Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670308
Keelati Oonchom, Benjaporn Arnuttinanon, O. Wongwirat
Currently, the HDDs (Hard Disk Drives) from a production line have to pass an operation test in a burn-in chamber. To ensure quality, after an operation period, the burn-in chamber has to be calibrated. The calibration process requires an engineer to manually monitor a temperature at the hybrid temperature recorder connected to the burn-in chamber throughout the entire process. It is a time consuming operation and inefficient process due to a large number of burn-in chambers used in the production line, when comparing with a limited number of engineers. This paper expresses a development of hybrid temperature recorder monitoring system used to improve such the calibration process. There are two main systems involved, i.e., a temperature recording system and a monitoring system. However, the monitoring system is mainly focused in this paper. Also, an object-oriented analysis and design methodology (OOADM) is applied in the development process. The monitoring system interconnects the hybrid temperature recorder through a wireless network to receive the temperatures captured from sensors inside the burn-in chamber. Then, the temperature data is processed and displayed at the central server of system in the engineering office. This could allow the engineer to centrally monitor all hybrid temperature recorders used in the calibration process of burn-in chamber in real-time. The monitoring system can display the alarm signal when the errors occur during the calibration process and sent it to the engineer for alerting as well. Furthermore, the temperature data can be stored in a database at the central server for future reference.
{"title":"A development of hybrid temperature recorder monitoring system","authors":"Keelati Oonchom, Benjaporn Arnuttinanon, O. Wongwirat","doi":"10.1109/ICCAS.2010.5670308","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670308","url":null,"abstract":"Currently, the HDDs (Hard Disk Drives) from a production line have to pass an operation test in a burn-in chamber. To ensure quality, after an operation period, the burn-in chamber has to be calibrated. The calibration process requires an engineer to manually monitor a temperature at the hybrid temperature recorder connected to the burn-in chamber throughout the entire process. It is a time consuming operation and inefficient process due to a large number of burn-in chambers used in the production line, when comparing with a limited number of engineers. This paper expresses a development of hybrid temperature recorder monitoring system used to improve such the calibration process. There are two main systems involved, i.e., a temperature recording system and a monitoring system. However, the monitoring system is mainly focused in this paper. Also, an object-oriented analysis and design methodology (OOADM) is applied in the development process. The monitoring system interconnects the hybrid temperature recorder through a wireless network to receive the temperatures captured from sensors inside the burn-in chamber. Then, the temperature data is processed and displayed at the central server of system in the engineering office. This could allow the engineer to centrally monitor all hybrid temperature recorders used in the calibration process of burn-in chamber in real-time. The monitoring system can display the alarm signal when the errors occur during the calibration process and sent it to the engineer for alerting as well. Furthermore, the temperature data can be stored in a database at the central server for future reference.","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":"127881611","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.2010.5669782
A. K. Kwan, D. Van Quang, Y. Il
In this paper, a nonlinear control system using a fuzzy self tuning Grey predictor based on a PID controller is proposed. Firstly, the PID controller is designed according to the Zieger-Nichos 2 method with fast response and high robustness. Secondly, the grey predictor is suggested to use to estimate the system response in a near future in order to improve the control performance. In addition, the step of Grey predictor is adjusted by using the fuzzy control to satisfy the control requirement. Consequently, the control system fastens rising time, shortens settling time, reduces steady state error to zero, oppresses overshoot of transient response, and also prevents disturbance. A detailed specification of the control structure and its design process as well as simulation results achieved from Matlab/Simulink program are also presented. The simulation results show that the proposed control method has the ability to apply for nonlinear systems with higher control performance.
