Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204266
Sang-hoon Han, Kyung-Soo Kim, Soohyun Kim
Bipedal walking is one of the core issues of humanoid robots. We generated bipedal walking pattern based on the capture point. Capture point is stable criterion so we can generate desired zero moment point by the capture point and generate center of mass trajectory using the preview control. We also generated the safety fall down & stably get up motion when capture point is out of the stable region.
{"title":"Bipedal robot walking pattern generation based on capture point and minimizing falling damage for posture recovery","authors":"Sang-hoon Han, Kyung-Soo Kim, Soohyun Kim","doi":"10.23919/ICCAS.2017.8204266","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204266","url":null,"abstract":"Bipedal walking is one of the core issues of humanoid robots. We generated bipedal walking pattern based on the capture point. Capture point is stable criterion so we can generate desired zero moment point by the capture point and generate center of mass trajectory using the preview control. We also generated the safety fall down & stably get up motion when capture point is out of the stable region.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"275 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":"121258596","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.2017.8204431
Seong-Ho Kwon, H. Ahn
Sensor failure detection, identification and accommodation (SFDIA) is a challenging and important problem on unmanned aerial vehicles (UAVs) or other safety critical applications. This paper proposes new SFDIA scheme. The new scheme combines advantages of hardware redundancy and analytical redundancy. Fuzzy voter and neural network (NN)-based sensor estimators are developed in the proposed scheme. The fuzzy voter is based on the fuzzy voting scheme. The new SFDIA scheme has a more reliable redundancy based on the FCC NN. The performance of the SFDIA scheme is validated by experiments of quadrotor with two gyro sensor modules. It can detect the sensors failure, pinpoint what sensor fails, and replace the sensor with the other normal sensor.
{"title":"Sensor failure detection, identification and accommodation using neural network and fuzzy voter","authors":"Seong-Ho Kwon, H. Ahn","doi":"10.23919/ICCAS.2017.8204431","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204431","url":null,"abstract":"Sensor failure detection, identification and accommodation (SFDIA) is a challenging and important problem on unmanned aerial vehicles (UAVs) or other safety critical applications. This paper proposes new SFDIA scheme. The new scheme combines advantages of hardware redundancy and analytical redundancy. Fuzzy voter and neural network (NN)-based sensor estimators are developed in the proposed scheme. The fuzzy voter is based on the fuzzy voting scheme. The new SFDIA scheme has a more reliable redundancy based on the FCC NN. The performance of the SFDIA scheme is validated by experiments of quadrotor with two gyro sensor modules. It can detect the sensors failure, pinpoint what sensor fails, and replace the sensor with the other normal sensor.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"99 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":"115153022","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.2017.8204313
Yuki Yoshida, T. Nakakuki
Designing a set of DNA base sequences for a large-scale molecular circuit is a difficult problem in the field of DNA computing. A DNA circuit frequently suffers from unintended DNA strand displacements among strands; this problem can ruin the desired function of a DNA circuit. In this study, our aim was to develop a computational tool for the design of DNA base sequences by means of an original algorithm based on mismatches in a DNA base sequence. Validity of the proposed algorithm is confirmed by practical redesign examples.
{"title":"A tool for the design of DNA base sequences for molecular circuits","authors":"Yuki Yoshida, T. Nakakuki","doi":"10.23919/ICCAS.2017.8204313","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204313","url":null,"abstract":"Designing a set of DNA base sequences for a large-scale molecular circuit is a difficult problem in the field of DNA computing. A DNA circuit frequently suffers from unintended DNA strand displacements among strands; this problem can ruin the desired function of a DNA circuit. In this study, our aim was to develop a computational tool for the design of DNA base sequences by means of an original algorithm based on mismatches in a DNA base sequence. Validity of the proposed algorithm is confirmed by practical redesign examples.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"366 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":"116262903","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.2017.8204290
K. Sirisantisamrid
This paper proposes a concept of how to representation of Thai character features with impulse response of FIR system. The character or numeral image captured by a digital camera is converted to binary image. The character and numeral features extraction method is performed that consists of edge contour detection, thinning, and searching for coordinates of character and number. Then its coordinates is normalized and the DCT coefficients in horizontal and vertical components of coordinates are calculated. Finally, the impulse response of FIR system of that character and number is determined by setting the DCT coefficients in horizontal and vertical components as input and output of FIR system, respectively. The aim of this research is to apply the proposed concept to identify and recognize the characters and numbers on Thai license plate. On experiments, 100 car images are tested to identify the characters and numbers of plate number on Thai license plate. The experimental results shown the accuracy of the proposed method is about 87%.
