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2019 International Automatic Control Conference (CACS)最新文献

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Clothing Recommendation System based on Visual Information Analytics 基于视觉信息分析的服装推荐系统
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024361
Yun Lin, Wei-Hsiang Su, Chub-Hsien Lin, Bing-Fei Wu, Chang-Hong Lin, Hsin-Yeh Yang, Ming-Yen Chen
Due to the short fashion style life circle, much more different clothing designs show up. It is hard for consumers to find the suitable clothes effectively. To solve this problem, an automatic and reliable recommendation system is in great demand. In this paper, the clothing attributes recognition, gender recognition, and body height are considered to design the recommendation system. Based on the clothing style, gender and body height, the system can recommend the proper clothes with suitable size. On-line texture modeling is proposed to produce the variation of the clothing texture so that the recommendation system can give reasonable and diversified choices for the consumers. Besides, the data of consumers’ wearing style is also useful to make the better marketing strategy. According to the reasons above, the clothing recognition and recommendation system can create a win-win situation between the consumers and the fashion industry.
由于时尚风格的生命周期较短,出现了更多不同的服装设计。消费者很难有效地找到适合自己的衣服。为了解决这一问题,迫切需要一个自动、可靠的推荐系统。本文从服装属性识别、性别识别、身高三个方面来设计推荐系统。根据服装风格、性别和身高,系统可以推荐合适尺寸的衣服。提出在线纹理建模,产生服装纹理的变化,使推荐系统能够为消费者提供合理多样的选择。此外,消费者的穿着风格数据也有助于制定更好的营销策略。基于以上原因,服装识别与推荐系统可以创造消费者与时尚产业的双赢局面。
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引用次数: 7
A Path Planning Algorithm based on Leading Rapidly-exploring Random Trees 一种基于超前快速探索随机树的路径规划算法
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024728
Yuan-Ting Fu, Chih-Ming Hsu, Ming-Che Lee, Sheng-Wei Lee
Nowadays, unmanned vehicles for navigation applications, such as factory unmanned vehicles and delivery dining systems, are becoming more and more extensive and gradually playing an indispensable role in our lives. Basically, navigation can be divided into three fields, the mapping, the localization and the path planning, in which the path planning is to use a pre-built map to plan a feasible path given the starting and the ending points. Hence, the path planning is the core part of the navigation operation, which is very important at the robot application level, such as the automatic driving and the driverless driving. For aircraft and space exploration, the path planning algorithms can be roughly divided into two types, the graph-based searching and the sampling-based searching. Among the two, the path planning based on random sampling provides with fast operation speed, high success rate on high-dimensional and complex problems, and disuse of extra considerations. The constraint of non-holonomic constraints, and the fast search for random trees are an algorithm based on random sampling. This paper mainly focuses on improving the path divergence in fixed iteration and on leading the direction from root to goal in fixed iteration condition. From the comparison of the experimental results, our approach is approximately 1.5 times better than the RRT on average path length.
如今,用于导航应用的无人驾驶汽车,如工厂无人驾驶汽车、外卖餐饮系统等,越来越广泛,并逐渐在我们的生活中发挥着不可或缺的作用。导航基本上可以分为制图、定位和路径规划三个领域,其中路径规划是使用预先构建好的地图,在给定起点和终点的情况下,规划出一条可行的路径。因此,路径规划是导航操作的核心部分,在自动驾驶、无人驾驶等机器人应用层面具有重要意义。对于飞行器和空间探索,路径规划算法大致可分为基于图的搜索和基于采样的搜索两类。其中,基于随机抽样的路径规划具有运算速度快、高维复杂问题成功率高、不需要额外考虑等优点。非完整约束的约束和随机树的快速搜索是一种基于随机抽样的算法。本文主要研究了在固定迭代条件下改进路径发散性和在固定迭代条件下从根到目标的引导方向。从实验结果的比较来看,我们的方法在平均路径长度上大约是RRT的1.5倍。
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引用次数: 0
Prevention of Aging Attacks: Malicious Nature of the Control Signal 老化攻击的预防:控制信号的恶意性质
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024366
Cédric Escudero, E. Zamaï
In this paper, a security problem in control systems is studied. We consider a controller that transmits the control signal to an actuator. An attacker can compromise the controller in order to degrade the legitimate control signal. We investigate the prevention of attacks that lead to a premature aging of an actuator. We propose to limit the actuator’s output range in order to guarantee its normal aging’s behavior. To do so, we propose an invariant set-based approach for restraining the control input set. We provide mathematical tools, in term of Linear Matrix Inequalities (LMIs), for quantifying the invariant set of continuous-time deterministic Linear Time-Invariant (LTI) system with compact control input set. The proposed algorithm involves several convex optimization problems reduced to solving semidefinite programs (SDPs) for restraining the control input set for preventing aging attacks. A motor premature aging simulation example is presented to illustrate the performance of the proposed algorithm and shown the limits of the proposed algorithm.
