Pub Date : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853536
Neha Gaba, Neelam Barak, Shipra Aggarwal
Moving object identification and tracking motion is the base source to extract vital information regarding moving objects from sequences in continuous image based surveillance systems. An advanced approach to motion detection for automatic video analysis has been presented in the paper. This achieves complete detection of moving object which is robust against of changes in brightness, dynamic variations in the surrounding environment and noise from the background. The proposed method is a pixel dependent and non-parametrized approach that is based on first frame to build the model. The detection of the foreground which represents the object and background which is the surrounding of the environment starts once the subsequent frame is captured. It utilizes unique tracking methodology that identifies and eliminates the ghost object from dissolving into the background of the frame. The proposed algorithm has been test implemented on several open source videos by imposing single set of variables to overcome shortcomings of relevant and recently developed techniques.
{"title":"Motion detection, tracking and classification for automated Video Surveillance","authors":"Neha Gaba, Neelam Barak, Shipra Aggarwal","doi":"10.1109/ICPEICES.2016.7853536","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853536","url":null,"abstract":"Moving object identification and tracking motion is the base source to extract vital information regarding moving objects from sequences in continuous image based surveillance systems. An advanced approach to motion detection for automatic video analysis has been presented in the paper. This achieves complete detection of moving object which is robust against of changes in brightness, dynamic variations in the surrounding environment and noise from the background. The proposed method is a pixel dependent and non-parametrized approach that is based on first frame to build the model. The detection of the foreground which represents the object and background which is the surrounding of the environment starts once the subsequent frame is captured. It utilizes unique tracking methodology that identifies and eliminates the ghost object from dissolving into the background of the frame. The proposed algorithm has been test implemented on several open source videos by imposing single set of variables to overcome shortcomings of relevant and recently developed techniques.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133241303","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}
Electro-optical sighting systems are used for surveillance, target acquisition and tracking. The stabilization of the line of sight (LOS) against vehicle-induced disturbances is an essential feature of the electro-optical gimbaled sighting systems, mounted on mobile platforms. Due to factors like host platform dynamics, friction, cable restraint and noise, the pointing and tracking accuracy of the gimbaled system degrades substantially. This work presents control law design for LOS stabilization of a gimbaled electro-optical sighting system, using sliding mode controller (SMC). Other controllers like proportional-integral (PI) controller (conventional frequency domain approach) and linear quadratic gaussian with loop transfer recovery (LQG/LTR) controller (state-space based optimal control) are also compared with SMC for such application. SMC is a non-linear controller that is modified in this work which further reduces the chatter so as to achieve better steady state accuracy. All these controllers meet the stringent requirements of disturbance attenuation and command following.
{"title":"Sliding mode control based line-of-sight (LOS) stabilization of electro-optical sighting system","authors":"Shashi Singh, Rajeev Marathe, Avnish Kumar, Rajesh Kumar","doi":"10.1109/ICPEICES.2016.7853071","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853071","url":null,"abstract":"Electro-optical sighting systems are used for surveillance, target acquisition and tracking. The stabilization of the line of sight (LOS) against vehicle-induced disturbances is an essential feature of the electro-optical gimbaled sighting systems, mounted on mobile platforms. Due to factors like host platform dynamics, friction, cable restraint and noise, the pointing and tracking accuracy of the gimbaled system degrades substantially. This work presents control law design for LOS stabilization of a gimbaled electro-optical sighting system, using sliding mode controller (SMC). Other controllers like proportional-integral (PI) controller (conventional frequency domain approach) and linear quadratic gaussian with loop transfer recovery (LQG/LTR) controller (state-space based optimal control) are also compared with SMC for such application. SMC is a non-linear controller that is modified in this work which further reduces the chatter so as to achieve better steady state accuracy. All these controllers meet the stringent requirements of disturbance attenuation and command following.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133377632","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 : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853352
Satyanarayana Burada, D. Joshi, K. Mistry
Now a days power system protection is an important task for an operating engineer, which can be done by doing online security assessment. Contingency analysis is one of the best methods to forecast the condition of power system if any unwanted event occured in the power system. To do contingency analysis first the operator has to know the parameters like voltage, power and voltage angle at each and every bus by doing load flow analysis on the system. Newton Raphson method is the best load flow method as it gives accurate results in less time. In this paper all line outage contingencies in a standard 6 bus and 5 bus power system has been done in MATLAB environment. For each line outage contingency, load flow analysis has been done on the system and the active power and voltage performance indices have been calculated. These two performance indices will give the idea about the change in active power flow through the lines and voltages at the buses for a particular line outage. Summation of these two indices will give the performance index value through which ranking of severity will be given to the lines. And from the load flow results comparison has been done between low rank and high rank line outage contingencies. This contingency analysis helps the operational engineer to know which line outage is dangerous to the system and what prior action is to be taken to minimize the effect of that particular line outage.
