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2021 21st International Conference on Control, Automation and Systems (ICCAS)最新文献

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LSTM-Based Real-Time SOC Estimation of Lithium-Ion Batteries Using a Vehicle Driving Simulator 基于lstm的锂离子电池荷电状态实时估计
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649878
S. Kim, Jong Hyun Lee, Dong Hun Wang, Insoo Lee
Currently, lithium-ion batteries (a type of secondary battery) are used as the primary sources of power in many applications due to their low energy loss as a result of their high energy density and low self-discharge rate, and their ability to store energy for a long time. However, due to the frequent charging and discharging of such batteries, overcharging is inevitable. This can cause system shutdowns, accidents, or property damage due to explosions. Therefore, it is necessary to accurately predict the state of charge (SOC) of batteries for stable and efficient usage. Hence, in this paper, we propose a SOC estimation method using a vehicle driving simulator. After manufacturing the simulator to perform the battery discharge experiment, voltage, current, and discharge-time data were collected. Using the collected data as input parameters for an RNN-based LSTM, we estimated the SOC of the battery and compared the errors to. We then used the developed LSTM surrogate model to conduct discharge experiments and simultaneously estimate the SOC in real-time.
目前,锂离子电池(二次电池的一种)由于其高能量密度和低自放电率的低能量损失以及长时间储存能量的能力,在许多应用中被用作主要的电源。然而,由于此类电池的频繁充放电,过度充电是不可避免的。这可能导致系统关闭、事故或爆炸造成的财产损失。因此,准确预测电池的荷电状态(SOC)是保证电池稳定高效使用的必要条件。因此,在本文中,我们提出了一种基于车辆驾驶模拟器的SOC估计方法。在制作模拟装置进行电池放电实验后,采集了电压、电流和放电时间数据。使用收集的数据作为基于rnn的LSTM的输入参数,我们估计了电池的SOC,并将误差与。然后利用开发的LSTM代理模型进行放电实验,同时实时估算电池荷电状态。
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引用次数: 1
Domain Adaptation for Agricultural Image Recognition and Segmentation Using Category Maps 基于范畴图的农业图像识别与分割领域自适应
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649930
Kota Takahashi, H. Madokoro, Satoshi Yamamoto, Yoshiteru Nishimura, Stephanie Nix, Hanwool Woo, T. K. Saito, Kazuhito Sato
Recognition accuracy obtained using deep learning drops precipitously when the training data are insufficient. This paper presents a data-expansion method for training of the transfer learning source domain. Using expanding images generated from weights on a category map as source data, we compared accuracies obtained from five derivative models and our previously reported method. Moreover, we obtained the result of domain adaptation between actual images and synthetic images using weights obtained during transfer learning. Based on those results, we verify whether the amount of training data can be expanded quantitatively and qualitatively. Experiment results obtained from two open benchmark datasets and our original benchmark dataset demonstrated that our proposed method outperforms the previous method under a guarantee of sufficient accuracy for the synthetic images.
当训练数据不足时,使用深度学习获得的识别精度急剧下降。提出了一种用于迁移学习源域训练的数据扩展方法。使用从类别图上的权重生成的扩展图像作为源数据,我们比较了从五种衍生模型和我们之前报道的方法获得的准确性。利用迁移学习过程中获得的权重,得到了实际图像与合成图像之间的域自适应结果。基于这些结果,我们验证了训练数据的数量是否可以定量和定性地扩展。在两个开放的基准数据集和我们的原始基准数据集上的实验结果表明,在保证合成图像足够精度的情况下,我们提出的方法优于之前的方法。
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引用次数: 1
Cell Inconsistency Classification for Lithium-Ion Battery Packs Considering Internal Short Circuit Fault 考虑内部短路故障的锂离子电池组电池芯不一致分类
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650054
Youngbin Song, Minhwan Seo, Shina Park, S. W. Kim
Initial parameter variances between cells in battery packs occur in a manufacturing process. Furthermore, this difference is intensified as the pack is being used, resulting in differences in capacity and the state of charge (SOC) between cells. Cell inconsistencies decrease the energy efficiency, and low-capacity cells in packs can occur an internal short circuit (ISC) fault which causes a thermal runaway in severe cases. However, the ISC may be misdiagnosed as cell inconsistencies and vice versa because the impacts of cell inconsistencies and the ISC are similar in particular charge/discharge. In this paper, a model-based cell inconsistency classification method is proposed. The equivalent circuit model of the fresh cell is used as a reference model, making it possible to save efforts in constructing parameter look-up tables for various degrees of aging. In addition, we use the SOC difference feature that can clearly distinguish the effects of inconsistencies and ISC using the reference SOC calculated by the nominal capacity. The proposed method was verified in simulation for various types and degrees of cell inconsistencies and ISC, and accurately identified inconsistent cells and ISC cells, thereby leading to efficient energy use and early detection of the ISC fault.