本文研究了控制系统中的一个安全问题。我们考虑一个将控制信号传递给执行器的控制器。攻击者可以破坏控制器以降低合法的控制信号。我们调查了导致致动器过早老化的攻击的预防。为了保证执行机构的正常老化行为,我们建议限制执行机构的输出范围。为此,我们提出了一种基于不变集的方法来约束控制输入集。我们利用线性矩阵不等式(lmi)提供数学工具来量化具有紧控制输入集的连续时间确定性线性时不变(LTI)系统的不变集。该算法将若干凸优化问题简化为求解半定规划(sdp)来约束控制输入集以防止老化攻击。通过一个电机早衰仿真实例说明了该算法的性能,并指出了该算法的局限性。
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引用次数: 1
Data-Driven Tuning of Stable Minimum Phase H∞ Controller 稳定最小相位H∞控制器的数据驱动调谐
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024739
Akifumi Morita, K. Yubai, D. Yashiro, S. Komada
Data-driven controller tuning methods directly design controllers using input/output data sets of a plant without using a mathematical model. This paper proposes a data-driven controller tuning method based on the H∞ control problem. The controller designed by the proposed method satisfies the H∞ criterion and stabilizes the closed-loop system. Furthermore, the proposed method derives a stable minimum phase controller. The controller is designed or tuned by iterative convex optimization. The effectiveness of the proposed design method is confirmed through comparison with the standard model-based H∞ control problem by simulations.
数据驱动控制器整定方法直接使用对象的输入/输出数据集设计控制器,而不使用数学模型。提出了一种基于H∞控制问题的数据驱动控制器整定方法。采用该方法设计的控制器满足H∞准则,使闭环系统稳定。此外,该方法还导出了稳定的最小相位控制器。采用迭代凸优化方法设计或调整控制器。通过与基于标准模型的H∞控制问题的仿真比较,验证了所提设计方法的有效性。
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引用次数: 0
Consistency of Motor-Imagery Frequency Band is Associated with the Performance of Real-Time Brain Computer Interface 运动-图像频带的一致性与实时脑机接口的性能密切相关
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024354
Chia-Feng Lu, S. Tsai, Chun Hsiao, Han-Mei Lu, C. Jao, Po-Shan Wang, Yu-Te Wu
In this study, we aimed to use the motor-imagery electroencephalography (EEG) signal to construct a Brain Computer Interface (BCI) system. We developed an EEG-based real-time cursor control system on LabVIEW platform. EEG signals of left or right motor imagery on C3, and C4 channels were collected using OpenBCI amplifier system. The experimental protocol consisted of a training stage and a self-controlled stage with several runs in each stage. In the training stage, EEG signals were collected while subjects were asked to look at the moving cursor with a constant speed toward left/right, and pretended the cursor was controlled by their imagination. In the self-controlled stage, the movement of the cursor was controlled based on the concordance between the classification results and preset direction. Ten subjects were enrolled in this study. We found that the classification rate was associated with the consistency of the individual ERD/ERS frequency bands across different runs. If a subject presented a stable frequency band for the motor imaginary, the classification rate of the developed BCI system can reach a satisfactory performance with the highest classification rate of 93%. In conclusion, our results showed that the efficacy of our BCI system highly relied on the stability of the individual frequency pattern.
