected to 3D world space. Although back projection-based sampling method can reduce the search space, the search space is extended larger and more samples are necessary if the objects appear far away from each other. This paper applied object detection algorithm as saliency segmentation using RGB-D information. It is used to obtain the object saliency before sampling the particles. The required number of samples is more decreased because the samples are not generated into the background boundary. In additional, the modified Augmented MCL is adapted to increase occasion of particles sampling around the target object region, which makes algorithm rapidly successful.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"437 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":"134287231","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.2017.8204366
T. Aida
We approach to the problem of wave-front reconstruction via phase unwrapping of interferograms observed by interferometric synthetic aperture radar (SAR), from the viewpoints of Bayesian statistical inference and compressed sensing. For this purpose, we apply sparse representation for compressed sensing to the Bayesian wave-front reconstruction model from SAR interferograms by Saika and Uezu [1]. In the formulation of the problem taking sparse representation into account, the MAP estimate is found to lead to a phase unwrapping algorithm which can be interpreted as a quadratic programming problem. Numerical experiments on an artificial wave-front make it clear that the algorithm effectively removes noise to reconstruct the wave-front, although it suffers from the errors similar to block noise in image processing.
{"title":"Compressed sensing for phase unwrapping of interferometric SAR data","authors":"T. Aida","doi":"10.23919/ICCAS.2017.8204366","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204366","url":null,"abstract":"We approach to the problem of wave-front reconstruction via phase unwrapping of interferograms observed by interferometric synthetic aperture radar (SAR), from the viewpoints of Bayesian statistical inference and compressed sensing. For this purpose, we apply sparse representation for compressed sensing to the Bayesian wave-front reconstruction model from SAR interferograms by Saika and Uezu [1]. In the formulation of the problem taking sparse representation into account, the MAP estimate is found to lead to a phase unwrapping algorithm which can be interpreted as a quadratic programming problem. Numerical experiments on an artificial wave-front make it clear that the algorithm effectively removes noise to reconstruct the wave-front, although it suffers from the errors similar to block noise in image processing.","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":"131222275","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.2017.8204322
N. Ko, Seong Ju Lee, Seokki Jeong, Yongseon Moon
This paper presents an attitude estimation method used for navigation of an unmanned surface vehicle. The method utilizes measurements by global navigation satellite system (GNSS) as well as microelectromechanical systems-attitude heading reference system (MEMS-AHRS). Since magnetic field measurement by the MEMS-AHRS is vulnerable to internal and external disturbances, the magnetic field measurement is corrected using GNSS measurement. While some of the previous methods use single axis fiber optic gyro (FOG) for the improvement of the attitude estimation, the proposed method uses GNSS, which is less expensive than single axis FOG. Some of the MEMS-AHRS already includes GNSS, and in that case, use of GNSS is a practical approach. This paper focuses on use of GNSS for improvement of attitude estimation. The method uses Kalman filter approach to incorporate the GNSS data and MEMS-AHRS measurements. The results show improvements over Kalman filter or nonlinear explicit complementary filter (NECF) which uses only MEMS-AHRS.
{"title":"Attitude estimation of an unmanned surface vehicle using MEMS-AHRS and GNSS","authors":"N. Ko, Seong Ju Lee, Seokki Jeong, Yongseon Moon","doi":"10.23919/ICCAS.2017.8204322","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204322","url":null,"abstract":"This paper presents an attitude estimation method used for navigation of an unmanned surface vehicle. The method utilizes measurements by global navigation satellite system (GNSS) as well as microelectromechanical systems-attitude heading reference system (MEMS-AHRS). Since magnetic field measurement by the MEMS-AHRS is vulnerable to internal and external disturbances, the magnetic field measurement is corrected using GNSS measurement. While some of the previous methods use single axis fiber optic gyro (FOG) for the improvement of the attitude estimation, the proposed method uses GNSS, which is less expensive than single axis FOG. Some of the MEMS-AHRS already includes GNSS, and in that case, use of GNSS is a practical approach. This paper focuses on use of GNSS for improvement of attitude estimation. The method uses Kalman filter approach to incorporate the GNSS data and MEMS-AHRS measurements. The results show improvements over Kalman filter or nonlinear explicit complementary filter (NECF) which uses only MEMS-AHRS.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"15 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":"132091690","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.2017.8204310
Jinxin Hu, H. Ouyang, Wenwei Huang, Ping Xing, Chunmin Yu, Guangming Zhang, Lei Mei, Xin Deng, Deming Wang
When the hook mass is greater than the load mass or the load has a distributed mass property, the load sway of the crane system can be considered as a double-pendulum. At this point, the crane system has two kinds of natural angular frequency which greatly increases the difficulty of the dynamic analysis and the controller design. To this end, the linear dynamics of a 2-D overhead crane with double-pendulum effect is derived based on a disturbance observer and is decoupled for controller design by modal analysis. Second, an S-shaped curve, which is widely used in the control fields, is applied to the linearized decoupling crane model. The trajectory parameters are obtained by solving the algebraic equation. Finally, the validity of the method is verified by simulation results.