电池组中电池单元之间的初始参数差异发生在制造过程中。此外,随着电池组的使用,这种差异会加剧,从而导致电池之间的容量和充电状态(SOC)的差异。电池不一致降低了电池组的能量效率,电池组中的低容量电池可能发生内部短路(ISC)故障,严重时导致热失控。然而,ISC可能被误诊为细胞不一致,反之亦然,因为细胞不一致和ISC的影响在特定的充电/放电中是相似的。提出了一种基于模型的单元格不一致分类方法。采用新鲜电池的等效电路模型作为参考模型,可以省去构造不同老化程度的参数查找表的工作量。此外,我们使用SOC差异特征,可以清楚地区分不一致和ISC使用标称容量计算的参考SOC的影响。针对不同类型和程度的单元不一致和ISC进行了仿真验证,准确地识别出不一致单元和ISC单元,从而实现了能量的高效利用和ISC故障的早期发现。
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引用次数: 0
Working plate operation for graspless handling technology with an industrial dual-arm SCARA robot 用工业双臂SCARA机器人进行无抓握搬运技术的工作板操作
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649796
K. Shimizu, T. Hirogaki, E. Aoyama
With the recent advances in industrial robot the motion control, there is a demand for a method that can easily measure the accuracy of the synchronous control of dual-arm selective compliance assembly robot arm (SCARA) robots. Therefore, in this study, a measurement method was developed in which a ball rolling motion is created in a circular orbit on the work plate and the rolling motion error with respect to the reference circle is utilized. An experiment was conducted on a teaching method for controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. It was found that an error occurs in the peripheral speed in the rotation of the plate. When the work plate is grasped and the movement is taught, the program using the master-slave method was the primary influence on the motion error, confirming the possibility of correction.
随着近年来工业机器人运动控制的发展,对双臂选择性柔性装配机械臂(SCARA)机器人同步控制精度的测量方法提出了要求。因此,在本研究中,开发了一种测量方法,该方法是在工作板上形成一个圆轨道的滚动运动,并利用相对于参考圆的滚动运动误差。对控制球在工作台上远离机器人中心位置滚动运动的教学方法进行了实验研究。结果发现,在印版旋转过程中,外围转速出现误差。在抓板和教动作时,采用主从法的程序对运动误差的影响是主要的,确定了修正的可能性。
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引用次数: 0
Data-driven fault detection and isolation of system with only state measurements and control inputs using neural networks 基于神经网络的仅状态测量和控制输入的系统数据驱动故障检测与隔离
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650037
Jae-Hyeon Park, D. Chang
With the advancement of neural network technology, many researchers are trying to find a clever way to apply neural network to a fault detection and isolation area for satisfactory and safer operations of the system. Some researchers detect system faults by combining a concrete model of the system with neural network, generating residuals by neural network, or training neural network with specific sensor signals of the system. In this article, we make a fault detection and isolation neural network algorithm that uses only inherent sensor measurements and control inputs of the system. This algorithm does not need a model of the system, residual generations, or additional sensors. We obtain sensor measurements and control inputs in a discrete-time manner, cut signals with a sliding window approach, and label data with one-hot vectors representing a normal or fault classes. We train our neural network model with the labeled training data. We give 2 neural network models: a stacked long short-term memory neural network and a multilayer perceptron. We test our algorithm with the quadrotor fault simulation and the real experiment. Our algorithm gives nice performance on a fault detection and isolation of the quadrotor.