在本研究中,我们旨在利用运动图像脑电图(EEG)信号构建脑机接口(BCI)系统。在LabVIEW平台上开发了一个基于脑电图的实时光标控制系统。采用OpenBCI放大系统采集C3、C4通道左、右运动图像的脑电信号。实验方案包括一个训练阶段和一个自我控制阶段,每个阶段有几次跑步。在训练阶段,被试被要求注视匀速向左/向右移动的光标,并假装光标是由想象控制的,同时采集EEG信号。在自我控制阶段,根据分类结果与预设方向的一致性来控制光标的移动。本研究共纳入10名受试者。我们发现,分类率与不同试验中个体ERD/ERS频带的一致性有关。当被试给出一个稳定的运动想象频带时,所开发的脑机接口系统的分类率可以达到令人满意的效果,最高分类率为93%。总之,我们的研究结果表明,BCI系统的有效性高度依赖于个体频率模式的稳定性。
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引用次数: 0
Wireless Communication System for Wireless Charging of an Arduino-Based Car 基于arduino的汽车无线充电无线通信系统
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024729
Ya-Hui Wu, D. Czarkowski, Franscisco de Leon, Ashish Upadhyay, Noah Taylor
Smart devices surrounding us in daily life require frequent charging. To deal with the charging issue, wireless power transfer is a good option to provide energy due to its plenty of advantages, such as convenience, user-friendliness, and safety. A thorough wireless charging system consist of not only a transmitter and receiver, but also power generation, a controller, a charging station and a battery.Wireless charging enables charging easier for users. The communication between transmitters and receivers should be wireless as well. A communication system with various sensors forms an Internet of things (IoT) structure. It allows everyday objects with network connectivity to send and receive data so that they can talk to each other without human intervention. Moreover, it ensures that power is transferred in a precisely controlled way.This article uses a quasi-dynamic charging scenario to present the charging system, including an IoT structure and wireless charging, for an Arduino smart car. Our communication system is based on ESP 8266 NodeMCU which is a cost-efficient WiFi Microcontroller. The whole system is verified in experiment. The result shows that the system can provide good performance in a realistic situation, and a good basis for our next step–dynamic wireless charging.
日常生活中我们身边的智能设备需要经常充电。为了解决充电问题,无线电力传输是一个很好的选择,因为它有很多优点,如方便、用户友好和安全。一个完整的无线充电系统不仅包括发射器和接收器,还包括发电机、控制器、充电站和电池。无线充电使用户更容易充电。发射器和接收器之间的通信也应该是无线的。由各种传感器组成的通信系统构成了物联网(IoT)结构。它允许有网络连接的日常物品发送和接收数据,这样它们就可以在没有人为干预的情况下相互交谈。此外,它确保了权力以一种精确控制的方式传递。本文采用准动态充电场景,介绍了Arduino智能汽车的充电系统,包括物联网结构和无线充电。我们的通信系统是基于ESP 8266 NodeMCU,这是一个经济高效的WiFi微控制器。整个系统在实验中得到了验证。实验结果表明,该系统能够在实际情况下提供良好的性能,为下一步的动态无线充电奠定了良好的基础。
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引用次数: 1
Simulation and Implementation of a Sliding Mode Control for a Brushless DC Motor with RBFNN and Disturbance Observer 基于RBFNN和扰动观测器的无刷直流电动机滑模控制仿真与实现
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024362
Hung-Khong Hoai, Seng-Chi Chen
In this paper, a Sliding Mode Control (SMC) was built to control a Brushless DC Motor (BLDC) with a Radial Basis Function Neural Network (RBFNN) for estimating the unknown and uncertain parameters. Otherwise, a disturbance observer was also designed to improve the robustness to external load with smaller control gain. And a logic rectifier for the equivalent of DC motor, it makes the commutation strategies easier for operating the BLDC in 4Q. To enhance the flexibility and integration in developing the algorithm for a motor control system, the real system was modeled in MATLAB Simulink and the speed control structure was built up so that it can be worked in both simulation and experiment. The system performance was verified in dynamic load condition by analyzing the transient specification, steady-state error for tracking response and by evaluating the speed reduction, recovery time for regulation response. The platform was implemented with the DSP F28379D LaunchPad.
本文采用径向基函数神经网络(RBFNN)对无刷直流电动机的未知和不确定参数进行估计,建立了滑模控制(SMC)。此外,还设计了扰动观测器,以较小的控制增益提高系统对外部负载的鲁棒性。并为直流电机等效的逻辑整流器,使换相策略更容易在4Q操作无刷直流电机。为了提高电机控制系统算法开发的灵活性和集成度,在MATLAB Simulink中对实际系统进行了建模,并建立了速度控制结构,使其可以同时用于仿真和实验。通过分析系统的暂态参数、跟踪响应的稳态误差以及调节响应的减速和恢复时间,验证了系统在动态负载条件下的性能。该平台采用DSP F28379D LaunchPad实现。
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引用次数: 3
The synthesis of a linear controller of the interval control system on the basis of robust D-partition 基于鲁棒d划分的区间控制系统线性控制器的综合
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024737
S. Gayvoronskiy, T. Ezangina, I. Khozhaev
The work is devoted to development of a combined method of regulator synthesis, which provides maximal operating speed of a control system with interval parameters. The synthesis procedure includes several steps based on vertex D-partition, algorithm of plotting an edge route for a polyhedron of interval parameters and sufficient conditions of desired robust control quality of an interval system. With the help of the method proposed, values of PI-regulator adjustments providing maximal degree of robust stability for a power unloading system.