{"title":"Contingency analysis of power system by using voltage and active power performance index","authors":"Satyanarayana Burada, D. Joshi, K. Mistry","doi":"10.1109/ICPEICES.2016.7853352","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853352","url":null,"abstract":"Now a days power system protection is an important task for an operating engineer, which can be done by doing online security assessment. Contingency analysis is one of the best methods to forecast the condition of power system if any unwanted event occured in the power system. To do contingency analysis first the operator has to know the parameters like voltage, power and voltage angle at each and every bus by doing load flow analysis on the system. Newton Raphson method is the best load flow method as it gives accurate results in less time. In this paper all line outage contingencies in a standard 6 bus and 5 bus power system has been done in MATLAB environment. For each line outage contingency, load flow analysis has been done on the system and the active power and voltage performance indices have been calculated. These two performance indices will give the idea about the change in active power flow through the lines and voltages at the buses for a particular line outage. Summation of these two indices will give the performance index value through which ranking of severity will be given to the lines. And from the load flow results comparison has been done between low rank and high rank line outage contingencies. This contingency analysis helps the operational engineer to know which line outage is dangerous to the system and what prior action is to be taken to minimize the effect of that particular line outage.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120948098","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 : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853652
Shubham Mittal, J. K. Rai
This paper presents Wadoro (WAtch DOg RObot); an autonomous mobile robot for household surveillance in open-spaces like roof at night; but only shaded areas such as verandah during daytime. The robot has the capability to detect humans in near real-time round-the-clock using passive infrared motion sensors and camera. The work cycle of the robot is divided into phases of human detection; tracking; recognition and alert-generation with simultaneous phase of self-protection. On detecting a human; it starts tracking to detect the face using Haar-like features based cascade classifier. Subsequent recognition is done using local binary pattern histograms approach to ascertain if the face matches with the face in database. In case of mismatch; an alert in the form of phone call to the mobile phone is generated. Self-protection ensures collision-free movements and prevent it from being stolen by generating an alert call on detecting its pick up from the ground. The experimental results demonstrate its successful operation.
{"title":"Wadoro: An autonomous mobile robot for surveillance","authors":"Shubham Mittal, J. K. Rai","doi":"10.1109/ICPEICES.2016.7853652","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853652","url":null,"abstract":"This paper presents Wadoro (WAtch DOg RObot); an autonomous mobile robot for household surveillance in open-spaces like roof at night; but only shaded areas such as verandah during daytime. The robot has the capability to detect humans in near real-time round-the-clock using passive infrared motion sensors and camera. The work cycle of the robot is divided into phases of human detection; tracking; recognition and alert-generation with simultaneous phase of self-protection. On detecting a human; it starts tracking to detect the face using Haar-like features based cascade classifier. Subsequent recognition is done using local binary pattern histograms approach to ascertain if the face matches with the face in database. In case of mismatch; an alert in the form of phone call to the mobile phone is generated. Self-protection ensures collision-free movements and prevent it from being stolen by generating an alert call on detecting its pick up from the ground. The experimental results demonstrate its successful operation.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114987565","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 : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853333
D. Chakraborty, A. Nandi
To improve the fuel economy and range of an electric vehicle, as much as energy regeneration during braking is important. It was observed that driving harshness has a great impact on the regeneration efficiency during vehicle deceleration. On the other hand, to reduce the trip time as well as to avoid accident, the deceleration duration needs to be kept short. By realizing these conflicting objectives, in the present work an optimal deceleration is find out for a speed change using a genetic algorithm. The concerned multi-objective optimization problem (MOOP) was solved based on two approaches: considering a constant deceleration, and variable decelerations during braking. Comparative results of both the approaches are presented for a representative speed change in four driving cycles. Results of both approaches in solving the MOOP including under certain constraints, such as a desired comfort journey and maintaining a safe braking distance, suggest that multiple decelerations should be used during planned braking, where as either a constant or multiple deceleration may be taken during braking for high comfort journey and under emergency braking demand.
