Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204239
Shinji Yamada, Huimin Lu, J. Tan, Hyoungseop Kim, Namiko Kimura, T. Okawachi, E. Nozoe, N. Nakamura
About 4% of babies in Japan suffer from congenital anomalies. Cleft lip is the most common disorder among external malformations occurring at a rate of 1 in 500 people. The goal of treatment is to recover symmetric and functional lips and nose forms. However, in the case of unilateral cleft lip where the lips and nose themselves are shifted from the midline of the face, it is difficult to set the midline which is the symmetry axis for evaluating the degree of symmetry of the face. In this paper, we propose an image processing method for extracting the midline using zebra image and shadow image which are two dimensional image created based on three dimensional analysis. Also, we evaluate the degree of asymmetry of the face by using the midline as the axis. As a result of applying the proposed method to 25 cases, which indicated that the proposed method is useful.
{"title":"Image analysis of cleft lip from moire image based on symmetry analysis","authors":"Shinji Yamada, Huimin Lu, J. Tan, Hyoungseop Kim, Namiko Kimura, T. Okawachi, E. Nozoe, N. Nakamura","doi":"10.23919/ICCAS.2017.8204239","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204239","url":null,"abstract":"About 4% of babies in Japan suffer from congenital anomalies. Cleft lip is the most common disorder among external malformations occurring at a rate of 1 in 500 people. The goal of treatment is to recover symmetric and functional lips and nose forms. However, in the case of unilateral cleft lip where the lips and nose themselves are shifted from the midline of the face, it is difficult to set the midline which is the symmetry axis for evaluating the degree of symmetry of the face. In this paper, we propose an image processing method for extracting the midline using zebra image and shadow image which are two dimensional image created based on three dimensional analysis. Also, we evaluate the degree of asymmetry of the face by using the midline as the axis. As a result of applying the proposed method to 25 cases, which indicated that the proposed method is useful.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"68 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":"123650700","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.2017.8204262
Weiyi Shuai, X. Dong, Mingqi Yang, Wei Fu, W. Cheng
Global Navigation Satellite Systems (GNSS) have been widely used in safety-related applications, for example, railway train control systems. Starting from the application of GNSS technology in railway train location, this paper analyzes the necessity of GNSS performance assessment based on the actual needs of train positioning. First, the application status of GNSS in train positioning at home and abroad is introduced. Second, the status quo of GNSS performance assessment is analyzed from four aspects: content of performance assessment, establishment of assessment benchmark, development of performance requirements standards and status of performance assessment. Finally, the development trend of GNSS performance assessment in China is analyzed, on basis of the integration of BDS emerging industry and the railway transportation system.
{"title":"Performance assessment of GNSS in train control system","authors":"Weiyi Shuai, X. Dong, Mingqi Yang, Wei Fu, W. Cheng","doi":"10.23919/ICCAS.2017.8204262","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204262","url":null,"abstract":"Global Navigation Satellite Systems (GNSS) have been widely used in safety-related applications, for example, railway train control systems. Starting from the application of GNSS technology in railway train location, this paper analyzes the necessity of GNSS performance assessment based on the actual needs of train positioning. First, the application status of GNSS in train positioning at home and abroad is introduced. Second, the status quo of GNSS performance assessment is analyzed from four aspects: content of performance assessment, establishment of assessment benchmark, development of performance requirements standards and status of performance assessment. Finally, the development trend of GNSS performance assessment in China is analyzed, on basis of the integration of BDS emerging industry and the railway transportation system.","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":"123999098","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.2017.8204244
Yao-yao Wang, Surong Jiang, Fei Yan, Bai Chen
To ensure satisfactory control performance for the newly designed cable-driven manipulator with complex unknown lumped disturbance, a sliding mode control (SMC) method based on time delay estimation (TDE) is proposed and investigated in this paper. The proposed method mainly has two elements, the TDE element used to properly estimate and compensate the lumped unknown dynamics of the system, and the SMC element used to ensure satisfactory control performance under complex disturbance. The proposed method is model-free and easy to use in practical applications thanks to TDE, and has good robustness benefiting from SMC. Corresponding stability of the closed-loop control system is analyzed using Lyapunov stability theory. Finally, the effectiveness of our proposed control method was demonstrated by some experiments.