{"title":"Representation of Thai character features with impulse response of FIR system","authors":"K. Sirisantisamrid","doi":"10.23919/ICCAS.2017.8204290","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204290","url":null,"abstract":"This paper proposes a concept of how to representation of Thai character features with impulse response of FIR system. The character or numeral image captured by a digital camera is converted to binary image. The character and numeral features extraction method is performed that consists of edge contour detection, thinning, and searching for coordinates of character and number. Then its coordinates is normalized and the DCT coefficients in horizontal and vertical components of coordinates are calculated. Finally, the impulse response of FIR system of that character and number is determined by setting the DCT coefficients in horizontal and vertical components as input and output of FIR system, respectively. The aim of this research is to apply the proposed concept to identify and recognize the characters and numbers on Thai license plate. On experiments, 100 car images are tested to identify the characters and numbers of plate number on Thai license plate. The experimental results shown the accuracy of the proposed method is about 87%.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"19 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":"124895869","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.2017.8204265
Jin-Won Lee, G. Park, Jae-Sub Shin, Jongwoon Woo
Robotic manipulators have been used widely in industrial applications such as assembly and machining operations. To perform these operations precisely, the robots must possess good accuracy and repeatability. For that reason, all the industrial robot manufacturers and users are focused on the performance test of the robots using laser tracker. However, robot calibration is needed to precisely align the robot to the sensor and the world coordinate system to get accurate data of the accuracy. It also useful to identify an accurate kinematic robot model. The general idea of calibration is to measure n points in space while storing the joint data for each measured point. Using the joint data the forward kinematics can be calculated to obtain a target position of the robot. The calibration algorithm them starts tweaking the kinematic parameters of the robot such that the measured points are optimally fit the points provided by forward kinematics.
{"title":"Industrial robot calibration method using denavit — Hatenberg parameters","authors":"Jin-Won Lee, G. Park, Jae-Sub Shin, Jongwoon Woo","doi":"10.23919/ICCAS.2017.8204265","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204265","url":null,"abstract":"Robotic manipulators have been used widely in industrial applications such as assembly and machining operations. To perform these operations precisely, the robots must possess good accuracy and repeatability. For that reason, all the industrial robot manufacturers and users are focused on the performance test of the robots using laser tracker. However, robot calibration is needed to precisely align the robot to the sensor and the world coordinate system to get accurate data of the accuracy. It also useful to identify an accurate kinematic robot model. The general idea of calibration is to measure n points in space while storing the joint data for each measured point. Using the joint data the forward kinematics can be calculated to obtain a target position of the robot. The calibration algorithm them starts tweaking the kinematic parameters of the robot such that the measured points are optimally fit the points provided by forward kinematics.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"58 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":"121532291","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.2017.8204324
Seoyoung Nam, J.E. Son, Nakhoon Kim
In this paper, we control an air conditioner system thought the application of a newly developed Intelligent Proportional Integral (i-PI) Controller that regulate a zone temperature to desired setpoint temperature. This method approximates the unknown nonlinear system function and is applied to the problem of controlling compressor for a vapor compression cycle system where evaporating pressure target is automatically determined by the i-PI so that zone temperature is met to desired setpoint.
