Pub Date : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649916
Nguyen Khac Toan, Le Duc Thuan, Le Bao Long, Nguyen Truong Thinh
One of the fields that has detonated lately dependent on the AI platform is humanoid robots. The facial expressions of robots, then again, are getting less and less attention. The design of a robot head that communicates a wide range of human-like expressions is described in this paper. The eye-eyelid, lip-jaw, and neck were the three main parts of the robot head under investigation. Mechanical structure of human head such as number of degrees of freedom, size, ability of joints, and major muscle groups to create movements in each part are determined based on anatomy. Then, facial expressions are analyzed dependent on AUs to find out reasonable control points. The mechanical structures of each part were designed to try to replicate the movement and expression as closely as expected. Additionally, proportions, sizes, distances of the designs, such as CoP-CoP, tr-n, n-sn, and so on, must closely resemble those of a human head. The robot head in this article is designed and modeled on an Asian human head. The result of the design, the head section is made up of three mechanisms connected by a shaft that runs through the entire head. Through the experimental process, the robot head can perform 6 of the basic expressions and movements like a real human head.
{"title":"Mechanical Design of Robot Head with Human-like Emotions","authors":"Nguyen Khac Toan, Le Duc Thuan, Le Bao Long, Nguyen Truong Thinh","doi":"10.23919/ICCAS52745.2021.9649916","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649916","url":null,"abstract":"One of the fields that has detonated lately dependent on the AI platform is humanoid robots. The facial expressions of robots, then again, are getting less and less attention. The design of a robot head that communicates a wide range of human-like expressions is described in this paper. The eye-eyelid, lip-jaw, and neck were the three main parts of the robot head under investigation. Mechanical structure of human head such as number of degrees of freedom, size, ability of joints, and major muscle groups to create movements in each part are determined based on anatomy. Then, facial expressions are analyzed dependent on AUs to find out reasonable control points. The mechanical structures of each part were designed to try to replicate the movement and expression as closely as expected. Additionally, proportions, sizes, distances of the designs, such as CoP-CoP, tr-n, n-sn, and so on, must closely resemble those of a human head. The robot head in this article is designed and modeled on an Asian human head. The result of the design, the head section is made up of three mechanisms connected by a shaft that runs through the entire head. Through the experimental process, the robot head can perform 6 of the basic expressions and movements like a real human head.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115192999","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649868
Rongrong Liu, Binxiang Xu, S. Ko
Prostate biopsy is a gold standard for diagnosing prostate cancer. Clinically, since targeting the biopsy needle to exact positions of the cancer is not easy, multiple sampling technique is generally used. During the biopsy process, a surgeon uses the biopsy needle to perform a prostate puncture under ultrasound guidance and remove a small number of thin strips of prostate tissue for pathological analysis under a microscope to ensure a clear diagnosis of prostate cancer. This paper is about development of a prostate biopsy needle capable of force measurement that can be used in an MRI environment. The needle's body is made of Nitinol, and the Fiber Bragg Grating (FBG) sensor is used to sense the axial force. A unique beam-slot structure is designed to accommodate the FBG sensor and analyzed its performance to improve its force measurement sensitivity.
{"title":"Design of MRI compatible biopsy needle capable of force measurement","authors":"Rongrong Liu, Binxiang Xu, S. Ko","doi":"10.23919/ICCAS52745.2021.9649868","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649868","url":null,"abstract":"Prostate biopsy is a gold standard for diagnosing prostate cancer. Clinically, since targeting the biopsy needle to exact positions of the cancer is not easy, multiple sampling technique is generally used. During the biopsy process, a surgeon uses the biopsy needle to perform a prostate puncture under ultrasound guidance and remove a small number of thin strips of prostate tissue for pathological analysis under a microscope to ensure a clear diagnosis of prostate cancer. This paper is about development of a prostate biopsy needle capable of force measurement that can be used in an MRI environment. The needle's body is made of Nitinol, and the Fiber Bragg Grating (FBG) sensor is used to sense the axial force. A unique beam-slot structure is designed to accommodate the FBG sensor and analyzed its performance to improve its force measurement sensitivity.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115500969","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649980
Seul Jung
This paper presents the hybrid force control for a robot manipulator, which performs force and position control separately by a selection matrix. Decoupling position and force control axis by a selection matrix allows sub-dynamics in the Cartesian space and yields the independent axis control. In order to achieve decoupled dynamics and independent joint control of a robot manipulator, uncertain dynamics should be compensated a priori as well. Since uncertainties in robot dynamics affect poor tracking performances in both position and force control, a compensation technique of a time-delayed controller is introduced in the joint space. Simulation studies of force tracking control performance for a three-link robot manipulator are performed to verify the proposition.
