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2017 17th International Conference on Control, Automation and Systems (ICCAS)最新文献

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Data association approach to mobile robot localization using non-unique landmarks 基于非唯一地标的移动机器人定位数据关联方法
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204370
Daniel Hong, Geon-Su Heo, Cheolwoo Myung, W. Ra
In global localization problem, the robot should localize itself without the knowledge of its initial pose, i.e., its initial position and attitude. Under GPS-denied environment, non-unique landmarks such as traffic signs can be used as alternative absolute position information. However, such landmarks lead to ambiguous correspondence between landmarks and their features. For a robot to successfully localize itself, this ambiguity should be tackled. To solve the problem, a multiple hypothesis testing method is adopted. As robot detects other landmarks, the number of the hypotheses can be increased exponentially. The nearest neighbor filter technique is applied to prevent the number increase. The capability of the suggested algorithm is examined based on a computer simulation.
在全局定位问题中,机器人在不知道其初始姿态(即初始位置和姿态)的情况下进行自身定位。在gps不存在的环境下,可以使用交通标志等非唯一地标作为替代绝对位置信息。然而,这样的地标导致了地标与其特征之间的模糊对应关系。为了使机器人成功地定位自己,应该解决这种模糊性。为了解决这个问题,我们采用了多重假设检验方法。当机器人检测到其他地标时,假设的数量可以呈指数增长。采用最近邻滤波技术来防止数目的增加。通过计算机仿真验证了所提算法的性能。
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引用次数: 1
The implementation of PI controller for evaporative cooling system in controlled environment greenhouse 受控温室蒸发冷却系统PI控制器的实现
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204344
Maitree Thumma Witchupong Wiboonjaroen, Thanat Sooknuan
This paper presents the development and a real-time implementation of controlled environment greenhouse by using a proportional plus integral (PI) controller based on the microcontroller STM32 and wireless sensor network by using MATLAB/Simulink program to control temperature and humidity. The modelling of the greenhouse is done by using a System Identification toolbox in MATLAB which is identified approximated to be a first order plus dead time system (FOPDT). The PI controller is designed based on Cohen-Coon tuning algorithm. The temperature and humidity sensors are connected with FiO Glide boards to send data to the micro-controller STM32F4 with radio frequencies to control temperature and humidity appropriately by using the PI algorithm and send signals for control the fan and fog sprayer. The size of greenhouse is 2×3×2 meters. The experimental results show that, the PI controller base on microcontroller STM32 can be controlled the inside temperature is lower than the outside temperature of 4 degrees Celsius. And the environment of greenhouse system has improved significantly.
本文介绍了一种基于STM32单片机和无线传感器网络的比例加积分(PI)控制器,利用MATLAB/Simulink程序对温度和湿度进行控制的可控环境温室的开发和实时实现。利用MATLAB中的系统识别工具箱对温室进行建模,将其识别为近似一阶加死时间系统(FOPDT)。基于Cohen-Coon整定算法设计了PI控制器。温湿度传感器与FiO Glide板连接,通过射频向单片机STM32F4发送数据,利用PI算法对温湿度进行适当控制,并发送信号控制风机和雾化器。温室的大小为2×3×2米。实验结果表明,基于STM32单片机的PI控制器可以控制内部温度低于外部温度4摄氏度。温室系统的环境得到了显著改善。
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引用次数: 3
Reconcile security requirements for intelligent vehicles 协调智能车辆的安全需求
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204251
Madhusudan Singh, Shiho Kim
An intelligent vehicle (Self-driving) is an emerging research area. Presently, many industries, research organizations and universities are working on intelligent vehicles. Some researchers are working on security issues of intelligent vehicles (IV). Most of the researchers focus on static security (static security cannot adapt to the changes in the environment). Since the environment of IV is dynamically changing, the approach of static security is not feasible to provide reconcile cyber-security in IV. Reconciling systems evolve in a very uncertain environment and try to fulfill a business objective by sensing the environment, analyzing it and taking the best decision according to its requirements. In this paper, we discuss reconcile security requirements engineering to provide cyber-security in IV. To fulfill our objective, we use the goal modeling approach of RE, the Knowledge Acquisition in Automated Specification (KAOS) Model approach, and designed it using Objectiver tool to find the reconciling requirements. Self-reconciliation in requirement engineering is acquired by five building blocks such as Monitor, Analyze, Plan, Execute and Knowledge i.e. [MAPE-K] loop architecture, which provides the reconciling capabilities to our proposed reconciling requirements for cyber-security in IV.