{"title":"Real-time air conditioner zone temperature control by cascaded intelligent PI","authors":"Seoyoung Nam, J.E. Son, Nakhoon Kim","doi":"10.23919/ICCAS.2017.8204324","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204324","url":null,"abstract":"In this paper, we control an air conditioner system thought the application of a newly developed Intelligent Proportional Integral (i-PI) Controller that regulate a zone temperature to desired setpoint temperature. This method approximates the unknown nonlinear system function and is applied to the problem of controlling compressor for a vapor compression cycle system where evaporating pressure target is automatically determined by the i-PI so that zone temperature is met to desired setpoint.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"61 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":"124794048","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.2017.8204291
S. Gulpanich, V. Krongratana, Arthit Srimuang, V. Tipsuwanporn, N. Wongvanich
This work presents a temperature control of industrial ovens using block FB58 “TCONT_CP” from the Siemens S7-300 PLC, which is evaluated by the OB35 interrupt. Two plants were considered. The first plant was a small industrial oven made of aluminum of size 1.5 cm × 5 cm and taking in 60 W of heat. The second plant was a large industry oven with a 0.125 m3 capacity, capable of exuding 1500 W of heat. Both experiments were controlled by the same Block Command and ovens were tested separately. The Cohen-Coon PID tuning method was firstly applied to both plants, with a separate controller values being obtained for each plant. These values were kept fixed throughout the experiments. A tailored approach was adopted whereby a pulse gen was used in conjunction with the PID control for the small plant; whereas a control zoning was used for the larger plant. Result show that the tailored approach yielded significant improvements in settling times compared to a conventional PID controller.
{"title":"PLC-based industrial temperature controller with different response times","authors":"S. Gulpanich, V. Krongratana, Arthit Srimuang, V. Tipsuwanporn, N. Wongvanich","doi":"10.23919/ICCAS.2017.8204291","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204291","url":null,"abstract":"This work presents a temperature control of industrial ovens using block FB58 “TCONT_CP” from the Siemens S7-300 PLC, which is evaluated by the OB35 interrupt. Two plants were considered. The first plant was a small industrial oven made of aluminum of size 1.5 cm × 5 cm and taking in 60 W of heat. The second plant was a large industry oven with a 0.125 m3 capacity, capable of exuding 1500 W of heat. Both experiments were controlled by the same Block Command and ovens were tested separately. The Cohen-Coon PID tuning method was firstly applied to both plants, with a separate controller values being obtained for each plant. These values were kept fixed throughout the experiments. A tailored approach was adopted whereby a pulse gen was used in conjunction with the PID control for the small plant; whereas a control zoning was used for the larger plant. Result show that the tailored approach yielded significant improvements in settling times compared to a conventional PID controller.","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":"122148090","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.2017.8204484
Jaehyuck Cha, Se-jong Heo, Chan Gook Park
Lunar rover plays a key role in lunar exploration based on its maneuverability. For the successful operation of the lunar rover, a high-accuracy navigation technique has to be obtained. In order to perform high-accuracy inertial navigation, the accuracy of initial alignment is important. In general, initial alignment can be divided into two processes, coarse and fine alignment. In the general coarse alignment process, the acceleration and rotation rate of the stationary rover are used as reference vectors. However, the acceleration and rotation rate of the Moon are 1/6 and 1/27 times smaller than those of the Earth, respectively. As a result, even though the same sensors are used, the performance of initial coarse alignment gets worse on the Moon. In this paper, three coarse alignment methods using accelerometers and sun sensor, instead of accelerometers and gyros, are proposed and the associated errors are analyzed. For comparison, the existing general coarse alignment algorithms are summarized. The analyses are verified by appropriate computer simulations, and it shows that the proposed algorithms greatly improve the performance of coarse alignment, outperforming the existing algorithms at least on the Moon. Therefore, the proposed algorithm is suitable for lunar rover application, and can also be applied to other planetary explorations.
