Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670292
Chang-hun Lee, Tae-Hun Kim, M. Tahk, Kyung-Soo Kim
This paper deals with a new passive homing guidance law for a stationary or a slowly moving target using sliding mode control technique. The proposed guidance law is designed in such a way of increasing the target observability. In addition, it can control a terminal impact angle to maximize warhead effect. The main idea is that we design the nonlinear sliding surface which makes an oscillatory missile motion along the desired impact angle frame so that the proposed guidance law introduces the LOS angle oscillation continuously. And then the enhanced target observability is achieved by comparing with the other conventional guidance laws such as the proportional navigation guidance. On the nonlinear sliding surface, lateral miss distance, velocity and acceleration command are converged to zero at terminal time. In addition, the proposed guidance law is robust with respect to autopilot lag and uncertainty. Finally, the performance of proposed guidance law is evaluated and demonstrated by number of simulations.
{"title":"Design of guidance law for passive homing missile using sliding mode control","authors":"Chang-hun Lee, Tae-Hun Kim, M. Tahk, Kyung-Soo Kim","doi":"10.1109/ICCAS.2010.5670292","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670292","url":null,"abstract":"This paper deals with a new passive homing guidance law for a stationary or a slowly moving target using sliding mode control technique. The proposed guidance law is designed in such a way of increasing the target observability. In addition, it can control a terminal impact angle to maximize warhead effect. The main idea is that we design the nonlinear sliding surface which makes an oscillatory missile motion along the desired impact angle frame so that the proposed guidance law introduces the LOS angle oscillation continuously. And then the enhanced target observability is achieved by comparing with the other conventional guidance laws such as the proportional navigation guidance. On the nonlinear sliding surface, lateral miss distance, velocity and acceleration command are converged to zero at terminal time. In addition, the proposed guidance law is robust with respect to autopilot lag and uncertainty. Finally, the performance of proposed guidance law is evaluated and demonstrated by number of simulations.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"211 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127420698","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669937
Woosung Park, Joongsup Yun, C. Ryoo, Yongho Kim
While the PN (Proportional Navigation) guidance is known generally in the study of the missile guidance, there are not broadly known guidance laws for the munitions. Some guidance laws like the Impact Point Prediction, Modified Proportional Navigation Guidance, and Neural Network are considered currently. In this paper, we suggest the new guidance law of using the sensitivity. The sensitivity is a value about the relationship between the variation of velocity and the impact point error. Finally, we simulate the trajectory correction of the munition through this guidance law.
{"title":"Guidance law for a modern munition","authors":"Woosung Park, Joongsup Yun, C. Ryoo, Yongho Kim","doi":"10.1109/ICCAS.2010.5669937","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669937","url":null,"abstract":"While the PN (Proportional Navigation) guidance is known generally in the study of the missile guidance, there are not broadly known guidance laws for the munitions. Some guidance laws like the Impact Point Prediction, Modified Proportional Navigation Guidance, and Neural Network are considered currently. In this paper, we suggest the new guidance law of using the sensitivity. The sensitivity is a value about the relationship between the variation of velocity and the impact point error. Finally, we simulate the trajectory correction of the munition through this guidance law.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127480491","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669768
Skulkittiyut Weerachai, M. Mizukawa
Intelligent Space (IS), a kind of intelligent home, is one of the popular of the applying RT into our daily life. In intelligent space environment, human behavior is one of the meaningful information for interpretation of our intention and needs. In this paper, we proposed the human posture recognition approach which focuses on a top-view vision. A top-view vision enables our system to observe the whole area with single camera and also avoid horizontal obstacle. Moreover, a human posture feature which based on DFT (Discrete-time Fourier Transform) coefficients of log-polar histogram has been proposed. We have categorized human behavior to two types. The first one is a stationary behavior which consists of standing, sitting and lying. The second one is a moving behavior.
{"title":"Human behavior recognition via top-view vision for intelligent space","authors":"Skulkittiyut Weerachai, M. Mizukawa","doi":"10.1109/ICCAS.2010.5669768","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669768","url":null,"abstract":"Intelligent Space (IS), a kind of intelligent home, is one of the popular of the applying RT into our daily life. In intelligent space environment, human behavior is one of the meaningful information for interpretation of our intention and needs. In this paper, we proposed the human posture recognition approach which focuses on a top-view vision. A top-view vision enables our system to observe the whole area with single camera and also avoid horizontal obstacle. Moreover, a human posture feature which based on DFT (Discrete-time Fourier Transform) coefficients of log-polar histogram has been proposed. We have categorized human behavior to two types. The first one is a stationary behavior which consists of standing, sitting and lying. The second one is a moving behavior.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130099986","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670136
Su-Gil Lee
Tilting train has the car body, bogie structure and suspension system which are different from existing rolling stock, and tilting system. A tilting train which is suitable for domestic environment was designed with a car made of ultra light nonflammable composite material, instead of existing aluminum car. Thus car body of tilting train shall be subject to constant maintenance to ensure the long lifespan and safe operation. The core part of the tilting train is the mechanical part such as rolling stock and car body and particularly, the coupler of the car body made of new composite material and shape recovery from partial damage are the subjects to be resolved in maintenance.