智能车辆(自动驾驶)是一个新兴的研究领域。目前,许多行业、研究机构和大学都在研究智能汽车。一些研究人员正在研究智能车辆的安全问题(四)。大多数研究人员关注的是静态安全(静态安全不能适应环境的变化)。由于IV的环境是动态变化的,静态安全的方法无法在IV中提供协调网络安全。协调系统在非常不确定的环境中进化,并试图通过感知环境,分析环境并根据其需求做出最佳决策来实现业务目标。在本文中,我们讨论了协调安全需求工程,以提供网络安全。为了实现我们的目标,我们使用了RE的目标建模方法,即自动规范中的知识获取(KAOS)模型方法,并使用objective - ver工具进行了设计,以找到协调需求。需求工程中的自协调是由五个构建块获得的,例如Monitor、Analyze、Plan、Execute和Knowledge,即[MAPE-K]循环体系结构,它为我们在第四章中提出的网络安全协调需求提供了协调能力。
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引用次数: 5
Model identification of nonlinear sputter processes 非线性溅射过程的模型辨识
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204438
C. Woelfel, Sven Kockmann, P. Awakowicz, J. Lunze
A nonlinear control-oriented model for sputter processes based on artificial neural networks and ordinary differential equations is developed. The process is analyzed by use of first-principle models to approximate the process structure. Hence, sputter processes can be described by a static nonlinearity, which results from the plasma processes, and linear and nonlinear dynamics that represent the actuator systems. The experimental identification with a validation of the proposed process structure, the identification of the parameters and the validation of the identified model are discussed. The experiments demonstrate that the identified model predicts the process behavior accurately and can be used for model-based control design.
建立了基于人工神经网络和常微分方程的溅射过程非线性控制模型。利用第一性原理模型对该过程进行了分析,逼近了该过程的结构。因此,溅射过程可以用等离子体过程产生的静态非线性和代表执行器系统的线性和非线性动力学来描述。对所提出的工艺结构进行了实验验证,并讨论了参数的识别和模型的验证。实验表明,所识别的模型能准确地预测过程行为,可用于基于模型的控制设计。
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引用次数: 4
Improvement of face recognition performance evaluation technology by using a display device through color adjustment 利用显示设备通过色彩调整改进人脸识别性能评价技术
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204404
Mi-Young Cho, Youngsook Jeong
Recently, with the increase in the number of social robots, there is a growing interest in face recognition technology for natural interaction between humans and robots. As a result, there is a growing demand for technology that can be used to evaluate the performance of face recognition capable of ensuring reproducibility and objectivity in real service environments. The best way to replace real faces for performance evaluation is to use the facial image output from a display device. Previous studies have reported no significant difference between recognition performance for real faces and facial image output from a display device. However, the question remains whether a difference exists between two images at the low levels; if it does, then how does it affect face recognition performance? To answer these questions, the current study shows color differences before and after the adjustment by using color as a representative feature at the low level, and validates the proposed evaluation method by comparing the differences in recognizing two images.
近年来,随着社交机器人数量的增加,人们对人脸识别技术的兴趣越来越大,人脸识别技术用于人与机器人之间的自然交互。因此,对可用于评估面部识别性能的技术的需求日益增长,这些技术能够确保真实服务环境中的再现性和客观性。代替真实人脸进行性能评估的最佳方法是使用显示设备输出的人脸图像。先前的研究报告显示,对真实面孔的识别性能与显示设备输出的面部图像之间没有显着差异。然而,问题仍然是两个图像之间是否存在差异在低水平;如果有,那么它是如何影响人脸识别性能的呢?为了回答这些问题,本研究在低水平上以颜色作为代表性特征,展示了调整前后的颜色差异,并通过对比两幅图像识别的差异来验证所提出的评价方法。
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引用次数: 0
Designing self-feeding system for increasing independence of elders and Parkinson people 设计自食系统,提高老年人和帕金森患者的独立性
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204317
Nguyen Truong Thinh, T. Tho, Nguyen Thanh Tan
This paper describes a customized self-feeding system designed to increase the independence of a elder person or Parkinson patient who is unable to use his/her arm for self-feeding. Besides, the procedures of design and development of the system are also carried out, and other its tasks control manipulator to feed the food to patients based on nutrients management for patients. This system can help patients self-control his meal replacement for the care of a family member or care worker thereby saving a lot of time and effort of caregivers, and, nutritional management software of each meal will allow caregivers understand nutritional information of the patients in the diet which can not change to improve the quality of meals for patients. The self-feeding system is experienced and evaluated with several cases in nursing home to give suitable design. The experimental results show that this self-feeding system provides a viable alternative to assisting independence in self-feeding as measured by ingesting time and nutrition intake. The self-feeding system is operated autonomous by itself and sent food's data and relative information to monitoring computer based on Internet. Besides, the tool of management can analyze the data according to the nutritional standards, and controller control movements of manipulator and automation tray based on health situation and needs of patients.