{"title":"Coarse alignment of lunar exploration rover using accelerometer and sun sensor","authors":"Jaehyuck Cha, Se-jong Heo, Chan Gook Park","doi":"10.23919/ICCAS.2017.8204484","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204484","url":null,"abstract":"Lunar rover plays a key role in lunar exploration based on its maneuverability. For the successful operation of the lunar rover, a high-accuracy navigation technique has to be obtained. In order to perform high-accuracy inertial navigation, the accuracy of initial alignment is important. In general, initial alignment can be divided into two processes, coarse and fine alignment. In the general coarse alignment process, the acceleration and rotation rate of the stationary rover are used as reference vectors. However, the acceleration and rotation rate of the Moon are 1/6 and 1/27 times smaller than those of the Earth, respectively. As a result, even though the same sensors are used, the performance of initial coarse alignment gets worse on the Moon. In this paper, three coarse alignment methods using accelerometers and sun sensor, instead of accelerometers and gyros, are proposed and the associated errors are analyzed. For comparison, the existing general coarse alignment algorithms are summarized. The analyses are verified by appropriate computer simulations, and it shows that the proposed algorithms greatly improve the performance of coarse alignment, outperforming the existing algorithms at least on the Moon. Therefore, the proposed algorithm is suitable for lunar rover application, and can also be applied to other planetary explorations.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"55 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":"126447011","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.2017.8204421
Hyunsoo Lee, C. Kang, Wonhee Kim, Woo Young Choi, C. Chung
We present an innovative approach to risk assessment using cooperation concept for collision avoidance of side crash for autonomous lane change system. The cooperation concept is proposed to check an available space in the target lane for lane change in a short period of the future. Before moving to the target lane, the ego vehicle needs to check whether the object vehicle is cooperative or not for the lane change. The object vehicles are indexed as cooperative driver (CD) or non-cooperative driver (NCD) through the conditions based on the relative longitudinal acceleration and the collision free time. If the object vehicle is CD, the ego vehicle moves toward the target lane within the original lane for the preparation of the lane change. The ego vehicle should keep its lateral position within the original lane until the situation for the lane change becomes safe. As soon as the risk assessment becomes safe, the lane change is performed. Therefore, lane change can be started in advance compared to the conventional methods. The proposed method was validated via computational simulation and experimental results.
{"title":"Predictive risk assessment using cooperation concept for collision avoidance of side crash in autonomous lane change systems","authors":"Hyunsoo Lee, C. Kang, Wonhee Kim, Woo Young Choi, C. Chung","doi":"10.23919/ICCAS.2017.8204421","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204421","url":null,"abstract":"We present an innovative approach to risk assessment using cooperation concept for collision avoidance of side crash for autonomous lane change system. The cooperation concept is proposed to check an available space in the target lane for lane change in a short period of the future. Before moving to the target lane, the ego vehicle needs to check whether the object vehicle is cooperative or not for the lane change. The object vehicles are indexed as cooperative driver (CD) or non-cooperative driver (NCD) through the conditions based on the relative longitudinal acceleration and the collision free time. If the object vehicle is CD, the ego vehicle moves toward the target lane within the original lane for the preparation of the lane change. The ego vehicle should keep its lateral position within the original lane until the situation for the lane change becomes safe. As soon as the risk assessment becomes safe, the lane change is performed. Therefore, lane change can be started in advance compared to the conventional methods. The proposed method was validated via computational simulation and experimental results.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"20 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":"125306503","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.2017.8204388
Young Seok Lee, Seok‐Kyoon Kim
This study proposes a proportional-type position controller for the DC motor with the performance recovery property. The proposed method has two merits. First, the disturbance observers are designed so as to make up for the model-plant mismatches. Second, based on the classical cascade structure, a proportional-type position controller is developed via the feedback linearizing technique with the guarantees of the performance recovery and offset-free properties. The efficacy of the proposed method is evaluated by the simulations using the Simscape toolbox and level-2 S-function in MATLAB/Simulink.
{"title":"Robust proportional-type position tracking controller for DC motor with disturbance observers","authors":"Young Seok Lee, Seok‐Kyoon Kim","doi":"10.23919/ICCAS.2017.8204388","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204388","url":null,"abstract":"This study proposes a proportional-type position controller for the DC motor with the performance recovery property. The proposed method has two merits. First, the disturbance observers are designed so as to make up for the model-plant mismatches. Second, based on the classical cascade structure, a proportional-type position controller is developed via the feedback linearizing technique with the guarantees of the performance recovery and offset-free properties. The efficacy of the proposed method is evaluated by the simulations using the Simscape toolbox and level-2 S-function in MATLAB/Simulink.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"7 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":"116547982","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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