{"title":"A nonlinear control system using a fuzzy self tuning Grey predictor based on a PID controller","authors":"A. K. Kwan, D. Van Quang, Y. Il","doi":"10.1109/ICCAS.2010.5669782","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669782","url":null,"abstract":"In this paper, a nonlinear control system using a fuzzy self tuning Grey predictor based on a PID controller is proposed. Firstly, the PID controller is designed according to the Zieger-Nichos 2 method with fast response and high robustness. Secondly, the grey predictor is suggested to use to estimate the system response in a near future in order to improve the control performance. In addition, the step of Grey predictor is adjusted by using the fuzzy control to satisfy the control requirement. Consequently, the control system fastens rising time, shortens settling time, reduces steady state error to zero, oppresses overshoot of transient response, and also prevents disturbance. A detailed specification of the control structure and its design process as well as simulation results achieved from Matlab/Simulink program are also presented. The simulation results show that the proposed control method has the ability to apply for nonlinear systems with higher control performance.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"45 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":"123170748","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.2010.5669745
Hiroki Ishiyama, T. Nakakuki, C. Ishii, Mitsuo Kobayashi
In this paper, we propose two analysis methods for a complicated and huge biological system. As a practical biological system, we employ a newly published signal transduction system with transcriptional control. For such a system, only few analysis tools such as parameter sensitivity analysis are available. First, we extend the concept of Bode diagram, including the effect of changes of both amplitude are frequency of input signal on output response. Next, we introduce the calculation of the L2-induced gain. Although it is difficult to find the nominal gain theoretically, we show that the distribution of the gain over various amplitudes and frequencies of input signal provides us some useful information in a biological system.
{"title":"Frequency analysis of intracellular signal transduction systems","authors":"Hiroki Ishiyama, T. Nakakuki, C. Ishii, Mitsuo Kobayashi","doi":"10.1109/ICCAS.2010.5669745","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669745","url":null,"abstract":"In this paper, we propose two analysis methods for a complicated and huge biological system. As a practical biological system, we employ a newly published signal transduction system with transcriptional control. For such a system, only few analysis tools such as parameter sensitivity analysis are available. First, we extend the concept of Bode diagram, including the effect of changes of both amplitude are frequency of input signal on output response. Next, we introduce the calculation of the L2-induced gain. Although it is difficult to find the nominal gain theoretically, we show that the distribution of the gain over various amplitudes and frequencies of input signal provides us some useful information in a biological system.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"9 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":"123333464","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.2010.5670318
W. Lertsalee, J. Parnklang
This article is a CMOS Start Up Circuit Designed which can supply the current flow (ISTART) adjustable to the clock generator for digital system generally. The circuit designed can be assigned start current value by giving the appropriate reference voltage. Current value is set to adjust in the range of 0-1.35 mA. The reference tune voltage is in the range of 0-5V to follow voltage value of microcontroller in present. In addition, while the circuit to obtain signals to PWD that current value flowing in start up circuit is zero. This means that the circuit does not consume any power.
{"title":"Adjustable current startup circuit reference with zero steady state current","authors":"W. Lertsalee, J. Parnklang","doi":"10.1109/ICCAS.2010.5670318","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670318","url":null,"abstract":"This article is a CMOS Start Up Circuit Designed which can supply the current flow (ISTART) adjustable to the clock generator for digital system generally. The circuit designed can be assigned start current value by giving the appropriate reference voltage. Current value is set to adjust in the range of 0-1.35 mA. The reference tune voltage is in the range of 0-5V to follow voltage value of microcontroller in present. In addition, while the circuit to obtain signals to PWD that current value flowing in start up circuit is zero. This means that the circuit does not consume any power.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"367 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":"123388723","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.2010.5670251
Jongsun Ahn, H. Song, S. Sung, Jin-bok Kim, Young Jae Lee
Ephemeris parameters in navigation message data which are updated every 2 hours has irregular patterns, But in this works, we discovered regular patterns in 24h interval some ephemeris parameters (Semi-Major Axis, Eccentricity, Mean Motion, Inclination Angle, Rate of Inclination Angle, Harmonic Perturbation Terms). In this paper, we evaluate the ephemeris parameter estimation algorithms for SA-GPS using 24h interval GPS ephemeris patterns. Using 24 hours ephemeris parameter regular patterns, we propose simple estimation methods (Polynomial method, Sine estimation method) for estimation of current ephemeris parameters.