{"title":"Sliding mode control of a newly designed cable-driven manipulator with time delay estimation","authors":"Yao-yao Wang, Surong Jiang, Fei Yan, Bai Chen","doi":"10.23919/ICCAS.2017.8204244","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204244","url":null,"abstract":"To ensure satisfactory control performance for the newly designed cable-driven manipulator with complex unknown lumped disturbance, a sliding mode control (SMC) method based on time delay estimation (TDE) is proposed and investigated in this paper. The proposed method mainly has two elements, the TDE element used to properly estimate and compensate the lumped unknown dynamics of the system, and the SMC element used to ensure satisfactory control performance under complex disturbance. The proposed method is model-free and easy to use in practical applications thanks to TDE, and has good robustness benefiting from SMC. Corresponding stability of the closed-loop control system is analyzed using Lyapunov stability theory. Finally, the effectiveness of our proposed control method was demonstrated by some experiments.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"49 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":"128216917","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.2017.8204420
D. Kang, C. Kang, Joong-Sik Kim, Seunghyun Kim, Whoiyul Kim, Seung-Hi Lee, C. Chung
This paper briefly introduces our on-going research on in-door autonomous valet parking (AVP) using only camera vision sensors. The AVP consists of autonomous driving and parking. Autonomous driving utilizes waypoints given by an array of ceiling LEDs to develop a driving path for ultimate waypoint tracking. The LEDs are detected by a top-front-view camera mounted on the vehicles windshield. Autonomous parking utilizes parking stripes to detect parking vehicles pose with respect to the target parking spot. The parking spot is detected by a rear-view camera mounted on the vehicles rear window. A clothoid parking path is generated with surround obstacles being considered to complete autonomous parking. The AVP research is already showing some prospective results. Some experimental results of waypoint and parking spot detections are presented, together with some simulation results of path planning and control.
{"title":"Vision-based autonomous indoor valet parking system","authors":"D. Kang, C. Kang, Joong-Sik Kim, Seunghyun Kim, Whoiyul Kim, Seung-Hi Lee, C. Chung","doi":"10.23919/ICCAS.2017.8204420","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204420","url":null,"abstract":"This paper briefly introduces our on-going research on in-door autonomous valet parking (AVP) using only camera vision sensors. The AVP consists of autonomous driving and parking. Autonomous driving utilizes waypoints given by an array of ceiling LEDs to develop a driving path for ultimate waypoint tracking. The LEDs are detected by a top-front-view camera mounted on the vehicles windshield. Autonomous parking utilizes parking stripes to detect parking vehicles pose with respect to the target parking spot. The parking spot is detected by a rear-view camera mounted on the vehicles rear window. A clothoid parking path is generated with surround obstacles being considered to complete autonomous parking. The AVP research is already showing some prospective results. Some experimental results of waypoint and parking spot detections are presented, together with some simulation results of path planning and control.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"26 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":"128425639","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.2017.8204397
Wenxiu Zhao, Yuangong Sun
This paper is focused on the estimation of exponential decay rate of planar switched positive linear systems via common linear copositive Lyapunov functions. An exact exponential decay rate for all the state trajectories of the system under arbitrary switching has been given in terms of the minimal eigenvalue of some matrices related to system matrices. Finally, a numerical example illustrates the main result of this paper.
{"title":"Exponential decay rate of planar switched positive linear systems","authors":"Wenxiu Zhao, Yuangong Sun","doi":"10.23919/ICCAS.2017.8204397","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204397","url":null,"abstract":"This paper is focused on the estimation of exponential decay rate of planar switched positive linear systems via common linear copositive Lyapunov functions. An exact exponential decay rate for all the state trajectories of the system under arbitrary switching has been given in terms of the minimal eigenvalue of some matrices related to system matrices. Finally, a numerical example illustrates the main result of this paper.","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":"127198405","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.2017.8204298
Chao Wang, J. He
Assuming that the underlying asset is driven by a fractional Brownian motion with jumps, the interest rate and the default intensity are both following the Vasicek model, we derive the European vulnerable option pricing in fractional market. Then the martingale method and measure transformation are used to deduce the solution of it. On the other hand, the expression of jump process in the form of measure transformation is proved in this paper which can be regarded as a supplement of the Girsanov's theorem. The results are tested through numerical experiments which show that the pricing model proposed in this paper can describe the changes of the financial asset well, it makes the pricing more accords with the realistic than Black-Scholes option pricing model.