{"title":"A Time-delayed Compensation Technique for Hybrid Force Control of Robot Manipulators","authors":"Seul Jung","doi":"10.23919/ICCAS52745.2021.9649980","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649980","url":null,"abstract":"This paper presents the hybrid force control for a robot manipulator, which performs force and position control separately by a selection matrix. Decoupling position and force control axis by a selection matrix allows sub-dynamics in the Cartesian space and yields the independent axis control. In order to achieve decoupled dynamics and independent joint control of a robot manipulator, uncertain dynamics should be compensated a priori as well. Since uncertainties in robot dynamics affect poor tracking performances in both position and force control, a compensation technique of a time-delayed controller is introduced in the joint space. Simulation studies of force tracking control performance for a three-link robot manipulator are performed to verify the proposition.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116413246","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649903
Eunyeong Lee, Hyojung Yoon, Byungwoon Park, Euiho Kim
For drone swarm flight, it is important that the drone's position is determined quickly and accurately. Therefore, in general, the single reference RTK(Real Time Kinematics) method using a ground reference station is used. However, in the RTK method using ground reference station, as the distance between the drone and reference station increases, the reception rate of the correction information may decrease or may not be able to receive it at all. It can cause problems in drone operation and control. Therefore, using the principle of single reference RTK, moving baseline RTK is proposed as a method that can do RTK without using a ground reference station. In this method, RTK is performed by designating one antibody participating in the swarm flight as a moving base and the dynamic of the moving base is compensated through its velocity compensation. Also, there is a possibility that an error may occur as a uncommon satellite combination is used in the velocity calculation because there is a difference in the visible satellites between the moving base and other antibodies. However, the change in satellite combination did not significantly affect the results.
对于无人机群飞行来说，快速准确地确定无人机的位置是非常重要的。因此，一般采用地面参考站的单参考RTK(Real Time Kinematics)方法。然而，在使用地面参考站的RTK方法中，随着无人机与参考站之间距离的增加，校正信息的接收率可能会降低，甚至根本无法接收。这可能会给无人机的操作和控制带来问题。因此，利用单参考RTK原理，提出了一种无需地面参考站即可完成RTK的移动基线RTK方法。该方法通过指定一个参与蜂群飞行的抗体作为移动基地进行RTK，并通过其速度补偿来补偿移动基地的动态。此外，由于在移动基地和其他抗体之间的可见卫星存在差异，因此在速度计算中使用不常见的卫星组合可能会出现误差。然而，卫星组合的变化对结果没有显著影响。
{"title":"Relative Precise Positioning based on Moving Baseline and the Effect of Uncommon Satellite Combination","authors":"Eunyeong Lee, Hyojung Yoon, Byungwoon Park, Euiho Kim","doi":"10.23919/ICCAS52745.2021.9649903","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649903","url":null,"abstract":"For drone swarm flight, it is important that the drone's position is determined quickly and accurately. Therefore, in general, the single reference RTK(Real Time Kinematics) method using a ground reference station is used. However, in the RTK method using ground reference station, as the distance between the drone and reference station increases, the reception rate of the correction information may decrease or may not be able to receive it at all. It can cause problems in drone operation and control. Therefore, using the principle of single reference RTK, moving baseline RTK is proposed as a method that can do RTK without using a ground reference station. In this method, RTK is performed by designating one antibody participating in the swarm flight as a moving base and the dynamic of the moving base is compensated through its velocity compensation. Also, there is a possibility that an error may occur as a uncommon satellite combination is used in the velocity calculation because there is a difference in the visible satellites between the moving base and other antibodies. However, the change in satellite combination did not significantly affect the results.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116420894","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649959
Dain Yoon, Chang-Hun Lee
This paper deals with the nonlinear autopilot design for spaceplanes based on the three-loop autopilot architecture. To this end, the nonlinear dynamics equations for spaceplanes during the reentry phase are first determined. The dynamic characteristics of the dynamics model are then investigated. The analysis results show that the time-scale separation is valid in the autopilot design for spaceplanes. Accordingly, based on the approximation of the time-scale separation, the proposed autopilot is designed by leveraging the feedback linearization control technique in conjunction with specific forms of the desired error dynamics. The key feature of the proposed autopilot lies in the fact that the resultant autopilot is given by the nonlinear three-loop autopilot structure, which has been widely applied to various flight vehicles. Thus, favorable characteristics of the three-loop autopilot are inherited. Numerical simulations verify our findings in this study.