本文介绍了一种定制的自我喂食系统,旨在提高老年人或帕金森患者的独立性,他们不能使用他/她的手臂进行自我喂食。此外,还进行了系统的设计与开发流程,以及系统的其他任务控制机械手在对患者进行营养管理的基础上给患者喂食。该系统可以帮助患者在家庭成员或护理人员的照顾下自我控制自己的膳食替代,从而节省了护理人员的大量时间和精力,并且每餐的营养管理软件可以让护理人员了解患者饮食中不可改变的营养信息,从而提高患者的膳食质量。结合养老院的实际情况,对该系统进行了体验和评价,给出了合适的设计方案。实验结果表明,通过摄食时间和营养摄入量的测量,该自食系统为辅助独立自食提供了可行的替代方案。自动上料系统可以自动运行,并将食物的数据和相关信息发送到基于Internet的监控计算机。管理工具根据营养标准对数据进行分析,控制器根据患者的健康状况和需求控制机械手和自动化托盘的动作。
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引用次数: 5
Designing a neuro-fuzzy PID controller based on smith predictor for heating system 基于smith预测器的供热系统神经模糊PID控制器设计
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204416
A. Dehghani, H. Khodadadi
The most important part of the heating, ventilation, and air conditioning technology is heating System. This part is used in smart buildings and provides the desired air quality and thermal comfort. The time delay and uncertainty in model parameters due to the several operation mode cause the main challenges in heating system control by the traditional PID approaches. To overcome these problems, this paper presents an intelligent PID algorithm combines the fuzzy logic and neural network method together and used it in Smith predictor structure. Hence, a fuzzy neural network PID controller based on Smith predictor is proposed in this paper for the heating system. By correction of the dynamic learning of neural network and fuzzy inference, PID parameters of the controller get their optimal values. Simulation results of the heating system illustrate that the performance of the fuzzy neural network PID controller based on Smith predictor in comparison to the other control structures has been greatly improved, with fast response, smallest overshoot and lowest rise and settling time.
采暖、通风、空调技术中最重要的部分是采暖系统。这部分用于智能建筑,提供所需的空气质量和热舒适。多种运行方式所带来的时滞和模型参数的不确定性是传统PID控制供热系统的主要挑战。为了克服这些问题,本文提出了一种将模糊逻辑和神经网络相结合的智能PID算法,并将其应用于Smith预测器结构中。为此,本文提出了一种基于Smith预测器的模糊神经网络PID控制器。通过对神经网络的动态学习和模糊推理进行校正,得到控制器的PID参数的最优值。加热系统的仿真结果表明,基于Smith预测器的模糊神经网络PID控制器的性能与其他控制结构相比有了很大的提高,具有响应快、超调量小、上升沉降时间短等特点。
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引用次数: 17
Distributed learning in a multi-agent potential game 多智能体潜在博弈中的分布式学习
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204449
Chuong Van Nguyen, P. Hoang, Hong-Kyong Kim, H. Ahn
In a non-cooperative dynamic game, each player participating in a changing environment aims to optimize its actions selfishly. In this paper, we focus our analysis on a class of games, namely dynamic potential game in multiagent systems. The problems of the game with constraints and without constraints are both considered; in both cases, we propose algorithms to learn the Nash equilibrium (NE) in a distributed fashion. The idea of NE learning is relied on two-time-scale dynamics and convex optimization. A numerical example is presented to verify the effectiveness of the proposed methods.