{"title":"The European vulnerable option pricing based on jump-diffusion process in fractional market","authors":"Chao Wang, J. He","doi":"10.23919/ICCAS.2017.8204298","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204298","url":null,"abstract":"Assuming that the underlying asset is driven by a fractional Brownian motion with jumps, the interest rate and the default intensity are both following the Vasicek model, we derive the European vulnerable option pricing in fractional market. Then the martingale method and measure transformation are used to deduce the solution of it. On the other hand, the expression of jump process in the form of measure transformation is proved in this paper which can be regarded as a supplement of the Girsanov's theorem. The results are tested through numerical experiments which show that the pricing model proposed in this paper can describe the changes of the financial asset well, it makes the pricing more accords with the realistic than Black-Scholes option pricing model.","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":"131058422","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.2017.8204383
L. Qian, Wen-ping Wang, Ren-qiao Xiao
This paper applies the DEA model to measure the innovation efficiency of the regional high-tech industry, domestic, Hong Kong, Macao and Taiwan and foreign-invested enterprises in China between 2008 and 2014. The results show that: (i) from the whole, if the differences in enterprise nature is not considered, the average innovation efficiency of China's high-tech industry is 0.748, and the pure technical efficiency and scale efficiency have some space to improve. The industry efficiencies in central and western provinces are low. (ii) The average efficiency of China's domestic, Hong Kong, Macao and Taiwan and foreign-invested enterprises are 0.476, 0.529 and 0.525 respectively, which are lower than traditional DEA efficiency significantly, the efficiency of domestic enterprises was the lowest, and it showed a slight increase during the examination period. There are some differences in the root causes of efficiency loss in each province. For example, domestic enterprises' innovation efficiency in Beijing is low, et al.
{"title":"Study on the innovation efficiency of China's high-tech industry considering the enterprise nature","authors":"L. Qian, Wen-ping Wang, Ren-qiao Xiao","doi":"10.23919/ICCAS.2017.8204383","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204383","url":null,"abstract":"This paper applies the DEA model to measure the innovation efficiency of the regional high-tech industry, domestic, Hong Kong, Macao and Taiwan and foreign-invested enterprises in China between 2008 and 2014. The results show that: (i) from the whole, if the differences in enterprise nature is not considered, the average innovation efficiency of China's high-tech industry is 0.748, and the pure technical efficiency and scale efficiency have some space to improve. The industry efficiencies in central and western provinces are low. (ii) The average efficiency of China's domestic, Hong Kong, Macao and Taiwan and foreign-invested enterprises are 0.476, 0.529 and 0.525 respectively, which are lower than traditional DEA efficiency significantly, the efficiency of domestic enterprises was the lowest, and it showed a slight increase during the examination period. There are some differences in the root causes of efficiency loss in each province. For example, domestic enterprises' innovation efficiency in Beijing is low, et al.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"60 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":"128880833","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.2017.8204360
M. Babazadeh
This work presents a convex parametrization of H∞ output feedback controllers for positively dominated systems. The objective is to design static and dynamic output feedback controllers such that the closed-loop system is positively dominated, asymptotically stable and the H∞ norm from the exogenous input to the regulated output is minimized. By utilizing Youla parametrization, the stabilizing controllers which give rise to a positively dominated system is parameterized by Q-parameters and extended to design static and dynamic H∞ output feedback controllers through semi-definite programming (SDP). Due to the versatility of the presented framework for positively dominate systems, the design is extended to robust performance scenarios with structured and unstructured norm-bounded uncertainties.