{"title":"Finding optimal deceleration with serial regenerative braking of electric vehicle using a multi-objective genetic algorithm","authors":"D. Chakraborty, A. Nandi","doi":"10.1109/ICPEICES.2016.7853333","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853333","url":null,"abstract":"To improve the fuel economy and range of an electric vehicle, as much as energy regeneration during braking is important. It was observed that driving harshness has a great impact on the regeneration efficiency during vehicle deceleration. On the other hand, to reduce the trip time as well as to avoid accident, the deceleration duration needs to be kept short. By realizing these conflicting objectives, in the present work an optimal deceleration is find out for a speed change using a genetic algorithm. The concerned multi-objective optimization problem (MOOP) was solved based on two approaches: considering a constant deceleration, and variable decelerations during braking. Comparative results of both the approaches are presented for a representative speed change in four driving cycles. Results of both approaches in solving the MOOP including under certain constraints, such as a desired comfort journey and maintaining a safe braking distance, suggest that multiple decelerations should be used during planned braking, where as either a constant or multiple deceleration may be taken during braking for high comfort journey and under emergency braking demand.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"924 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116420277","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 : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853123
Priyabrata Shaw, P. Sahu, S. Maity, Punit Kumar
This paper presents modeling and control of a standalone photovoltaic (PV) system in which a battery is used as a backup source for power management between the source and the load. Lead-acid battery is commonly used in high power PV applications due to its low cost and availability in large size. The modeling of PV system and lead-acid battery by using the corresponding equivalent circuits are discussed here. Three independent control loops are proposed to control the standalone PV system; MPPT control loop for extracting maximum power from PV module under different solar irradiation, battery control loop for bidirectional power flow between battery and dc-link through buck-boost converter to keep the input dc voltage constant, and inverter control loop for maintaining good voltage regulation and achieving fast dynamic response under sudden load fluctuations. The stability of the above control loops are verified by using Bode diagram. Finally the proposed method is applied to 2 kW, 110 V, 50 Hz, two-stage single-phase standalone PV system. The simulation and the experimental results are presented to validate the theoretical analysis, effectiveness and feasibility of the proposed control strategy.
{"title":"Modeling and control of a battery connected standalone photovoltaic system","authors":"Priyabrata Shaw, P. Sahu, S. Maity, Punit Kumar","doi":"10.1109/ICPEICES.2016.7853123","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853123","url":null,"abstract":"This paper presents modeling and control of a standalone photovoltaic (PV) system in which a battery is used as a backup source for power management between the source and the load. Lead-acid battery is commonly used in high power PV applications due to its low cost and availability in large size. The modeling of PV system and lead-acid battery by using the corresponding equivalent circuits are discussed here. Three independent control loops are proposed to control the standalone PV system; MPPT control loop for extracting maximum power from PV module under different solar irradiation, battery control loop for bidirectional power flow between battery and dc-link through buck-boost converter to keep the input dc voltage constant, and inverter control loop for maintaining good voltage regulation and achieving fast dynamic response under sudden load fluctuations. The stability of the above control loops are verified by using Bode diagram. Finally the proposed method is applied to 2 kW, 110 V, 50 Hz, two-stage single-phase standalone PV system. The simulation and the experimental results are presented to validate the theoretical analysis, effectiveness and feasibility of the proposed control strategy.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"440 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124730342","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 : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853509
Sragdhara Bhattacharya
Power Systems are inherently non-linear systems that are frequently subjected to various disturbances causing oscillations at low frequencies that may lead to instability. Generators are usually provided with power system stabilizers minimize the effect of these oscillations. The objective of this paper is find the optimal parameters for a conventional “lead-lag compensator based Power System Stabilizer (PSS)” for a system comprising of a “generator connected to an infinite bus” and containing a ST1A type excitation system. The tuning of the parameters of the “Power System Stabilizer” is accomplished using the “Particle Swarm Optimization (PSO)” algorithm. In this paper, a Fuzzy Power System Stabilizer (FPSS) where the optimal values of the parameters of the FPSS are decided using the PSO algorithm is also designed. The Particle Swarm Optimization based conventional PSS and the “Particle Swarm Optimization based Fuzzy PSS” are also incorporated in a system containing multiple machines to check the system responses under different loading conditions and faults of different types. The simulation results clearly prove the efficiency of the PSO based conventional and fuzzy power system stabilizers in damping the low frequency speed and power oscillations occurring in the power system due to various disturbances.