{"title":"Residual load sway reduction control in double-pendulum overhead cranes using motion trajectory based on adams-Matlab joint simulation","authors":"Jinxin Hu, H. Ouyang, Wenwei Huang, Ping Xing, Chunmin Yu, Guangming Zhang, Lei Mei, Xin Deng, Deming Wang","doi":"10.23919/ICCAS.2017.8204310","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204310","url":null,"abstract":"When the hook mass is greater than the load mass or the load has a distributed mass property, the load sway of the crane system can be considered as a double-pendulum. At this point, the crane system has two kinds of natural angular frequency which greatly increases the difficulty of the dynamic analysis and the controller design. To this end, the linear dynamics of a 2-D overhead crane with double-pendulum effect is derived based on a disturbance observer and is decoupled for controller design by modal analysis. Second, an S-shaped curve, which is widely used in the control fields, is applied to the linearized decoupling crane model. The trajectory parameters are obtained by solving the algebraic equation. Finally, the validity of the method is verified by simulation results.","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":"127835330","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.2017.8204307
A. Julsereewong, T. Thepmanee
A justification of the cost for providing system instrumented system (SIS) is essential for making the right decision of companies in process industry sector. This paper presents a design of the SIS by considering in cost-benefit analysis for optimizing safety, reliability, and lifecycle costs. A tail gas treating process is employed as a case study for verifying the proposed design method. The results obtained from our case study can be useful as the tools for justifying the design and installation of safety systems. Validation results of cost-benefit analysis for the proposed SIS design are also included.
{"title":"Safety instrumented system design in consideration of cost-benefit analysis : A case study of tail gas treating process","authors":"A. Julsereewong, T. Thepmanee","doi":"10.23919/ICCAS.2017.8204307","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204307","url":null,"abstract":"A justification of the cost for providing system instrumented system (SIS) is essential for making the right decision of companies in process industry sector. This paper presents a design of the SIS by considering in cost-benefit analysis for optimizing safety, reliability, and lifecycle costs. A tail gas treating process is employed as a case study for verifying the proposed design method. The results obtained from our case study can be useful as the tools for justifying the design and installation of safety systems. Validation results of cost-benefit analysis for the proposed SIS design are also included.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"156 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":"115427990","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.2017.8204339
Nattapon Jaisumroum, P. Chotiprayanakul, S. Limnararat
In this paper, a decentralized framework for kinematic control of cooperative manipulators systems is developed. The motion of the robot system is specified at the object position, by adopting a task-oriented formulation for cooperative tasks. In the controller of robot computes, the end-effector motion of robots in a decentralized on the camera position frame of the knowledge of the assigned cooperative task. The motion of manipulator is reference computed by object and its neighbors. The joint motion of robots is reference corresponding from the end-effector. This study approach decentralized control of collaborative manipulators, tested in the simulation on MATLAB® software composed by neural network method. A neural network is used to approximate a decentralized control law designed by the back-propagation technique. The motion for each joint is controlled independently using local angular position and velocity measurements. Finally, the experiment shows the feasibility of the proposed control scheme using a robotics.
{"title":"Decentralized control with neural network of cooperative robot manipulator for object balancing task on flat plate","authors":"Nattapon Jaisumroum, P. Chotiprayanakul, S. Limnararat","doi":"10.23919/ICCAS.2017.8204339","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204339","url":null,"abstract":"In this paper, a decentralized framework for kinematic control of cooperative manipulators systems is developed. The motion of the robot system is specified at the object position, by adopting a task-oriented formulation for cooperative tasks. In the controller of robot computes, the end-effector motion of robots in a decentralized on the camera position frame of the knowledge of the assigned cooperative task. The motion of manipulator is reference computed by object and its neighbors. The joint motion of robots is reference corresponding from the end-effector. This study approach decentralized control of collaborative manipulators, tested in the simulation on MATLAB® software composed by neural network method. A neural network is used to approximate a decentralized control law designed by the back-propagation technique. The motion for each joint is controlled independently using local angular position and velocity measurements. Finally, the experiment shows the feasibility of the proposed control scheme using a robotics.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"46 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":"115788290","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.2017.8204355
H. Gong, Ziyu Yin, Dechao Chen, Long Jin, Yunong Zhang
A fault-tolerant scheme at the acceleration-level for motion planning and control (MPaC) of redundant manipulator is proposed and presented by incorporating the dimension-reduction method and neural-dynamics based quadratic program (QP) including solution. More importantly, numerical and practical experiments based on a six-link planar redundant robot manipulator are presented in this paper to substantiate the physical realizability, efficacy and accuracy of the fault-tolerant scheme for redundant manipulator MPaC and the neural-dynamics based QP.