{"title":"A study on tilting system control of tilting express train in Korea conventional line","authors":"Su-Gil Lee","doi":"10.1109/ICCAS.2010.5670136","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670136","url":null,"abstract":"Tilting train has the car body, bogie structure and suspension system which are different from existing rolling stock, and tilting system. A tilting train which is suitable for domestic environment was designed with a car made of ultra light nonflammable composite material, instead of existing aluminum car. Thus car body of tilting train shall be subject to constant maintenance to ensure the long lifespan and safe operation. The core part of the tilting train is the mechanical part such as rolling stock and car body and particularly, the coupler of the car body made of new composite material and shape recovery from partial damage are the subjects to be resolved in maintenance.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128920143","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670271
Jongdae Jung, H. Myung
User localization is one of the key technologies for mobile robots to successfully interact with humans. Among various localization methods using radio frequency (RF) signals, time of arrival (TOA) based localization is popular since the target coordinates can be directly calculated from the accurate range measurements. In complex indoor environment, however, RF-ranging-based localization is quite challenging since the range measurements suffer not only from signal noise but also from signal blockages and reflections. A set of range measurements taken in complex indoor environment verifies that almost all measurements are nonline-of-sight (NLOS) ranges which have striking difference to the line-of-sight (LOS) distances. These NLOS range measurements make severe degradation in the accuracy of trilateration based localizations if used without any compensation. In this paper we propose a particle filter based localization algorithm which exploits indoor geometry from the given map to estimate the NLOS signal path and compensate the range measurements. The algorithm is verified with experiments performed in real indoor environments.
{"title":"Indoor user localization using particle filter and NLOS ranging model","authors":"Jongdae Jung, H. Myung","doi":"10.1109/ICCAS.2010.5670271","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670271","url":null,"abstract":"User localization is one of the key technologies for mobile robots to successfully interact with humans. Among various localization methods using radio frequency (RF) signals, time of arrival (TOA) based localization is popular since the target coordinates can be directly calculated from the accurate range measurements. In complex indoor environment, however, RF-ranging-based localization is quite challenging since the range measurements suffer not only from signal noise but also from signal blockages and reflections. A set of range measurements taken in complex indoor environment verifies that almost all measurements are nonline-of-sight (NLOS) ranges which have striking difference to the line-of-sight (LOS) distances. These NLOS range measurements make severe degradation in the accuracy of trilateration based localizations if used without any compensation. In this paper we propose a particle filter based localization algorithm which exploits indoor geometry from the given map to estimate the NLOS signal path and compensate the range measurements. The algorithm is verified with experiments performed in real indoor environments.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128956881","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670192
Daun Jeong, Dongyeop Kang, Sangchul Won
In this paper, features of steel defects data are selected using a wrapper algorithm to increase classification performance. The data are constructed using images of steel defects which are classified two classes as defects and pseudo defects. The suggested algorithm selects features which are relevant to class using the kappa statistic. This measure is suggested to improve accuracy of minor class because steel defects data are highly imbalanced. The several algorithms were compared with the algorithm to show performances.
{"title":"Feature selection for steel defects classification","authors":"Daun Jeong, Dongyeop Kang, Sangchul Won","doi":"10.1109/ICCAS.2010.5670192","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670192","url":null,"abstract":"In this paper, features of steel defects data are selected using a wrapper algorithm to increase classification performance. The data are constructed using images of steel defects which are classified two classes as defects and pseudo defects. The suggested algorithm selects features which are relevant to class using the kappa statistic. This measure is suggested to improve accuracy of minor class because steel defects data are highly imbalanced. The several algorithms were compared with the algorithm to show performances.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129130394","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670117
I. Prodan, Sorin Olaru, C. Stoica, S. Niculescu
This paper deals with collision avoidance problems while following an optimal trajectory for a group of agents operating in open space. The basic idea is to use the Model Predictive Control (MPC) technique to solve a realtime optimization problem with non-convex constraints over a finite time horizon. Both centralized and decentralized MPC formulations are presented. In a second stage it is shown that velocity constraints can be added to the collision avoidance restrictions in the optimization problem. Following a specified trajectory, the agents move in the same direction and end up eventually in a particular formation. A primer ingredient in the control design is the generation of a flat trajectory, planned in the physical open space. This allows the agents to maneuver successfully in a dynamic environment and to reach a common objective.