{"title":"An efficient GPS parameter prediction method using GPS ephemeris patterns for Self-Assisted GPS","authors":"Jongsun Ahn, H. Song, S. Sung, Jin-bok Kim, Young Jae Lee","doi":"10.1109/ICCAS.2010.5670251","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670251","url":null,"abstract":"Ephemeris parameters in navigation message data which are updated every 2 hours has irregular patterns, But in this works, we discovered regular patterns in 24h interval some ephemeris parameters (Semi-Major Axis, Eccentricity, Mean Motion, Inclination Angle, Rate of Inclination Angle, Harmonic Perturbation Terms). In this paper, we evaluate the ephemeris parameter estimation algorithms for SA-GPS using 24h interval GPS ephemeris patterns. Using 24 hours ephemeris parameter regular patterns, we propose simple estimation methods (Polynomial method, Sine estimation method) for estimation of current ephemeris parameters.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"91 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":"126241085","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.2010.5669914
Kanlaya Rattanyu, M. Ohkura, M. Mizukawa
To increase the amount of happiness in our daily life, we must recover ourselves from displeasing emotional states and try to keep to more pleasing emotions. The way for the user to avoid displeasing emotions depends on the category of the emotion, whether it be fear, anger, disgust or sadness. In this study, we focus on emotion recognition for service robots in the living space. An emotional state is important information that allows a robot system to provide appropriate services in way that are more in tune with users' needs and preferences. Moreover, the users' emotional state can be feedbacks to evaluate user's level of satisfaction in the services. We apply a diagnosis method by using analyzed value of biological signals for the emotion recognition. Our system design is based on wireless and wearable physiological sensors for mobility and convenience of users' daily lifestyle.
{"title":"Emotion monitoring from physiological signals for service robots in the living space","authors":"Kanlaya Rattanyu, M. Ohkura, M. Mizukawa","doi":"10.1109/ICCAS.2010.5669914","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669914","url":null,"abstract":"To increase the amount of happiness in our daily life, we must recover ourselves from displeasing emotional states and try to keep to more pleasing emotions. The way for the user to avoid displeasing emotions depends on the category of the emotion, whether it be fear, anger, disgust or sadness. In this study, we focus on emotion recognition for service robots in the living space. An emotional state is important information that allows a robot system to provide appropriate services in way that are more in tune with users' needs and preferences. Moreover, the users' emotional state can be feedbacks to evaluate user's level of satisfaction in the services. We apply a diagnosis method by using analyzed value of biological signals for the emotion recognition. Our system design is based on wireless and wearable physiological sensors for mobility and convenience of users' daily lifestyle.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"19 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":"123006052","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.2010.5669690
C. Lim, K. Seo
Variable speed operation of wind turbines is conducted by torque control below rated wind speed. Variable speed wind turbines could lead to extract maximum power, which is the main objective of torque control, from the potential aerodynamic power of the wind. Torque control methods of wind turbines are classified into two cases; torque mode control and speed mode control. In this paper, simulation results applying two torque control methods in the optimal region are presented for a multi-MW wind turbine and response properties of each method are compared.