{"title":"Numerical and practical experiments of acceleration-level fault-tolerant scheme for redundant manipulator MPaC","authors":"H. Gong, Ziyu Yin, Dechao Chen, Long Jin, Yunong Zhang","doi":"10.23919/ICCAS.2017.8204355","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204355","url":null,"abstract":"A fault-tolerant scheme at the acceleration-level for motion planning and control (MPaC) of redundant manipulator is proposed and presented by incorporating the dimension-reduction method and neural-dynamics based quadratic program (QP) including solution. More importantly, numerical and practical experiments based on a six-link planar redundant robot manipulator are presented in this paper to substantiate the physical realizability, efficacy and accuracy of the fault-tolerant scheme for redundant manipulator MPaC and the neural-dynamics based QP.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"3 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":"124440360","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.2017.8204473
Bakhytzhan Omarov
Building energy management is a major topic of research and development, as well as, buildings constitute the substantial amount of energy consumption in the worldwide. Design of an automated controller for energy efficiency operation in the building is one of the main methods to reduce energy consumption by keeping comfort level for inhabitants. In this paper, we introduce an alternative way to save energy by using fuzzy logic based approach. Fuzzy logic has been widely used to simulate energy consumption model and to control heating, ventilation and humidifying devices. Simulation results illustrate the behavior relation of whole system and each control parameter.
{"title":"Development of fuzzy based smart building energy and comfort management system","authors":"Bakhytzhan Omarov","doi":"10.23919/ICCAS.2017.8204473","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204473","url":null,"abstract":"Building energy management is a major topic of research and development, as well as, buildings constitute the substantial amount of energy consumption in the worldwide. Design of an automated controller for energy efficiency operation in the building is one of the main methods to reduce energy consumption by keeping comfort level for inhabitants. In this paper, we introduce an alternative way to save energy by using fuzzy logic based approach. Fuzzy logic has been widely used to simulate energy consumption model and to control heating, ventilation and humidifying devices. Simulation results illustrate the behavior relation of whole system and each control parameter.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"18 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":"114780434","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.2017.8204362
Yuto Yamamoto, N. Matsunaga, Hiroshi Okajima
When human co-exists with robots, the secure flexible motion will be required for the robots. The soft-actuator will be a key to make a safe robot. McKibben type pneumatic artificial muscle (PAM) is representative soft actuator, and has been used widely in many fields. However, there is a trade-off between the soft actuation and the precise control. This study aims to an accurate variableness stiffness control of PAM arm. To control the PAM arm, the angle, pressure and stiffness controllers are designed using Model Error Compensator (MEC) to increase robustness. According to flexibility and accuracy requirement selectively, the variable stiffness control system is implemented. Finally, the effectiveness of proposed method is evaluated by experiment using one link PAM arm.
{"title":"Robust variable stiffness control of McKibben type pneumatic artificial muscle arm by using multiple model error compensators","authors":"Yuto Yamamoto, N. Matsunaga, Hiroshi Okajima","doi":"10.23919/ICCAS.2017.8204362","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204362","url":null,"abstract":"When human co-exists with robots, the secure flexible motion will be required for the robots. The soft-actuator will be a key to make a safe robot. McKibben type pneumatic artificial muscle (PAM) is representative soft actuator, and has been used widely in many fields. However, there is a trade-off between the soft actuation and the precise control. This study aims to an accurate variableness stiffness control of PAM arm. To control the PAM arm, the angle, pressure and stiffness controllers are designed using Model Error Compensator (MEC) to increase robustness. According to flexibility and accuracy requirement selectively, the variable stiffness control system is implemented. Finally, the effectiveness of proposed method is evaluated by experiment using one link PAM arm.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"11 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":"116441635","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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