Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204212
Hyunjun Cho, Choon-shik Joo
In this paper, we present flap control system using multi-domain analysis platform. The flap control system consists of the three multi-domains; 1) electrical domain giving angle reference and performing flap control; 2) hydraulic domain supplying flow and generating torque; 3) mechanical domain transmitting the torque to the flap and driving it. Explaining these three domains, we present the full model using AMESim which is one of the most widely-used physical modeling tool. The performance analysis model of this study is constructed not to reflect detailed models of parts, but to examine main requirements from a system point of view. Thus, we could predict the main system performance of the flap control system of an actual aircraft and will develop the model in the future to utilize the detail design of parts. Lastly, Simulation results are also presented to explain the model.
{"title":"Performance analysis model development of flap control system using multi-domain analysis platform","authors":"Hyunjun Cho, Choon-shik Joo","doi":"10.23919/ICCAS.2017.8204212","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204212","url":null,"abstract":"In this paper, we present flap control system using multi-domain analysis platform. The flap control system consists of the three multi-domains; 1) electrical domain giving angle reference and performing flap control; 2) hydraulic domain supplying flow and generating torque; 3) mechanical domain transmitting the torque to the flap and driving it. Explaining these three domains, we present the full model using AMESim which is one of the most widely-used physical modeling tool. The performance analysis model of this study is constructed not to reflect detailed models of parts, but to examine main requirements from a system point of view. Thus, we could predict the main system performance of the flap control system of an actual aircraft and will develop the model in the future to utilize the detail design of parts. Lastly, Simulation results are also presented to explain the model.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"14 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":"126532648","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.2017.8204381
Ji Sang Park, H. Cho, J. Cho
This paper presents an automated technique to detect optical disc (OD) regions and to locate clipping circles to separate OD and non-OD regions using fundus images. After surveys on different OD detection techniques, a set of image and geometric processing techniques is selected and implemented. Several public fundus images with different ophthalmologic diseases are used to experiment and to verify the performance of the proposed algorithm. The proposed algorithm tends to locate clipping circles properly by enclosing OD regions with fundus images of healthy patients. However, the algorithm is not good enough to process fundus images of different ophthalmologic conditions. The overall performance of the proposed algorithm is discussed along with several experimental results. Several future research issues are also addressed.
{"title":"Automated extraction of optic disc regions from fundus images for preperimetric glaucoma diagnosis","authors":"Ji Sang Park, H. Cho, J. Cho","doi":"10.23919/ICCAS.2017.8204381","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204381","url":null,"abstract":"This paper presents an automated technique to detect optical disc (OD) regions and to locate clipping circles to separate OD and non-OD regions using fundus images. After surveys on different OD detection techniques, a set of image and geometric processing techniques is selected and implemented. Several public fundus images with different ophthalmologic diseases are used to experiment and to verify the performance of the proposed algorithm. The proposed algorithm tends to locate clipping circles properly by enclosing OD regions with fundus images of healthy patients. However, the algorithm is not good enough to process fundus images of different ophthalmologic conditions. The overall performance of the proposed algorithm is discussed along with several experimental results. Several future research issues are also addressed.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"294 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114088054","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.2017.8204487
Junwon Kim, K. Kwon, Jaewook Jeon
Currently, the increasing functions required for the automobile are making the automotive network more complicated. As this complexity grows, the increment of network bus load is one of the problems. To solve this issue, using a gateway is one solution. However, if one behavior in the gateway goes wrong, sending accurate information to the gateway or Electronic Control Unit (ECU) of another domain is impossible, and this will bring malfunctions to the automotive system. Currently there are no definite evaluation entries for gateway behavior, or evaluation standards for the stability and reliability of a network using the gateway. The purpose of this paper is to propose entries for validating CAN-CAN gateway behavior, and a validation method. Also, this paper validates the entries and the method by using an embedded system gateway.