{"title":"Convex parametrization of H∞ controllers for positively dominated systems","authors":"M. Babazadeh","doi":"10.23919/ICCAS.2017.8204360","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204360","url":null,"abstract":"This work presents a convex parametrization of H∞ output feedback controllers for positively dominated systems. The objective is to design static and dynamic output feedback controllers such that the closed-loop system is positively dominated, asymptotically stable and the H∞ norm from the exogenous input to the regulated output is minimized. By utilizing Youla parametrization, the stabilizing controllers which give rise to a positively dominated system is parameterized by Q-parameters and extended to design static and dynamic H∞ output feedback controllers through semi-definite programming (SDP). Due to the versatility of the presented framework for positively dominate systems, the design is extended to robust performance scenarios with structured and unstructured norm-bounded uncertainties.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"04 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":"130633203","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.2017.8204389
Kyung‐Tae Lee, Sang-Young Oh, Ho‐Lim Choi
In this paper, we consider a control problem of a ball and beam system in a situation where feedback is disconnected. Due to feedback disconnection, any feedback controller is not available and as a result, the position of the steel ball cannot be hold for long. The main difficulty is the open-loop environment at the happening of feedback disconnection. We show that bang-bang control input can be a good candidate which holds the ball position with certain bounds for the longest time.
{"title":"Bounded control of a ball and beam system in the absence of feedback","authors":"Kyung‐Tae Lee, Sang-Young Oh, Ho‐Lim Choi","doi":"10.23919/ICCAS.2017.8204389","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204389","url":null,"abstract":"In this paper, we consider a control problem of a ball and beam system in a situation where feedback is disconnected. Due to feedback disconnection, any feedback controller is not available and as a result, the position of the steel ball cannot be hold for long. The main difficulty is the open-loop environment at the happening of feedback disconnection. We show that bang-bang control input can be a good candidate which holds the ball position with certain bounds for the longest time.","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":"130950534","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.2017.8204460
Ryota Kimura, N. Matsunaga, Hiroshi Okajima, Go Kotaki
Recently, welfare vehicles are widely used among the elderly and the aged. However, it is not easy for inexperienced aged to control the welfare vehicle in narrow places such as elevators and narrow corridors. In this paper, driving assistance system for the welfare vehicle which is maneuverable by Augmented Reality (AR) is proposed. In addition, the proposed control system is assessed by trial runs. In the system, the cognitive ability from the objective view point is enhanced by AR. First, the virtual platoon control is outlined with a virtual preceding vehicle and a real following vehicle. The driver rides on the following vehicle and controls using the virtual preceding vehicle on Head Mounted Display(HMD). The virtual preceding vehicle projected on a HMD steered virtually with an objective viewpoint, and the real vehicle is robust controlled so as to follow the virtual preceding vehicle. Finally, the experimental driving in narrow space using proposed assistance system with AR is evaluated by beginners and a expert user.
{"title":"Design of virtual platoon control system using augmented reality to assist welfare vehicle users","authors":"Ryota Kimura, N. Matsunaga, Hiroshi Okajima, Go Kotaki","doi":"10.23919/ICCAS.2017.8204460","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204460","url":null,"abstract":"Recently, welfare vehicles are widely used among the elderly and the aged. However, it is not easy for inexperienced aged to control the welfare vehicle in narrow places such as elevators and narrow corridors. In this paper, driving assistance system for the welfare vehicle which is maneuverable by Augmented Reality (AR) is proposed. In addition, the proposed control system is assessed by trial runs. In the system, the cognitive ability from the objective view point is enhanced by AR. First, the virtual platoon control is outlined with a virtual preceding vehicle and a real following vehicle. The driver rides on the following vehicle and controls using the virtual preceding vehicle on Head Mounted Display(HMD). The virtual preceding vehicle projected on a HMD steered virtually with an objective viewpoint, and the real vehicle is robust controlled so as to follow the virtual preceding vehicle. Finally, the experimental driving in narrow space using proposed assistance system with AR is evaluated by beginners and a expert user.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"22 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":"126715743","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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