{"title":"Nonlinear Three-Loop Autopilot Design for Spaceplanes","authors":"Dain Yoon, Chang-Hun Lee","doi":"10.23919/ICCAS52745.2021.9649959","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649959","url":null,"abstract":"This paper deals with the nonlinear autopilot design for spaceplanes based on the three-loop autopilot architecture. To this end, the nonlinear dynamics equations for spaceplanes during the reentry phase are first determined. The dynamic characteristics of the dynamics model are then investigated. The analysis results show that the time-scale separation is valid in the autopilot design for spaceplanes. Accordingly, based on the approximation of the time-scale separation, the proposed autopilot is designed by leveraging the feedback linearization control technique in conjunction with specific forms of the desired error dynamics. The key feature of the proposed autopilot lies in the fact that the resultant autopilot is given by the nonlinear three-loop autopilot structure, which has been widely applied to various flight vehicles. Thus, favorable characteristics of the three-loop autopilot are inherited. Numerical simulations verify our findings in this study.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116421920","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649739
Moon-woo Park, Jin-Il Kang
This paper presents a structural analysis result on the frame-cover structure of the unmanned surface vehicle (USV) for connecting with the remotely operated vehicle (ROV). The analysis based on the finite element method (FEM) is carried out to verify structural integrity of the frame-cover structure of the USV on condition of the maximum loaded weight and propeller thrust forces. For FEM modeling the detailed parts of the USV with the frame-cover, inflatable boat small (IBS), welded frames and FRP covers are defined with actual mechanical properties and boundary conditions. As result of the structural analysis, the overall displacement and maximum stress of the whole ship structure is verified to improve its structural design.
{"title":"Structural Analysis on Frame-Cover of USV Robot","authors":"Moon-woo Park, Jin-Il Kang","doi":"10.23919/ICCAS52745.2021.9649739","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649739","url":null,"abstract":"This paper presents a structural analysis result on the frame-cover structure of the unmanned surface vehicle (USV) for connecting with the remotely operated vehicle (ROV). The analysis based on the finite element method (FEM) is carried out to verify structural integrity of the frame-cover structure of the USV on condition of the maximum loaded weight and propeller thrust forces. For FEM modeling the detailed parts of the USV with the frame-cover, inflatable boat small (IBS), welded frames and FRP covers are defined with actual mechanical properties and boundary conditions. As result of the structural analysis, the overall displacement and maximum stress of the whole ship structure is verified to improve its structural design.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122663249","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649830
Sechan Oh, Hakjoo Kim, Munjung Jang, Jongmin Lee, K. Oh, K. Yi
This paper presents sliding mode and partitioned cost function-based fault-tolerant controller of automated driving. A proper strategy for ensuring functional safety of autonomous vehicles is needed when there exist sensor faults in acceleration information used for longitudinal autonomous driving. The data-driven fault-tolerant control algorithm proposed in this study is based on the upper-level controller decoupled with the lower-level controller. The adaptive sliding mode observer (ASMO) using recursive least squares (RLS) for reconstruction of acceleration sensor fault signal has been designed with gradient descent method. The reconstructed fault signal has been used to compute the desired acceleration for fault-tolerant longitudinal control with the Lyapunov stability condition. In order to compute the lower-level control inputs such as acceleration and brake pedal inputs, the desired and current acceleration values have been used based on the PID control law. It is assumed that the longitudinal acceleration of the preceding vehicle can be obtained using V2V communication. The performance evaluation environment has been constructed using Matlab/Simulink and CarMaker software. The evaluation results shows that the desired acceleration can be tracked reasonably by the proposed fault-tolerant control algorithm despite of existence of fault signal in longitudinal acceleration value.
{"title":"Sliding Mode Approach for Partitioned Cost Function-based Fault-Tolerant Control of Automated Driving","authors":"Sechan Oh, Hakjoo Kim, Munjung Jang, Jongmin Lee, K. Oh, K. Yi","doi":"10.23919/ICCAS52745.2021.9649830","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649830","url":null,"abstract":"This paper presents sliding mode and partitioned cost function-based fault-tolerant controller of automated driving. A proper strategy for ensuring functional safety of autonomous vehicles is needed when there exist sensor faults in acceleration information used for longitudinal autonomous driving. The data-driven fault-tolerant control algorithm proposed in this study is based on the upper-level controller decoupled with the lower-level controller. The adaptive sliding mode observer (ASMO) using recursive least squares (RLS) for reconstruction of acceleration sensor fault signal has been designed with gradient descent method. The reconstructed fault signal has been used to compute the desired acceleration for fault-tolerant longitudinal control with the Lyapunov stability condition. In order to compute the lower-level control inputs such as acceleration and brake pedal inputs, the desired and current acceleration values have been used based on the PID control law. It is assumed that the longitudinal acceleration of the preceding vehicle can be obtained using V2V communication. The performance evaluation environment has been constructed using Matlab/Simulink and CarMaker software. The evaluation results shows that the desired acceleration can be tracked reasonably by the proposed fault-tolerant control algorithm despite of existence of fault signal in longitudinal acceleration value.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121853802","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9649978
First A. Jaesub Shin, Second B. HyeonSeok Jang
Domestic and foreign outdoor autonomous driving robots are being developed to be used for various purposes. Since outdoor autonomous driving requires different technologies from indoor autonomous driving, evaluation should be made based on appropriate evaluation methods. And some countries are demanding appropriate technical standards for outdoor autonomous robots to ensure proper performance when driving outdoors. In this paper, we intend to propose a technical criteria along with an appropriate autonomous driving evaluation methods for an outdoor autonomous driving robot that has not been developed in Korea.