{"title":"Collision avoidance and path following for multi-agent dynamical systems","authors":"I. Prodan, Sorin Olaru, C. Stoica, S. Niculescu","doi":"10.1109/ICCAS.2010.5670117","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670117","url":null,"abstract":"This paper deals with collision avoidance problems while following an optimal trajectory for a group of agents operating in open space. The basic idea is to use the Model Predictive Control (MPC) technique to solve a realtime optimization problem with non-convex constraints over a finite time horizon. Both centralized and decentralized MPC formulations are presented. In a second stage it is shown that velocity constraints can be added to the collision avoidance restrictions in the optimization problem. Following a specified trajectory, the agents move in the same direction and end up eventually in a particular formation. A primer ingredient in the control design is the generation of a flat trajectory, planned in the physical open space. This allows the agents to maneuver successfully in a dynamic environment and to reach a common objective.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128887816","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670193
H. Lim, J. K. Lee, H. Lee, Kiho Kim, E. Kang
A Bridge transported Dual arm Servo-Manipulator (BDSM) was designed to use in a hot-cell at Korea Atomic Energy Research Institute (KAERI). The slave of BDSM can handle a 25 kgf payload object in any posture. The position error resulting from gravity force produces the unnecessary force that the operator does not have to feel. Therefore, gravity force for remote tools or repair equipment must be compensated. Time Delay Control (TDC) is one of the effective and robust control methods when uncertain dynamics or unpredictable disturbances exist. TDC uses past observation of the system's response which is used to cancel the effect of unknown parameters. TDC is applied for a simple one degree of freedom master-slave system, which can improve the position control performance effectively by compensating for gravity force.
{"title":"Master-slave teleoperation control using Time Delay Control","authors":"H. Lim, J. K. Lee, H. Lee, Kiho Kim, E. Kang","doi":"10.1109/ICCAS.2010.5670193","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670193","url":null,"abstract":"A Bridge transported Dual arm Servo-Manipulator (BDSM) was designed to use in a hot-cell at Korea Atomic Energy Research Institute (KAERI). The slave of BDSM can handle a 25 kgf payload object in any posture. The position error resulting from gravity force produces the unnecessary force that the operator does not have to feel. Therefore, gravity force for remote tools or repair equipment must be compensated. Time Delay Control (TDC) is one of the effective and robust control methods when uncertain dynamics or unpredictable disturbances exist. TDC uses past observation of the system's response which is used to cancel the effect of unknown parameters. TDC is applied for a simple one degree of freedom master-slave system, which can improve the position control performance effectively by compensating for gravity force.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130650635","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669769
Hong-Jun Kim, B. Kim
The minimum-energy trajectory planning algorithm on a tangent with translational and rotational motion is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). We have chosen a practical cost function as the total energy drawn from the batteries, in order to lengthen the operational time of a mobile robot with given batteries. After establishing the dynamic equations of TOMRs, the optimal control theory is used to solve the minimum-energy trajectory. Various simulations are performed and the consumed energy is compared to the conventional velocity trajectory with trapezoidal velocity profile. Simulation results reveal that the energy saving is achieved of up to 7.55% compared to the conventional trapezoidal velocity profile.
{"title":"Minimum-energy trajectory planning on a tangent for battery-powered three-wheeled omni-directional mobile robots","authors":"Hong-Jun Kim, B. Kim","doi":"10.1109/ICCAS.2010.5669769","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669769","url":null,"abstract":"The minimum-energy trajectory planning algorithm on a tangent with translational and rotational motion is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). We have chosen a practical cost function as the total energy drawn from the batteries, in order to lengthen the operational time of a mobile robot with given batteries. After establishing the dynamic equations of TOMRs, the optimal control theory is used to solve the minimum-energy trajectory. Various simulations are performed and the consumed energy is compared to the conventional velocity trajectory with trapezoidal velocity profile. Simulation results reveal that the energy saving is achieved of up to 7.55% compared to the conventional trapezoidal velocity profile.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132403939","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669770
N. Tai, K. Ahn
In this paper, an adaptive fuzzy sliding-mode controller (AFSMC) is proposed to control SMA actuator. An approach of self-tuning fuzzy sliding-mode control which combines fuzzy control with the sliding-mode control (SMC), is presented for the tracking control of a class of nonlinear systems with the parameter uncertainties. Based on Lyapunov theory, the asymptotic stability of the overall systems is proved. The controller is applied to compensate the hysteresis phenomenon of SMA. The control results show that the controller is applied successfully to SMA.
{"title":"Apply adaptive fuzzy sliding mode control to SMA actuator","authors":"N. Tai, K. Ahn","doi":"10.1109/ICCAS.2010.5669770","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669770","url":null,"abstract":"In this paper, an adaptive fuzzy sliding-mode controller (AFSMC) is proposed to control SMA actuator. An approach of self-tuning fuzzy sliding-mode control which combines fuzzy control with the sliding-mode control (SMC), is presented for the tracking control of a class of nonlinear systems with the parameter uncertainties. Based on Lyapunov theory, the asymptotic stability of the overall systems is proved. The controller is applied to compensate the hysteresis phenomenon of SMA. The control results show that the controller is applied successfully to SMA.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132507431","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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