Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505648
A. Agrawal, B. Prasad, V. Viswanathan, S. K. Panda
Under-water exploration and surveillance requires a significant amount of onboard power for unmanned underwater vehicles (UUVs). The main focus of researchers and scientists is to design small, versatile UUVs, which can relax the power requirement onboard and hence increase the mission time. The paper proposes to develop a spherical underwater robot that can employ a docking or soft grounding behavior. To obtain this mechanism the spherical underwater robot should have the capability of self-ballast. By optimally positioning itself and sitting on the bottom, the spherical underwater robot can be placed in sleep mode, with only monitoring sensors awake, thereby harvesting power from the water current through dynamo based rotor blades. After the evaluation of different depth control strategies and research for commercially available UUVs, a concept was found by several comparisons. A diving system has been designed, built and implemented. Additionally, a dynamic model of the diving system has been developed and tested, allowing variable depth control. A Spherical Underwater Robot (SUR) is designed to perform test runs in a test pool. The development of the dynamic model is carried out by a simulation implemented in the MATLAB/Simulink software platform. Experimental test were conducted to validate the dynamic model.
{"title":"Dynamic modeling of variable ballast tank for spherical underwater robot","authors":"A. Agrawal, B. Prasad, V. Viswanathan, S. K. Panda","doi":"10.1109/ICIT.2013.6505648","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505648","url":null,"abstract":"Under-water exploration and surveillance requires a significant amount of onboard power for unmanned underwater vehicles (UUVs). The main focus of researchers and scientists is to design small, versatile UUVs, which can relax the power requirement onboard and hence increase the mission time. The paper proposes to develop a spherical underwater robot that can employ a docking or soft grounding behavior. To obtain this mechanism the spherical underwater robot should have the capability of self-ballast. By optimally positioning itself and sitting on the bottom, the spherical underwater robot can be placed in sleep mode, with only monitoring sensors awake, thereby harvesting power from the water current through dynamo based rotor blades. After the evaluation of different depth control strategies and research for commercially available UUVs, a concept was found by several comparisons. A diving system has been designed, built and implemented. Additionally, a dynamic model of the diving system has been developed and tested, allowing variable depth control. A Spherical Underwater Robot (SUR) is designed to perform test runs in a test pool. The development of the dynamic model is carried out by a simulation implemented in the MATLAB/Simulink software platform. Experimental test were conducted to validate the dynamic model.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115136253","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505650
H. Halfar
In this paper, a general purpose inverse kinematics algorithm is proposed. First, an introduction into the topic and an overview over the recent research about this topic is given. The proposed inverse kinematics approach, divided into a configuration and calculation part, is described. Finally, results of a example experiment and some estimations about the accuracy as well as a conclusion is given.
{"title":"General purpose inverse kinematics using lookup-tables","authors":"H. Halfar","doi":"10.1109/ICIT.2013.6505650","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505650","url":null,"abstract":"In this paper, a general purpose inverse kinematics algorithm is proposed. First, an introduction into the topic and an overview over the recent research about this topic is given. The proposed inverse kinematics approach, divided into a configuration and calculation part, is described. Finally, results of a example experiment and some estimations about the accuracy as well as a conclusion is given.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114754159","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505958
Saurabh Pal, Srabasti Mukherjee, Prasenjit Choudhury, Subrata Nandi, N. Debnath
The rapid development of mobile communication technology leads to a new style of learning - `m-learning'. The demand of personalized learning through mobile devices creates a new paradigm in education system. The benefits and features of m-learning extend its applicability from distance education to supplementary aid for conventional classroom learning. The paper discusses the necessity, challenges and opportunities of using m-learning in university campus as an aid to conventional learning. A conceptual model is presented for implementing m-learning in university campus along with existing e-learning system.
{"title":"M - learning in university campus scenario - Design and implementation issues","authors":"Saurabh Pal, Srabasti Mukherjee, Prasenjit Choudhury, Subrata Nandi, N. Debnath","doi":"10.1109/ICIT.2013.6505958","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505958","url":null,"abstract":"The rapid development of mobile communication technology leads to a new style of learning - `m-learning'. The demand of personalized learning through mobile devices creates a new paradigm in education system. The benefits and features of m-learning extend its applicability from distance education to supplementary aid for conventional classroom learning. The paper discusses the necessity, challenges and opportunities of using m-learning in university campus as an aid to conventional learning. A conceptual model is presented for implementing m-learning in university campus along with existing e-learning system.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115124736","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505690
J. L. Azcue-Puma, A. S. Sguarezi Filho, E. Ruppert
The conventional direct field oriented control scheme has two PI current controllers, and with the aim to reduce the quantity of these controllers, it is proposed a unique Fuzzy Current Controller (FCC) to substitute both PI controllers. The FCC calculates the quadrature components of the stator voltage vector, necessary to maintain the load. The rule base for the proposed controller is defined as a function of the stator current error components. The FCC takes trapezoidal and triangular membership functions for fuzzification of its inputs. The performance of the proposed FCC controller is analyzed through several tests such as: trapezoidal and triangular profile speed reversion, a step change in speed reference and a step change in the load reference with constant speed. The Experimental results show that the proposed FCC ensures decoupling current control and low current ripple, validating the proposed controller.