在非合作动态博弈中,参与变化环境的每个参与者的目标都是自私地优化自己的行动。本文主要分析了多智能体系统中的一类博弈,即动态势博弈。我们同时考虑了带有约束和不带有约束的游戏问题;在这两种情况下,我们提出了以分布式方式学习纳什均衡(NE)的算法。神经网络学习的思想依赖于双时间尺度动力学和凸优化。算例验证了所提方法的有效性。
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引用次数: 11
IR-UWB radar based near-field intentional eyelid movement sensing under fixed head and body motions 基于超宽频雷达的近场眼睑运动感应
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204277
Sunghwa Lee, Jiwon Seo
In this paper, we introduce a method for sensing intentional eyelid movement using an impulse radio ultra-wideband (IR-UWB) radar. Since it is the first step of the study, we assume that eyes are in the near-field and all the motions, except eyelid movement, are fixed. The measurement of eyelid movement can be utilized in a human computer interface or for the recognition of a driver's drowsiness. If the eyelids move up or down, the amplitude and frequency of radar signals change. We can observe these changes in a three-dimensional graph of raw radar data. Intentional eyelid movements produce some peaks or nulls on the graph. We used two methods to analyze the patterns of eyelid movement. Both methods involve fast Fourier transform (FFT) and exploit a pulse Doppler processing technique of radar signals. Thus, we can calculate the frequency of intentional eyelid movement using these methods. The calculated frequency corresponds to the number of peaks in the raw radar graph.
在本文中,我们介绍了一种使用脉冲无线电超宽带(IR-UWB)雷达来感知眼睑故意运动的方法。由于这是研究的第一步,我们假设眼睛在近场,除了眼睑运动外,所有的运动都是固定的。眼睑运动的测量可用于人机界面或用于识别驾驶员的困倦。如果眼睑上下移动,雷达信号的幅度和频率就会发生变化。我们可以在原始雷达数据的三维图形中观察到这些变化。有意的眼睑运动在图上产生一些高峰或低谷。我们用两种方法分析眼睑运动模式。这两种方法都采用了快速傅里叶变换(FFT)和脉冲多普勒雷达信号处理技术。因此,我们可以使用这些方法计算有意眼睑运动的频率。计算得到的频率与原始雷达图中的峰数相对应。
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引用次数: 4
Auto lead angle algorithm for high efficiency control of BLDC Motor 无刷直流电机自动超前角算法的高效控制
Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204257
Byeong-Chan Jeon, Won-ki Park, Sung-Chul Lee, Hyun-chul Shin
The Brushless DC motors are used in various industries such as home appliances, electric vehicles, Medical, Industrial automation equipment and so on. Because they have advantages of low noise, simple control and high power density. But, in a high-speed motor drive, current lagging which is induced by the impedance of the motor inductor reduces the motor efficiency. To solve this problem, we propose an auto lead angle control algorithm based on a gradient descent algorithm. With this algorithm, the motor current and motor Back-EMF have an identical phase angle. Thus, the efficiency of the motor can be increased. In order to verify the proposed algorithm, we implemented the hardware with FPGA and board including analog circuit. As a result, it was confirmed that the optimum lead angle was found with only one current value without various parameters, and the efficiency of the motor was improved. Also, it is confirmed that the efficiency is further increased at high load and high speed.
无刷直流电动机应用于家电、电动汽车、医疗、工业自动化设备等各个行业。因为它们具有噪声低、控制简单、功率密度高的优点。但是,在高速电机驱动中,由于电机电感的阻抗引起的电流滞后降低了电机的效率。为了解决这一问题,我们提出了一种基于梯度下降算法的自动超前角控制算法。该算法使电机电流与电机反电动势具有相同的相位角。因此,电机的效率可以提高。为了验证所提出的算法,我们使用FPGA和包含模拟电路的电路板实现了硬件。结果表明,在不考虑各种参数的情况下,只需一个电流值即可找到最佳导角,从而提高了电机的效率。在高负荷、高速度下,进一步提高了效率。
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引用次数: 3
期刊
2017 17th International Conference on Control, Automation and Systems (ICCAS)
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