{"title":"A comparative study on responses in the optimal region according to torque control methods for wind turbines","authors":"C. Lim, K. Seo","doi":"10.1109/ICCAS.2010.5669690","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669690","url":null,"abstract":"Variable speed operation of wind turbines is conducted by torque control below rated wind speed. Variable speed wind turbines could lead to extract maximum power, which is the main objective of torque control, from the potential aerodynamic power of the wind. Torque control methods of wind turbines are classified into two cases; torque mode control and speed mode control. In this paper, simulation results applying two torque control methods in the optimal region are presented for a multi-MW wind turbine and response properties of each method are compared.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"18 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":"122219702","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.2010.5669938
Yushing Cheung, J. Chung
This paper focuses on developing a control method for a robotic single-master multi-slave (SMMS) system to cooperatively control mobile agents for multi-weapon multi-target pairing (WTP). Major components of the developed control method are potential field based leader-follower formation, compensation for operator-induced errors, and weapon-target pairings (WTP). A SMMS system has two subsystems, a single master and multi-slave robots. The master robot can transmit operator commands to the multi-slave robots which are a team of mobile manipulators to execute them while sensing environments. The multi-slave robots are divided into subgroups according to the number and types of weapons and targets for optimal effects. Each subgroup has a leader-follower architecture/ formation. The group leader is remotely controlled by a human operator to lead the leaders and followers of the subgroups. The transparency of the SMMS system is adjusted adaptively due to the compensation for operator-induced errors if they are detected. A sensor based auto-switching method is developed as a means to combine formation reconfiguration, collision avoidance, and motion control for reliability and robustness of the system. The WTP method is derived from the proven auction algorithm for a single target and is extended for multi-weapon multi-target cases, which optimizes effect-based weapon-target pairing based on a new heuristic algorithm. This is a novel approach that combines rule-based and function-based weapon-target pairing. The multi-weapon/ target pairing (MWTP) method is a weighted attack guidance table (WAGT), which includes the benefits of assigning weapon system combinations to targets. MWTP converges rapidly - as is the case for auction algorithms with integer benefits - but produces a suboptimal solution in general. Since MWTP represents a heuristic algorithm, further performance evaluation is anticipated in the future to verify the performance and the quality of the solution. A simulation study illustrates the efficacy of the proposed SMMS system for weapon-target pairing and target pursuit applications. In the simulation, the targets are assumed to be detected, identified, and geo-located by the operator and/or sensors. The team moves in an adaptive leader-follower formation to avoid obstacles if any and track targets as if the team was in a potential field. Each robot in the team is prioritized according to its functionality based on the types of weapons and targets, and subgroups are formed accordingly. Then, a robot in each subgroup is selected as the leader based on its proximity to the target and the weapon type. The subgroup leaders track the reference paths generated with respect to the positions of the group leader.
{"title":"Semi-autonomous collaborative control for multi-weapon multi-target pairing","authors":"Yushing Cheung, J. Chung","doi":"10.1109/ICCAS.2010.5669938","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669938","url":null,"abstract":"This paper focuses on developing a control method for a robotic single-master multi-slave (SMMS) system to cooperatively control mobile agents for multi-weapon multi-target pairing (WTP). Major components of the developed control method are potential field based leader-follower formation, compensation for operator-induced errors, and weapon-target pairings (WTP). A SMMS system has two subsystems, a single master and multi-slave robots. The master robot can transmit operator commands to the multi-slave robots which are a team of mobile manipulators to execute them while sensing environments. The multi-slave robots are divided into subgroups according to the number and types of weapons and targets for optimal effects. Each subgroup has a leader-follower architecture/ formation. The group leader is remotely controlled by a human operator to lead the leaders and followers of the subgroups. The transparency of the SMMS system is adjusted adaptively due to the compensation for operator-induced errors if they are detected. A sensor based auto-switching method is developed as a means to combine formation reconfiguration, collision avoidance, and motion control for reliability and robustness of the system. The WTP method is derived from the proven auction algorithm for a single target and is extended for multi-weapon multi-target cases, which optimizes effect-based weapon-target pairing based on a new heuristic algorithm. This is a novel approach that combines rule-based and function-based weapon-target pairing. The multi-weapon/ target pairing (MWTP) method is a weighted attack guidance table (WAGT), which includes the benefits of assigning weapon system combinations to targets. MWTP converges rapidly - as is the case for auction algorithms with integer benefits - but produces a suboptimal solution in general. Since MWTP represents a heuristic algorithm, further performance evaluation is anticipated in the future to verify the performance and the quality of the solution. A simulation study illustrates the efficacy of the proposed SMMS system for weapon-target pairing and target pursuit applications. In the simulation, the targets are assumed to be detected, identified, and geo-located by the operator and/or sensors. The team moves in an adaptive leader-follower formation to avoid obstacles if any and track targets as if the team was in a potential field. Each robot in the team is prioritized according to its functionality based on the types of weapons and targets, and subgroups are formed accordingly. Then, a robot in each subgroup is selected as the leader based on its proximity to the target and the weapon type. The subgroup leaders track the reference paths generated with respect to the positions of the group leader.