{"title":"Direct-FOC with Fuzzy Current Control for asynchronous machine","authors":"J. L. Azcue-Puma, A. S. Sguarezi Filho, E. Ruppert","doi":"10.1109/ICIT.2013.6505690","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505690","url":null,"abstract":"The conventional direct field oriented control scheme has two PI current controllers, and with the aim to reduce the quantity of these controllers, it is proposed a unique Fuzzy Current Controller (FCC) to substitute both PI controllers. The FCC calculates the quadrature components of the stator voltage vector, necessary to maintain the load. The rule base for the proposed controller is defined as a function of the stator current error components. The FCC takes trapezoidal and triangular membership functions for fuzzification of its inputs. The performance of the proposed FCC controller is analyzed through several tests such as: trapezoidal and triangular profile speed reversion, a step change in speed reference and a step change in the load reference with constant speed. The Experimental results show that the proposed FCC ensures decoupling current control and low current ripple, validating the proposed controller.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116569887","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505826
P. Phalguni, K. Ganapathi, V. Madumbu, R. Rajendran, S. David
This paper discusses the design and processor implementation of a system that detects and recognizes traffic signs present in an image. Morphological operators, segmentation and contour detection are used for isolating the Regions of Interest (ROIs) from the input image, while five methods - Hu moment matching, histogram based matching, Histogram of Gradients based matching, Euclidean distance based matching and template matching are used for recognizing the traffic sign in the ROI. A classification system based on the shape of the sign is adopted. The performance of the various recognition methods is evaluated by comparing the number of clock cycles used to run the algorithm on the Texas Instruments TMS320C6748 processor. The use of multiple methods for recognizing the traffic signs allows for customization based on the performance of the methods for different datasets. The experiments show that the developed system is robust and well-suited for real-time applications and achieved recognition and classification accuracies of upto 90%.
{"title":"Design and implementation of an automatic traffic sign recognition system on TI OMAP-L138","authors":"P. Phalguni, K. Ganapathi, V. Madumbu, R. Rajendran, S. David","doi":"10.1109/ICIT.2013.6505826","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505826","url":null,"abstract":"This paper discusses the design and processor implementation of a system that detects and recognizes traffic signs present in an image. Morphological operators, segmentation and contour detection are used for isolating the Regions of Interest (ROIs) from the input image, while five methods - Hu moment matching, histogram based matching, Histogram of Gradients based matching, Euclidean distance based matching and template matching are used for recognizing the traffic sign in the ROI. A classification system based on the shape of the sign is adopted. The performance of the various recognition methods is evaluated by comparing the number of clock cycles used to run the algorithm on the Texas Instruments TMS320C6748 processor. The use of multiple methods for recognizing the traffic signs allows for customization based on the performance of the methods for different datasets. The experiments show that the developed system is robust and well-suited for real-time applications and achieved recognition and classification accuracies of upto 90%.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125490305","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505961
R. Saegusa, G. Metta, G. Sandini, L. Natale
The paper describes a framework for action learning in anthropomorphic robots. The key idea of the framework is that the robot voluntarily generates movements to identify its own body, and refers to the identified body in learning of fixation, reaching and grasping actions for object operation. Developmental body perception is critical to identify changing body parts in unknown or non-stationary environments. The consolidation of action learning with developmental body perception allows for continuous body awareness and anticipation of self-generated action's results. We evaluated the proposed framework in experiments with a real robot. In experiments, the robot achieved autonomous body identification, learning of fixation, reaching and gasping, and anticipation-based action planning as well as its execution in object operation tasks.
{"title":"Action learning based on developmental body perception","authors":"R. Saegusa, G. Metta, G. Sandini, L. Natale","doi":"10.1109/ICIT.2013.6505961","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505961","url":null,"abstract":"The paper describes a framework for action learning in anthropomorphic robots. The key idea of the framework is that the robot voluntarily generates movements to identify its own body, and refers to the identified body in learning of fixation, reaching and grasping actions for object operation. Developmental body perception is critical to identify changing body parts in unknown or non-stationary environments. The consolidation of action learning with developmental body perception allows for continuous body awareness and anticipation of self-generated action's results. We evaluated the proposed framework in experiments with a real robot. In experiments, the robot achieved autonomous body identification, learning of fixation, reaching and gasping, and anticipation-based action planning as well as its execution in object operation tasks.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121977360","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505669
J. Petereit, T. Emter, C. Frey
Safe and efficient path planning for mobile robots in dynamic environments is still a challenging research topic. Most approaches use separate algorithms for global path planning and local obstacle avoidance. Furthermore, planning a path for a sequence of goals is mostly done by planning to each next goal individually. These two strategies generally result in sub-optimal navigation strategies. In this paper, we present an algorithm which addresses these problems in a single combined approach. For this purpose, we model the static and dynamic risk of the environment in a consistent way and propose a novel graph structure based on a state × time × goal lattice with hybrid dimensionality. It allows the joint planning for multiple goals while incorporating collision risk due to dynamic and static obstacles. It computes hybrid solutions which are part trajectory and part path. Finally, we provide some results of our algorithm in action to prove its high quality solutions and real-time capability.