{"title":"Validation of CAN-CAN gateway in the automotive network system","authors":"Junwon Kim, K. Kwon, Jaewook Jeon","doi":"10.23919/ICCAS.2017.8204487","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204487","url":null,"abstract":"Currently, the increasing functions required for the automobile are making the automotive network more complicated. As this complexity grows, the increment of network bus load is one of the problems. To solve this issue, using a gateway is one solution. However, if one behavior in the gateway goes wrong, sending accurate information to the gateway or Electronic Control Unit (ECU) of another domain is impossible, and this will bring malfunctions to the automotive system. Currently there are no definite evaluation entries for gateway behavior, or evaluation standards for the stability and reliability of a network using the gateway. The purpose of this paper is to propose entries for validating CAN-CAN gateway behavior, and a validation method. Also, this paper validates the entries and the method by using an embedded system gateway.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"290 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":"114203184","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.2017.8204419
Sung Bong Hong, C. Kang, Seung-Hi Lee, C. Chung
This paper proposes a side slip angle estimation method using a low-cost Global Positioning System (GPS)/Inertial Measurement Unit (IMU). To estimate the side slip angle, we use the yaw rate of IMU and the course angle of GPS. Planar lateral vehicle model-based estimator was designed to integrate the yaw rate of IMU and course angle of GPS. The proposed method was validated via an experiment.
{"title":"Multi-rate vehicle side slip angle estimation using low-cost GPS/IMU","authors":"Sung Bong Hong, C. Kang, Seung-Hi Lee, C. Chung","doi":"10.23919/ICCAS.2017.8204419","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204419","url":null,"abstract":"This paper proposes a side slip angle estimation method using a low-cost Global Positioning System (GPS)/Inertial Measurement Unit (IMU). To estimate the side slip angle, we use the yaw rate of IMU and the course angle of GPS. Planar lateral vehicle model-based estimator was designed to integrate the yaw rate of IMU and course angle of GPS. The proposed method was validated via an experiment.","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":"123780397","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.2017.8204326
V. Tipsuwanporn, Wanchai Chinchusak, A. Numsomran
Yaw error measurements using a yaw sensor have been carried out to determine the characteristics of yaw errors and analyze the behaviors of the structural guide. The modification of yaw sensor design is necessary to improve the yaw error measurement. The contactless of a magnetic levitation technique that is supported a load of magnetic bearing. It is more suitable for reduction of yaw measurement error. This paper presents the new design of yaw sensor for the application that would be improved both the measurement error and repeatability. Those are measurement error and repeatability approximately minimized to 36 arcsec and less than 15 arcsec respectively, with the measurement uncertainty is 28.5 arcsec, at the confident level 95%.
{"title":"The modification of yaw sensor for length standard calibration system","authors":"V. Tipsuwanporn, Wanchai Chinchusak, A. Numsomran","doi":"10.23919/ICCAS.2017.8204326","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204326","url":null,"abstract":"Yaw error measurements using a yaw sensor have been carried out to determine the characteristics of yaw errors and analyze the behaviors of the structural guide. The modification of yaw sensor design is necessary to improve the yaw error measurement. The contactless of a magnetic levitation technique that is supported a load of magnetic bearing. It is more suitable for reduction of yaw measurement error. This paper presents the new design of yaw sensor for the application that would be improved both the measurement error and repeatability. Those are measurement error and repeatability approximately minimized to 36 arcsec and less than 15 arcsec respectively, with the measurement uncertainty is 28.5 arcsec, at the confident level 95%.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":" 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113948402","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.2017.8204453
Fahad Mahmood, M. Mahmood, J. Iqbal
Recovering an accurate depth map from its corresponding 2-D images using shape from focus architecture is a convoluted issue in computer vision and signal processing society. This paper contributes a new robust focus measure for 3-D shape recovery based on discrete wavelet transform and inherent sharpness approach. This novel focus measure technique utilizes no-reference sharpness metric based on inherent sharpness approach. The no-reference sharpness metric estimates a perceptual sharpness score based on the coefficients of discrete wavelet transform. To obtain the data of high frequency elements in an image the perceptual sharpness metric utilizes diagonal coefficients and approximated sub-signal of wavelet decomposition. The efficiency of the proposed scheme is evaluated by comparing it with state of art shape from focus approaches by conducting experiments on real and synthetic image sequences. Two global statistical metrics are utilized for performance evaluation by conducting experiments on real world images and synthetic image sequences. The evaluation is estimated on the basis of monotonicity and unimodality of the focus measure curve. The experimented results are then discussed in various forms to support the proposed scheme.