{"title":"Power system oscillation damping by intelligent power system stabilizer","authors":"Sragdhara Bhattacharya","doi":"10.1109/ICPEICES.2016.7853509","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853509","url":null,"abstract":"Power Systems are inherently non-linear systems that are frequently subjected to various disturbances causing oscillations at low frequencies that may lead to instability. Generators are usually provided with power system stabilizers minimize the effect of these oscillations. The objective of this paper is find the optimal parameters for a conventional “lead-lag compensator based Power System Stabilizer (PSS)” for a system comprising of a “generator connected to an infinite bus” and containing a ST1A type excitation system. The tuning of the parameters of the “Power System Stabilizer” is accomplished using the “Particle Swarm Optimization (PSO)” algorithm. In this paper, a Fuzzy Power System Stabilizer (FPSS) where the optimal values of the parameters of the FPSS are decided using the PSO algorithm is also designed. The Particle Swarm Optimization based conventional PSS and the “Particle Swarm Optimization based Fuzzy PSS” are also incorporated in a system containing multiple machines to check the system responses under different loading conditions and faults of different types. The simulation results clearly prove the efficiency of the PSO based conventional and fuzzy power system stabilizers in damping the low frequency speed and power oscillations occurring in the power system due to various disturbances.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125339072","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 : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853264
Shruti Kapil, Meenu Chawla
Data Mining is the technique used to visualize and scrutinize the data and drive some useful information from that data so that information can be used to perform any useful work. So clustering is the one of the technique that has been proposed to be used in the area of data mining The notion behind clustering is to assigning objects to cluster based upon some customary characteristics such that object belonging to one cluster are similar other than those belonging to other clusters. There are numerous clustering algorithms available but K-means clustering is widely used to form clusters of colossal dataset. The footprint factor for k-means clustering is its scalability, efficiency, simplicity. This proposed paper aims to study the k-means clustering and various distance function used in k-means clustering such as Euclidean distance function and Manhattan distance function. Experiment and results are shown to observe the effect of these distance function upon k-means clustering. The distance functions are compared using number of iterations, within sum squared errors and time taken to build the full model.
{"title":"Performance evaluation of K-means clustering algorithm with various distance metrics","authors":"Shruti Kapil, Meenu Chawla","doi":"10.1109/ICPEICES.2016.7853264","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853264","url":null,"abstract":"Data Mining is the technique used to visualize and scrutinize the data and drive some useful information from that data so that information can be used to perform any useful work. So clustering is the one of the technique that has been proposed to be used in the area of data mining The notion behind clustering is to assigning objects to cluster based upon some customary characteristics such that object belonging to one cluster are similar other than those belonging to other clusters. There are numerous clustering algorithms available but K-means clustering is widely used to form clusters of colossal dataset. The footprint factor for k-means clustering is its scalability, efficiency, simplicity. This proposed paper aims to study the k-means clustering and various distance function used in k-means clustering such as Euclidean distance function and Manhattan distance function. Experiment and results are shown to observe the effect of these distance function upon k-means clustering. The distance functions are compared using number of iterations, within sum squared errors and time taken to build the full model.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"44 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120844462","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 : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853535
Samruddhi Patil, Ameya Wagh, Mitali Sawant, Saurav Panda, A. Bhopale
This paper discusses the design and implementation of a 7 channel line sensor for line following robot having advanced functionalities such as software based automatic sensor calibration and individual threshold per sensor channel. Unlike traditional line sensors which work on black surfaces with a white line or vice versa, this sensor is designed to differentiate white line on any coloured surface. Thus this sensor can be implemented in robotics applications or in industries where different section's floors are assigned with different colours and robot navigates using line following. The system was implemented using light emitting diodes, phototransistor and an onboard microcontroller Arduino Mega 2560 which communicates with any navigation control system using serial communication. Moving average filters are implemented per channel to remove the fluctuations in the readings due to vibration of the sensor during locomotion. It then gives the error feedback or the offset of the white line from the centre, to the system that is corrected using Proportional-Integral-Derivative algorithm. It also takes care of non scaled readings of the line sensors due to ambient light by having separate threshold values for individual sensors making each sensor independent. The main aim of this paper is to highlight the use and need of a line following sensor capable of differentiating any background colours with white line and at different light conditions. Performance metrics were measured and compared to show tradeoffs between cost and performance.
