Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6703867
V. Gazi, B. Fidan
In this article we develop a direct adaptive fuzzy control based methodology for formation control and target tracking in a class of multi-agent systems with nonlinear and uncertain dynamics. The agents are assumed to be able to measure only their relative position to the other agents and the target and high gain observers are applied to estimate the derivatives of the combined tracking and formation errors. Various formation maneuvers such as contraction/expansion, rotation, and reconfiguration of the formation are also considered. Bounding and sliding mode control terms are used to guarantee stability and robust performance. Simple numerical simulations are also provided to verify the effectiveness of the algorithm.
{"title":"Adaptive formation control and target tracking in a class of multi-agent systems: Formation maneuvers","authors":"V. Gazi, B. Fidan","doi":"10.1109/ICCAS.2013.6703867","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703867","url":null,"abstract":"In this article we develop a direct adaptive fuzzy control based methodology for formation control and target tracking in a class of multi-agent systems with nonlinear and uncertain dynamics. The agents are assumed to be able to measure only their relative position to the other agents and the target and high gain observers are applied to estimate the derivatives of the combined tracking and formation errors. Various formation maneuvers such as contraction/expansion, rotation, and reconfiguration of the formation are also considered. Bounding and sliding mode control terms are used to guarantee stability and robust performance. Simple numerical simulations are also provided to verify the effectiveness of the algorithm.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"173 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123842415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6703950
Sung-Won Jung, K. Sung, Moon-Youl Park, E. Kang, W. Hwang, Jong-Dae Won, Woo-Song Lee, Sung-Hyun Han
Generally, it is possible to control the motion by using information on the robot's own postures, because a type of motion and gesture produces almost the same pattern of noise every time. In this paper, we describe an voice recognition control system for robot system which can robustly recognize voice by adults and children in noisy environments. We evaluate the performance of robot control system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller technique and a feature-space noise suppression using criteria. Voice activity periods are detected based end-point detection.
{"title":"A study on robust control of mobile robot by voice command","authors":"Sung-Won Jung, K. Sung, Moon-Youl Park, E. Kang, W. Hwang, Jong-Dae Won, Woo-Song Lee, Sung-Hyun Han","doi":"10.1109/ICCAS.2013.6703950","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703950","url":null,"abstract":"Generally, it is possible to control the motion by using information on the robot's own postures, because a type of motion and gesture produces almost the same pattern of noise every time. In this paper, we describe an voice recognition control system for robot system which can robustly recognize voice by adults and children in noisy environments. We evaluate the performance of robot control system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller technique and a feature-space noise suppression using criteria. Voice activity periods are detected based end-point detection.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122459673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704153
Nguyen Khoa Nam Cao, Y. Suh, Quoc Khanh Dang
In this paper, a golf swing motion tracking system is proposed, where golf club trajectory (position and velocity) and club face orientation information are given. Infrared LEDs and an inertial sensor unit are attached on a golf club and a stereo camera unit is used. During the address and impact golf swing phases, the cameras capture infrared LEDs on a golf club. Using infrared LEDs as landmarks, position and orientation of a golf club is computed. When a golf club is moving, an inertial navigation algorithm is used to compute the golf club trajectory. An indirect Kalman filter with 9 states is used to combine inertial sensor and vision data. The average position accuracy is about 3.6cm and the maximum error is about 13.2cm. The proposed system can be used to analyze the golf swing quantitatively.
{"title":"3D dynamics analysis of a golf full swing by fusing inertial sensor and vision data","authors":"Nguyen Khoa Nam Cao, Y. Suh, Quoc Khanh Dang","doi":"10.1109/ICCAS.2013.6704153","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704153","url":null,"abstract":"In this paper, a golf swing motion tracking system is proposed, where golf club trajectory (position and velocity) and club face orientation information are given. Infrared LEDs and an inertial sensor unit are attached on a golf club and a stereo camera unit is used. During the address and impact golf swing phases, the cameras capture infrared LEDs on a golf club. Using infrared LEDs as landmarks, position and orientation of a golf club is computed. When a golf club is moving, an inertial navigation algorithm is used to compute the golf club trajectory. An indirect Kalman filter with 9 states is used to combine inertial sensor and vision data. The average position accuracy is about 3.6cm and the maximum error is about 13.2cm. The proposed system can be used to analyze the golf swing quantitatively.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131562596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704198
Myeongjin Park, Kihoon Kim, O. Kwon
This paper proposes a new consensus criterion for discrete-time multi-agent systems with communication-delay and quantization. The interconnection information through the sensor of each agent are measuring to be the quantized by a logarithmic quantizer, and its quantization error is included in the proposed method. By constructing a suitable Lyapunov-Krasovskii functional and utilizing reciprocally convex approach, a new consensus criterion for the concerned systems is established in terms of linear matrix inequalities (LMIs) which can be easily solved by various effective optimization algorithms. One numerical example is given to illustrate the effectiveness of the proposed method.