{"title":"3-D shape recovery from image focus using no-reference sharpness metric based on inherent sharpness","authors":"Fahad Mahmood, M. Mahmood, J. Iqbal","doi":"10.23919/ICCAS.2017.8204453","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204453","url":null,"abstract":"Recovering an accurate depth map from its corresponding 2-D images using shape from focus architecture is a convoluted issue in computer vision and signal processing society. This paper contributes a new robust focus measure for 3-D shape recovery based on discrete wavelet transform and inherent sharpness approach. This novel focus measure technique utilizes no-reference sharpness metric based on inherent sharpness approach. The no-reference sharpness metric estimates a perceptual sharpness score based on the coefficients of discrete wavelet transform. To obtain the data of high frequency elements in an image the perceptual sharpness metric utilizes diagonal coefficients and approximated sub-signal of wavelet decomposition. The efficiency of the proposed scheme is evaluated by comparing it with state of art shape from focus approaches by conducting experiments on real and synthetic image sequences. Two global statistical metrics are utilized for performance evaluation by conducting experiments on real world images and synthetic image sequences. The evaluation is estimated on the basis of monotonicity and unimodality of the focus measure curve. The experimented results are then discussed in various forms to support the proposed scheme.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"70 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":"122690915","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.2017.8204271
Mi-sook Kim, Wook-jae Jo, H. Park
To create robot tasks, script editing tools are commonly employed as they do not require compilers. They provide fast development for programmers and broaden the type of users to include those with non-programming backgrounds. Script editors are often based on finite state machines or flowcharts in their graphical interface design. This paper proposes a nondeterministic flowchart-based script editor, which provides functional blocks consisting of nodes and edges, where nodes are units of processing robot motions or media data and blocks are groups of nodes and edges. Edges have directions along with arithmetic, relational, and logical operators. This editor is capable of linking with programs written in many different programming languages such as C/C++, Java, and Python. The proposed editor is verified by an example, where a mobile robot is operated by a generated script composed of Open Platform for Robot Services (OPRoS) Components and a legacy Java program.
{"title":"A nondeterministic flowchart-based script editor","authors":"Mi-sook Kim, Wook-jae Jo, H. Park","doi":"10.23919/ICCAS.2017.8204271","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204271","url":null,"abstract":"To create robot tasks, script editing tools are commonly employed as they do not require compilers. They provide fast development for programmers and broaden the type of users to include those with non-programming backgrounds. Script editors are often based on finite state machines or flowcharts in their graphical interface design. This paper proposes a nondeterministic flowchart-based script editor, which provides functional blocks consisting of nodes and edges, where nodes are units of processing robot motions or media data and blocks are groups of nodes and edges. Edges have directions along with arithmetic, relational, and logical operators. This editor is capable of linking with programs written in many different programming languages such as C/C++, Java, and Python. The proposed editor is verified by an example, where a mobile robot is operated by a generated script composed of Open Platform for Robot Services (OPRoS) Components and a legacy Java program.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"41 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":"133111921","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.2017.8204350
Amit Shukla, H. Karki
This paper presents modeling, simulation, and control of a teleoperated mechanism, where two non-isomorphic devices a parallel manipulator and an under-actuated unmanned aerial vehicle (UAV) are integrated into a master-slave configuration. A Stuarts-type 6-DOF parallel manipulator is used as a master robot and a UAV is used as a slave robot. Since, the parallel manipulator has a limited task space, due to the fixed base, while the UAV has a practically unlimited workspace, direct space to space mapping is not possible between them. Therefore, a novel hybrid mapping mechanism has been proposed to integrate these two completely non-identical devices. This paper also describes the detailed dynamic modeling of the parallel manipulator and the UAV. Modeling of the parallel manipulator is derived by physics of the system while for the UAV, a method of system identification is used. The level of tracking accuracy presented in the simulation results verifies the efficacy of the system modeling, hybrid mapping, and overall control mechanism. Multilevel control architecture based on PID controllers, in local actuator joint spaces, for the master manipulator and the slave UAV is also presented in this work.