{"title":"Development of Autonomous Navigation Performance Criteria and Related Test Methods for Autonomous Mobile Robot in the Outdoor Environment","authors":"First A. Jaesub Shin, Second B. HyeonSeok Jang","doi":"10.23919/ICCAS52745.2021.9649978","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649978","url":null,"abstract":"Domestic and foreign outdoor autonomous driving robots are being developed to be used for various purposes. Since outdoor autonomous driving requires different technologies from indoor autonomous driving, evaluation should be made based on appropriate evaluation methods. And some countries are demanding appropriate technical standards for outdoor autonomous robots to ensure proper performance when driving outdoors. In this paper, we intend to propose a technical criteria along with an appropriate autonomous driving evaluation methods for an outdoor autonomous driving robot that has not been developed in Korea.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128997446","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9650017
Minho Lee, Taesung Cho, P. Park
The performance of the convex combination of two adaptive filters is heavily dependent on the mixing factor. This paper proposes novel variable mixing factors to combine two normalized sign algorithms robust against impulsive noises with improving the performance. The variable mixing factors resolve the trade-off problem between the convergence rate and steady-state misalignment by updating the mixing parameters at each iteration. The proposed variable mixing factors use a modified arctangent activation function and a modified rectified linear unit activation function used in various fields. These proposed mixing factors are updated by optimizing the absolute value of the system output error to get the robustness to impulsive noises. The proposed algorithm using a modified arctangent activation function has better performance; otherwise, the proposed algorithm using a modified rectified linear unit activation function has lower computational complexity. Simulations are conducted to verify the proposed algorithms in various system identification scenarios. The simulation results show that the proposed algorithms outperform the traditional algorithms.
{"title":"Improved Combined Step-size Normalized Sign Algorithm with Novel Variable Mixing Factors","authors":"Minho Lee, Taesung Cho, P. Park","doi":"10.23919/ICCAS52745.2021.9650017","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9650017","url":null,"abstract":"The performance of the convex combination of two adaptive filters is heavily dependent on the mixing factor. This paper proposes novel variable mixing factors to combine two normalized sign algorithms robust against impulsive noises with improving the performance. The variable mixing factors resolve the trade-off problem between the convergence rate and steady-state misalignment by updating the mixing parameters at each iteration. The proposed variable mixing factors use a modified arctangent activation function and a modified rectified linear unit activation function used in various fields. These proposed mixing factors are updated by optimizing the absolute value of the system output error to get the robustness to impulsive noises. The proposed algorithm using a modified arctangent activation function has better performance; otherwise, the proposed algorithm using a modified rectified linear unit activation function has lower computational complexity. Simulations are conducted to verify the proposed algorithms in various system identification scenarios. The simulation results show that the proposed algorithms outperform the traditional algorithms.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123458043","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 : 2021-10-12DOI: 10.23919/ICCAS52745.2021.9650067
Abdullah Rasul, Amir Khaicnour, Jaho Seo
The accurate and detailed sensing information of the excavated ground is a prerequisite for successful autonomous excavation. For this issue, our study proposes efficient methodologies for ground mapping that can generate a reconstructed map to deal with sensor occlusion and a 5D map beyond a normal 3D map to provide the various ground information at excavation sites. For the map reconstruction, exteroceptive and proprioceptive data were merged for occlusion areas. The 5D map was created using the information of 3D geometry, Lidar's intensity, and ground force index. Experimental tests using a mini excavator were carried out to validate the proposed methodologies.
{"title":"Effective Ground Mapping for Autonomous Excavation","authors":"Abdullah Rasul, Amir Khaicnour, Jaho Seo","doi":"10.23919/ICCAS52745.2021.9650067","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9650067","url":null,"abstract":"The accurate and detailed sensing information of the excavated ground is a prerequisite for successful autonomous excavation. For this issue, our study proposes efficient methodologies for ground mapping that can generate a reconstructed map to deal with sensor occlusion and a 5D map beyond a normal 3D map to provide the various ground information at excavation sites. For the map reconstruction, exteroceptive and proprioceptive data were merged for occlusion areas. The 5D map was created using the information of 3D geometry, Lidar's intensity, and ground force index. Experimental tests using a mini excavator were carried out to validate the proposed methodologies.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121410728","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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