随着神经网络技术的发展,许多研究人员都在努力寻找一种巧妙的方法将神经网络应用于故障检测和隔离领域,以使系统更安全、更满意地运行。一些研究者将系统的具体模型与神经网络相结合,通过神经网络产生残差,或者用系统的特定传感器信号训练神经网络来检测系统故障。在本文中,我们提出了一种仅使用系统固有传感器测量和控制输入的故障检测和隔离神经网络算法。该算法不需要系统模型、剩余代或额外的传感器。我们以离散时间方式获得传感器测量和控制输入,用滑动窗口方法切断信号,并用表示正常或故障类别的单热向量标记数据。我们用标记好的训练数据训练我们的神经网络模型。我们给出了两种神经网络模型:堆叠长短期记忆神经网络和多层感知器。通过四旋翼故障仿真和实际实验对算法进行了验证。该算法在四旋翼飞行器的故障检测和隔离方面具有良好的性能。
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引用次数: 6
Fast Drone Detection using SSD and YoloV3 快速无人机检测使用SSD和YoloV3
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650015
Yew Ji Hao, Lee Koon Teck, Chua Ying Xiang, Enoch Jeevanraj, S. Srigrarom
This paper aims to introduce the method of detection of high-speed drones using both Single Shot Detector (SSD) and YOLOv3 (You Only Look Once)v3. After conducting experiments and obtaining footage of the fast-flying drones, the software and algorithms are being put to the test. In a motion detector, there are 3 main fundamentals - unmanned aerial vehicle (UAV) detection, UAV identification and tracking of the UAV, which will be introduced as a preliminary UAV detection system to spark of the use of other more advanced image recognition based detector. The alternative of using SSD and YOLOv3 will be the main discussion to target high-speed drones.
本文旨在介绍使用Single Shot Detector (SSD)和YOLOv3 (You Only Look Once)v3对高速无人机进行检测的方法。在进行实验并获得快速飞行的无人机的镜头后,软件和算法正在进行测试。在一个运动探测器中,有3个主要的基础——无人机(UAV)探测、无人机识别和无人机跟踪,这将作为无人机探测系统的初步介绍,以激发其他更先进的基于图像识别的探测器的使用。针对高速无人机,将主要讨论使用SSD和YOLOv3的替代方案。
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引用次数: 1
Design and Development of a Co-axial Passive Flexion Mechanism-based Gripper for Irregular Objects 基于同轴被动屈曲机构的不规则物体夹持器的设计与研制
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649775
Bhivraj Suthar, Seul Jung
Humans hand has a complex functionality to achieve stable and reliable gripping of irregular-shaped objects. This paper aims to design a three-finger anthropomorphic gripper and endow the designed hand with natural grasping functions. We introduce a passively adjustable flexion finger mechanism that can change a flexion finger angle according to the irregular-shaped objects. Each finger of the gripper has a torsional spring and has placed co-axially, connected in series on an equilateral triangular palm. The required stiffness of the flexion angle and object safety condition is analyzed. The variation of the flexion joint stiffness for the minimum to maximum flexion angle is evaluated. Practical experiments using a wide range of obj ects under different grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper.
人类的手具有复杂的功能,可以稳定可靠地抓取不规则形状的物体。本文旨在设计一个三指拟人化抓取器,并赋予设计的手自然抓取功能。介绍了一种被动可调屈指机构,该机构可以根据物体的不规则形状改变屈指角度。夹持器的每个手指都有一个扭转弹簧,并同轴放置,串联在一个等边三角形手掌上。分析了所要求的弯曲角刚度和物体安全条件。计算了最小到最大屈曲角下屈曲关节刚度的变化规律。在不同抓取场景下,对不同对象进行了实际实验,验证了集成抓取器的抓取能力。
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引用次数: 0
Reinforcement Learning Based Electricity Price Controller in Smart Grids 基于强化学习的智能电网电价控制器
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650043
Yi-Hsin Lin, Wei-Yu Chiu
Striking a balance between power supply and demand is the most imperative target for any electricity grid system. In order to address variability of renewable energy in the modern grid, a robust and elastic balancing scheme is required. Conventional model-based approaches can suffer from great performance degradation given the uncertainty induced by the renewable energy. As such, this study explores a model-free approach by proposing a reinforcement learning based pricing scheme that balances the power supply and demand. A price signal is considered as the control signal for the balance management. Case studies involving different market parameters and different time resolutions were conducted to show the effectiveness of the proposed methodology.