研究了一种能使区间参数控制系统达到最大运行速度的组合调节器综合方法。综合过程包括基于顶点d划分、区间参数多面体边缘路径绘制算法和区间系统鲁棒控制质量的充分条件的几个步骤。利用所提出的方法,pi调节器的调整值为电力卸载系统提供了最大程度的鲁棒稳定性。
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引用次数: 2
Integration of Robot and IIoT over the OPC Unified Architecture 基于OPC统一架构的机器人与工业物联网的集成
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024732
Hsien-I Lin, Yu-Che Hwang
Cloud technology uses the main function of IoT (Internet of Things) devices to quickly transfer huge amounts of data because data must be transmitted efficiently and efficiently among equipments. IoT enables smart devices to collect and share data without manual assistance. Compared to IoT, IIoT (Industrial IoT) technology is used for industrial purposes, but common industrial communication protocols such as Modbus TCP and Profinet only provide real-time data and cannot provide safe and reliable historical data. The OPC unified architecture (OPC UA) overcomes the above shortcomings and changes the entire industrial communication protocol and resolves the issue of object-oriented concepts. Other IoT protocols such as RTI DDS and MQTT do not emphasize the integration of industrial equipments. In this paper, we provide a solution enabling the smart robotic arm (Staubli) to convert its original communication protocol (SOAP/WSDL) into the role of an OPC UA server. This solution is successfully integrated in ERP/MES manufacturing production systems. The proposed method can help basic IoT robots be seamlessly embedded in ERP/MES manufacturing systems. We demonstrated how the OPC UA cloud computing platform worked. When a PCB color image was uploaded from the client, the OPC UA server processed it by the Gaussian blur and Canny filters and then returned the processed image to the client in a gray-scale image.
云技术利用物联网(IoT)设备的主要功能,快速传输海量数据,因为数据必须在设备之间高效、高效地传输。物联网使智能设备能够在没有人工帮助的情况下收集和共享数据。与IoT相比,IIoT(工业物联网)技术是用于工业目的的,但常见的工业通信协议如Modbus TCP和Profinet只提供实时数据,无法提供安全可靠的历史数据。OPC统一架构(OPC UA)克服了以上缺点,改变了整个工业通信协议,解决了面向对象概念的问题。其他物联网协议,如RTI DDS和MQTT,并不强调工业设备的集成。在本文中,我们提供了一种解决方案,使智能机械臂(Staubli)能够将其原始通信协议(SOAP/WSDL)转换为OPC UA服务器的角色。该解决方案已成功集成到ERP/MES制造生产系统中。所提出的方法可以帮助基本的物联网机器人无缝嵌入ERP/MES制造系统。我们演示了OPC UA云计算平台是如何工作的。当从客户端上传PCB彩色图像时,OPC UA服务器通过高斯模糊和Canny滤波器对其进行处理,然后以灰度图像的形式返回给客户端。
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引用次数: 7
Fuzzy Evaluation of Transmission Line End-of-Life Reliability Model 输电线路寿命终止可靠性模型的模糊评价
Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024738
Ching-Ming Lai, J. Teh, Yu-Huei Cheng
This paper proposes a “hybrid” model to quantify the aleatory and epistemic uncertainties of the transmission line’s failure while being enhanced by the dynamic thermal rating (DTR) system. The aleatory uncertainty propagates probabilistic failures, whereas the epistemic uncertainty propagates imprecision in the parameters of the failure model. The Arrhenius-Weibull model is used to characterize the end-of-life failures. The results in this paper shows that the proposed hybrid method relaxes the reliability evaluation criteria and as a result the produced reliability index is not fixed at a single value.
本文提出了一种“混合”模型来量化输电线路故障的先验不确定性和认知不确定性,并通过动态热额定值(DTR)系统加以增强。选择性不确定性传播概率失效,而认知不确定性传播失效模型参数的不精确性。使用Arrhenius-Weibull模型来描述寿命终止失效。结果表明,本文提出的混合方法放宽了可靠性评价标准,得到的可靠性指标不固定在单一值上。
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引用次数: 0
期刊
2019 International Automatic Control Conference (CACS)
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