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"17 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":"122310613","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.2010.5670158
T. Tokuyasu, T. Shuto, K. Yufu, S. Kanao, A. Marui, M. Komeda
Computer-Aided Diagnosis (CAD) system that helps medical staffs to diagnose patient's disease conditions has been used in a variety fields of medicine. For cardiovascular surgery, radiologists manually construct 3-D volume model of patient organ and provide this information to cardiovascular surgeons, therefore automation technique for image processing of building patient 3-D volume model is highly requested from clinical site. The 3-D volume model is used in not only diagnosing patient disease condition, but also making a surgical plan before an operation. In the case of using CAD system for a cardiovascular disease patient, computed tomography angiography (CTA) has been used as the source data that clearly indicates the region of blood flow on the image due to contrast agent. However, sufficient information for the diagnosis is not obtained from CTA, because the regions of aneurysm and aortic wall tissue can not distinguished correctly even using the latest CAD system. Then, this study proposes Fuzzy-based region growing method that enables a computer to have the ability of reading radiogram. We focused on the skill of reading radiogram of experienced doctors, because they know the boundary line between aneurysm and aortic wall tissue on CTA image. Hence, Fuzzy inference has been employed to express doctor's skill of reading radiogram and used as the growing criteria. The proposed method is applied to one patient CTA data and its result is shown and discussed in this paper.
{"title":"Automatic extraction of aortic aneurysm from thoracic CTA based on Fuzzy-based 3-D region growing method","authors":"T. Tokuyasu, T. Shuto, K. Yufu, S. Kanao, A. Marui, M. Komeda","doi":"10.1109/ICCAS.2010.5670158","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670158","url":null,"abstract":"Computer-Aided Diagnosis (CAD) system that helps medical staffs to diagnose patient's disease conditions has been used in a variety fields of medicine. For cardiovascular surgery, radiologists manually construct 3-D volume model of patient organ and provide this information to cardiovascular surgeons, therefore automation technique for image processing of building patient 3-D volume model is highly requested from clinical site. The 3-D volume model is used in not only diagnosing patient disease condition, but also making a surgical plan before an operation. In the case of using CAD system for a cardiovascular disease patient, computed tomography angiography (CTA) has been used as the source data that clearly indicates the region of blood flow on the image due to contrast agent. However, sufficient information for the diagnosis is not obtained from CTA, because the regions of aneurysm and aortic wall tissue can not distinguished correctly even using the latest CAD system. Then, this study proposes Fuzzy-based region growing method that enables a computer to have the ability of reading radiogram. We focused on the skill of reading radiogram of experienced doctors, because they know the boundary line between aneurysm and aortic wall tissue on CTA image. Hence, Fuzzy inference has been employed to express doctor's skill of reading radiogram and used as the growing criteria. The proposed method is applied to one patient CTA data and its result is shown and discussed in this paper.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"45 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":"114067897","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.2010.5670167
Tae-Hee An, Huu Cong-Nguyen, J. Sok, Woo-Song Lee, Sung-Hyun Han
In this paper, we present two kinds of robust control schemes for robot system which has the parametric uncertainties. In order to compensate these uncertainties, we use the neural network control system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The reliability of the control scheme is shown by computer simulations and experiment of robot manipulator with 8 axis.
{"title":"A robust neural network control of robot manipulator for industrial application","authors":"Tae-Hee An, Huu Cong-Nguyen, J. Sok, Woo-Song Lee, Sung-Hyun Han","doi":"10.1109/ICCAS.2010.5670167","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670167","url":null,"abstract":"In this paper, we present two kinds of robust control schemes for robot system which has the parametric uncertainties. In order to compensate these uncertainties, we use the neural network control system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The reliability of the control scheme is shown by computer simulations and experiment of robot manipulator with 8 axis.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"83 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":"116068795","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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