{"title":"Teleoperation of a UAV by a 6-DOF parallel manipulator with hybrid mapping for inspection of industrial structures","authors":"Amit Shukla, H. Karki","doi":"10.23919/ICCAS.2017.8204350","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204350","url":null,"abstract":"This paper presents modeling, simulation, and control of a teleoperated mechanism, where two non-isomorphic devices a parallel manipulator and an under-actuated unmanned aerial vehicle (UAV) are integrated into a master-slave configuration. A Stuarts-type 6-DOF parallel manipulator is used as a master robot and a UAV is used as a slave robot. Since, the parallel manipulator has a limited task space, due to the fixed base, while the UAV has a practically unlimited workspace, direct space to space mapping is not possible between them. Therefore, a novel hybrid mapping mechanism has been proposed to integrate these two completely non-identical devices. This paper also describes the detailed dynamic modeling of the parallel manipulator and the UAV. Modeling of the parallel manipulator is derived by physics of the system while for the UAV, a method of system identification is used. The level of tracking accuracy presented in the simulation results verifies the efficacy of the system modeling, hybrid mapping, and overall control mechanism. Multilevel control architecture based on PID controllers, in local actuator joint spaces, for the master manipulator and the slave UAV is also presented in this work.","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":"133125438","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.2017.8204427
Myoung-Chul Park, Hong-Kyong Kim, H. Ahn
In this paper, we propose a new concept of rigidity, named weak rigidity, using distance and subtended-angle constraints. The classical rigidity of formation is used in the field of distance-based formation control as a fundamental tool to guarantee a locally unique formation shape with given inter-agent distances. We assume that there are some angle constraints in addition to the existing distance constraints. Then the formation could result in a rigid formation shape even if it is not rigid in the viewpoint of classical rigidity. Weak rigidity distinguishes whether the formation with additional angle constraints can maintain its shape. Relation between classical rigidity and weak rigidity is addressed and used to derive some useful results.
{"title":"Rigidity of distance-based formations with additional subtended-angle constraints","authors":"Myoung-Chul Park, Hong-Kyong Kim, H. Ahn","doi":"10.23919/ICCAS.2017.8204427","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204427","url":null,"abstract":"In this paper, we propose a new concept of rigidity, named weak rigidity, using distance and subtended-angle constraints. The classical rigidity of formation is used in the field of distance-based formation control as a fundamental tool to guarantee a locally unique formation shape with given inter-agent distances. We assume that there are some angle constraints in addition to the existing distance constraints. Then the formation could result in a rigid formation shape even if it is not rigid in the viewpoint of classical rigidity. Weak rigidity distinguishes whether the formation with additional angle constraints can maintain its shape. Relation between classical rigidity and weak rigidity is addressed and used to derive some useful results.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"225 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":"133384310","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.2017.8204309
M. Iwai
In nonlinear systems, chaos may exsist in some's parameters and may cause some unexpected damage. This paper proposes a design method of a reset controller for nonlinear chaotic systems. We consider a plant consisting of a linear system with a nonlinear feedback element and show a condition of the parameter for which chaos controls, using describing functions of the nonlinear element and the reset controller. We apply the proposed design method of the reset controller to the forced Van der Pol equation system and show its effectiveness.
{"title":"Reset control of nonlinear chaotic systems using describing function","authors":"M. Iwai","doi":"10.23919/ICCAS.2017.8204309","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204309","url":null,"abstract":"In nonlinear systems, chaos may exsist in some's parameters and may cause some unexpected damage. This paper proposes a design method of a reset controller for nonlinear chaotic systems. We consider a plant consisting of a linear system with a nonlinear feedback element and show a condition of the parameter for which chaos controls, using describing functions of the nonlinear element and the reset controller. We apply the proposed design method of the reset controller to the forced Van der Pol equation system and show its effectiveness.","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":"114281783","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：