{"title":"Safe mobile robot motion planning for waypoint sequences in a dynamic environment","authors":"J. Petereit, T. Emter, C. Frey","doi":"10.1109/ICIT.2013.6505669","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505669","url":null,"abstract":"Safe and efficient path planning for mobile robots in dynamic environments is still a challenging research topic. Most approaches use separate algorithms for global path planning and local obstacle avoidance. Furthermore, planning a path for a sequence of goals is mostly done by planning to each next goal individually. These two strategies generally result in sub-optimal navigation strategies. In this paper, we present an algorithm which addresses these problems in a single combined approach. For this purpose, we model the static and dynamic risk of the environment in a consistent way and propose a novel graph structure based on a state × time × goal lattice with hybrid dimensionality. It allows the joint planning for multiple goals while incorporating collision risk due to dynamic and static obstacles. It computes hybrid solutions which are part trajectory and part path. Finally, we provide some results of our algorithm in action to prove its high quality solutions and real-time capability.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125279948","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505769
A. Spies, M. Kamper
In this paper a possible reactive power control method is developed for the direct-drive direct-grid connected slip permanent magnet wind generator. By using a solid-state-assisted on-load tap changer transformer, the terminal voltage of the generator can be varied. In this way the generator can be operated in over- or under-excited mode, allowing for discreet control over the reactive power output of the generator. Solid-state switches are used in the transformer switchgear to increase the lifetime of the diverter circuit. Along with the transformer, two small capacitor banks are also used to deliver additional reactive power when needed. The performance of the system is simulated and the results are evaluated against the grid code specifications of the National Energy Regulator of South Africa.
{"title":"Reactive power control of a direct grid connected slip synchronous permanent magnet wind generator","authors":"A. Spies, M. Kamper","doi":"10.1109/ICIT.2013.6505769","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505769","url":null,"abstract":"In this paper a possible reactive power control method is developed for the direct-drive direct-grid connected slip permanent magnet wind generator. By using a solid-state-assisted on-load tap changer transformer, the terminal voltage of the generator can be varied. In this way the generator can be operated in over- or under-excited mode, allowing for discreet control over the reactive power output of the generator. Solid-state switches are used in the transformer switchgear to increase the lifetime of the diverter circuit. Along with the transformer, two small capacitor banks are also used to deliver additional reactive power when needed. The performance of the system is simulated and the results are evaluated against the grid code specifications of the National Energy Regulator of South Africa.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122662011","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505850
D. Brevi, G. Gavilanes, C. Russo, R. Scopigno
Based on a real industrial case, we present a study on the application of WiFi to a delay-critical automation scenario. The primary purpose of the study was the identification of standard-compliant techniques, built on the top of IEEE 802.11, able to optimize the timing performance of the wireless network based on the application specific requirements. Several techniques are compared, all aimed at the consecutive polling of multiple stations by a central monitor node; basically the proposed techniques try to minimize the timing impact of CSMA/CA, proactively preventing collisions and soft synchronizing transmissions at upper layers.
{"title":"Comparison of WiFi-compliant techniques for delay-sensitive wireless monitoring","authors":"D. Brevi, G. Gavilanes, C. Russo, R. Scopigno","doi":"10.1109/ICIT.2013.6505850","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505850","url":null,"abstract":"Based on a real industrial case, we present a study on the application of WiFi to a delay-critical automation scenario. The primary purpose of the study was the identification of standard-compliant techniques, built on the top of IEEE 802.11, able to optimize the timing performance of the wireless network based on the application specific requirements. Several techniques are compared, all aimed at the consecutive polling of multiple stations by a central monitor node; basically the proposed techniques try to minimize the timing impact of CSMA/CA, proactively preventing collisions and soft synchronizing transmissions at upper layers.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128572840","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 : 2013-04-23DOI: 10.1109/ICIT.2013.6505821
T. Vamsi, N. Kulshrestha, A. Mishra
This paper proposes an efficient and optimized architecture for the hardware implementation of the Kuwahara filter, which is used for edge-preserving noise removal of images. The algorithmic strength of the Kuwahara algorithm has been greatly reduced by various optimizations in the variance computation. A hybrid serial-parallel architecture is designed which takes advantage of the proposed optimizations. This results in a time and hardware efficient architecture. A comparative study of the proposed and traditional implementation has been done to demonstrate the efficacy of the architecture.
{"title":"An optimized implementation architecture for the Kuwahara filter","authors":"T. Vamsi, N. Kulshrestha, A. Mishra","doi":"10.1109/ICIT.2013.6505821","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505821","url":null,"abstract":"This paper proposes an efficient and optimized architecture for the hardware implementation of the Kuwahara filter, which is used for edge-preserving noise removal of images. The algorithmic strength of the Kuwahara algorithm has been greatly reduced by various optimizations in the variance computation. A hybrid serial-parallel architecture is designed which takes advantage of the proposed optimizations. This results in a time and hardware efficient architecture. A comparative study of the proposed and traditional implementation has been done to demonstrate the efficacy of the architecture.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128678535","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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