本文讨论了用于线路跟踪机器人的7通道线路传感器的设计和实现，该传感器具有基于软件的自动传感器校准和每个传感器通道的单独阈值等高级功能。不像传统的线传感器工作在黑色表面与白线，反之亦然，这种传感器是设计来区分白线在任何彩色表面。因此，这种传感器可以在机器人应用中实施，或者在不同部分的地板被分配不同的颜色，机器人使用线跟随导航的行业中。该系统使用发光二极管，光电晶体管和板载微控制器Arduino Mega 2560实现，该微控制器通过串行通信与任何导航控制系统通信。每个通道都实现了移动平均滤波器，以消除由于传感器在运动期间振动引起的读数波动。然后将误差反馈或白线离中心的偏移量反馈给使用比例-积分-导数算法进行校正的系统。它还通过对单个传感器具有单独的阈值，使每个传感器独立，从而照顾到由于环境光导致的线传感器的非缩放读数。本文的主要目的是强调使用和需要一个线跟随传感器能够区分任何背景颜色与白线和在不同的光条件。对性能指标进行测量和比较，以显示成本和性能之间的权衡。
{"title":"Design and implementation of advanced auto calibrating line following sensor for coloured surfaces with a white line","authors":"Samruddhi Patil, Ameya Wagh, Mitali Sawant, Saurav Panda, A. Bhopale","doi":"10.1109/ICPEICES.2016.7853535","DOIUrl":"https://doi.org/10.1109/ICPEICES.2016.7853535","url":null,"abstract":"This paper discusses the design and implementation of a 7 channel line sensor for line following robot having advanced functionalities such as software based automatic sensor calibration and individual threshold per sensor channel. Unlike traditional line sensors which work on black surfaces with a white line or vice versa, this sensor is designed to differentiate white line on any coloured surface. Thus this sensor can be implemented in robotics applications or in industries where different section's floors are assigned with different colours and robot navigates using line following. The system was implemented using light emitting diodes, phototransistor and an onboard microcontroller Arduino Mega 2560 which communicates with any navigation control system using serial communication. Moving average filters are implemented per channel to remove the fluctuations in the readings due to vibration of the sensor during locomotion. It then gives the error feedback or the offset of the white line from the centre, to the system that is corrected using Proportional-Integral-Derivative algorithm. It also takes care of non scaled readings of the line sensors due to ambient light by having separate threshold values for individual sensors making each sensor independent. The main aim of this paper is to highlight the use and need of a line following sensor capable of differentiating any background colours with white line and at different light conditions. Performance metrics were measured and compared to show tradeoffs between cost and performance.","PeriodicalId":305942,"journal":{"name":"2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129556273","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 : 2016-07-04DOI: 10.1109/ICPEICES.2016.7853150
P. P, M. Nandakumar
The objective of this paper is to present a nonlinear flight control strategy, recommendable for the entire flight regime. Traditional controllers exhibit innate performance deficiencies in the widely varying aerodynamic scenario with substantially elevated control efforts. Therefore nonlinear optimality based control would be vital for the overall system performance. The prime feature of Inverse Optimal Control is that it guarantees asymptotic stability and optimality, globally, with respect to a performance index determined posteriori. The basis of Inverse Optimal control (IOC) rests on the formulation of an appropriate Control Lyapunov Function (CLF), the determination of which is in fact laborious in most cases. However here, the determination of CLF, for a particular class of nonlinear systems, is systematized to some extent. The 6 DOF aircraft dynamics separated into two timescales is considered for simulation study. The slow angular dynamics of the outer loop is controlled via Inverse Optimal Control. A suboptimal Theta-D controller is employed for the control of the fast inner loop. Thus in effect a near optimal control performance is expected of the resultant nonlinear control system. The inherent stability and robustness characteristic of the participating control laws will contribute the same to the overall system. Simulation results verify all the anticipated capabilities in terms of performance, optimality, stability and robustness.
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