实现电力供需平衡是任何电网系统最迫切的目标。为了解决现代电网中可再生能源的可变性,需要一种鲁棒性和弹性的平衡方案。考虑到可再生能源带来的不确定性,传统的基于模型的方法会导致性能下降。因此,本研究通过提出一种基于强化学习的定价方案来平衡电力供需,探索了一种无模型的方法。价格信号被认为是平衡管理的控制信号。案例研究涉及不同的市场参数和不同的时间决议进行了显示所提出的方法的有效性。
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引用次数: 0
Gait Clustering Analysis in Patients after Stroke using Gait Kinematics Data 基于步态运动学数据的脑卒中患者步态聚类分析
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649908
Hyungtai Kim, Y. Kim, Seung-jong Kim, Munsik Choi
In rehabilitation of the patients after stroke, gait types are important to know the characteristics of the patient. To know gait types, a systematic methodology for direct measurement and interpretation of gait motion are required. In this study, the patient's kinetic data were collected eight times over six months after onset using motion capture equipment. Features for gait type classification were extracted from time series gait cycle data and used for machine learning analysis. We utilized the simultaneous clustering and classification method to determine gait types that ensure classification performance. The optimal number of gait groups was four, which shows 0.1504 and 0.9142 in silhouette score and F1 score. We present a novel work to find the gait groups of patients after stroke, and showed the potential for use in the rehabilitation field.
在脑卒中患者的康复治疗中,步态类型是了解患者特征的重要因素。为了了解步态类型,需要一种系统的方法来直接测量和解释步态运动。在这项研究中,使用动作捕捉设备在发病后6个月内收集了患者的运动数据8次。从时间序列步态周期数据中提取步态类型分类特征,用于机器学习分析。我们利用同步聚类和分类方法来确定步态类型,以确保分类性能。最优步态组数为4组,廓形评分为0.1504,F1评分为0.9142。我们提出了一项新颖的工作,以发现中风后患者的步态组,并显示了在康复领域的应用潜力。
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引用次数: 0
TypicalVietnameseFoodNet: A Vietnamese Food Image Dataset For Vietnamese Food Classifications TypicalVietnameseFoodNet:用于越南食品分类的越南食品图像数据集
Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649805
T. Cao, Khoa Van Duong
The process of classifying many types of food from images is an exciting field involving various applications. Especially in tourist, Vietnamese food classification connects us across our cultures and generations. Food classification is not easy, even with people. The reason is the food's extreme diversity between dishes and in the middle variations of the dish. So some traditional approaches with hand-crafted features had been used for food recognition. However, evaluation in deep learning and convolutional neural networks achieved higher accuracy compared to the traditional methods. We propose a new dataset called TypicalVietnameseFoodNet and a proposed model with the best performance for our dataset, called the TypicalVietnameseFood model. Our proposed approach achieves 94.84% on the test set.
从图像中对多种食物进行分类的过程是一个令人兴奋的领域,涉及各种应用。特别是在旅游中,越南的食物分类将我们跨越文化和世代联系在一起。食物分类并不容易,即使是人。原因是菜肴之间的食物多样性和中间的菜肴变化。因此,一些具有手工特征的传统方法被用于食物识别。然而,与传统方法相比,深度学习和卷积神经网络中的评估获得了更高的准确性。我们提出了一个名为TypicalVietnameseFoodNet的新数据集,以及一个为我们的数据集提供最佳性能的建议模型,称为TypicalVietnameseFood模型。我们提出的方法在测试集上达到了94.84%。
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引用次数: 0
期刊
2021 21st International Conference on Control, Automation and Systems (ICCAS)
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