{"title":"Quantized consensus criterion for discrete-time multi-agent systems with communication delay","authors":"Myeongjin Park, Kihoon Kim, O. Kwon","doi":"10.1109/ICCAS.2013.6704198","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704198","url":null,"abstract":"This paper proposes a new consensus criterion for discrete-time multi-agent systems with communication-delay and quantization. The interconnection information through the sensor of each agent are measuring to be the quantized by a logarithmic quantizer, and its quantization error is included in the proposed method. By constructing a suitable Lyapunov-Krasovskii functional and utilizing reciprocally convex approach, a new consensus criterion for the concerned systems is established in terms of linear matrix inequalities (LMIs) which can be easily solved by various effective optimization algorithms. One numerical example is given to illustrate the effectiveness of the proposed method.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127652490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6703888
Kwang-Jin Lee, Boreom Lee
Surface electromyography (EMG) is used for rehabilitation and clinical treatment for muscle disease. However, these recordings are often critically contaminated by cardiac artifact and many methods are applied to EMG in order to remove the artifacts from the EMG signals. We applied to both simulation and real EMG data a recently developed method of a combination of ensemble empirical mode decomposition and independent component analysis (EEMD+ICA), and compared its performance with that of other previously developed filtering methods. Relative root-mean-square errors (RRMSE) and correlations between the cleaned EMG and ECG contaminated EMG were calculated to evaluate the performance. The EMD based single channel technique showed better performance compared to the cubic smoothing spline and high-pass-filter (HPF) method for varied amplitude without a reference signal. Therefore, if the reference signal is not present, the combined EEMD and ICA procedure prove to be a reliable and efficient tool for removing ECG artifact from surface EMG.
{"title":"Removing ECG artifacts from the EMG: A comparison between combining empirical-mode decomposition and independent component analysis and other filtering methods","authors":"Kwang-Jin Lee, Boreom Lee","doi":"10.1109/ICCAS.2013.6703888","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703888","url":null,"abstract":"Surface electromyography (EMG) is used for rehabilitation and clinical treatment for muscle disease. However, these recordings are often critically contaminated by cardiac artifact and many methods are applied to EMG in order to remove the artifacts from the EMG signals. We applied to both simulation and real EMG data a recently developed method of a combination of ensemble empirical mode decomposition and independent component analysis (EEMD+ICA), and compared its performance with that of other previously developed filtering methods. Relative root-mean-square errors (RRMSE) and correlations between the cleaned EMG and ECG contaminated EMG were calculated to evaluate the performance. The EMD based single channel technique showed better performance compared to the cubic smoothing spline and high-pass-filter (HPF) method for varied amplitude without a reference signal. Therefore, if the reference signal is not present, the combined EEMD and ICA procedure prove to be a reliable and efficient tool for removing ECG artifact from surface EMG.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127691139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704202
HyungGi Jo, Hyukdoo Choi, Sungjin Jo, Euntai Kim
Grid mapping is a fundamental mapping algorithm in the mobile robotics. This paper proposes an indoor grid mapping technique which is adaptive to various map size. Rao-Blackwellized Particle Filters (RBPF) have been used to build a map. Each mapping procedures has the different number of particles. Small area uses more particles than large area. The suitable number of particles can improve the map quality and leads to low computation cost. Experiments have been conducted with unmanned delivering robot named Sbot. It is equipped with laser scanners and sonar sensors. We demonstrated the mapping system in different indoor environments and proved its efficiency.
{"title":"Grid mapping adaptive to various map sizes for Sbot","authors":"HyungGi Jo, Hyukdoo Choi, Sungjin Jo, Euntai Kim","doi":"10.1109/ICCAS.2013.6704202","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704202","url":null,"abstract":"Grid mapping is a fundamental mapping algorithm in the mobile robotics. This paper proposes an indoor grid mapping technique which is adaptive to various map size. Rao-Blackwellized Particle Filters (RBPF) have been used to build a map. Each mapping procedures has the different number of particles. Small area uses more particles than large area. The suitable number of particles can improve the map quality and leads to low computation cost. Experiments have been conducted with unmanned delivering robot named Sbot. It is equipped with laser scanners and sonar sensors. We demonstrated the mapping system in different indoor environments and proved its efficiency.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"411 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132764895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704138
Soonmin Hwang, Chaehoon Park, Yukyung Choi, Donggeun Yoo, I. Kweon
Vocabulary tree based place recognition is widely used in topological localization and its various applications have been proposed during the past decade. However, the bag-of-words representations from the vocabulary tree, which is trained with fixed training data, are difficult to be optimized to dynamic environments. To solve this problem, an adaptive vocabulary tree has been proposed, but there has been no comparison considering the adaptive properties of the conventional vocabulary tree. This paper provides a performance evaluation of the vocabulary tree and the adaptive vocabulary tree in dynamic scenes. This analysis provides guidance for choosing appropriate vocabulary in robot applications.
{"title":"Evaluation of vocabulary trees for localization in robot applications","authors":"Soonmin Hwang, Chaehoon Park, Yukyung Choi, Donggeun Yoo, I. Kweon","doi":"10.1109/ICCAS.2013.6704138","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704138","url":null,"abstract":"Vocabulary tree based place recognition is widely used in topological localization and its various applications have been proposed during the past decade. However, the bag-of-words representations from the vocabulary tree, which is trained with fixed training data, are difficult to be optimized to dynamic environments. To solve this problem, an adaptive vocabulary tree has been proposed, but there has been no comparison considering the adaptive properties of the conventional vocabulary tree. This paper provides a performance evaluation of the vocabulary tree and the adaptive vocabulary tree in dynamic scenes. This analysis provides guidance for choosing appropriate vocabulary in robot applications.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133471529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704004
Su-Gil Lee
Train ride comfort control of tilting train are now an established feature of railway operations throughout the world. For intercity traffic, tilt provides operators with increasing speeds, and therefore enhanced competitiveness, on existing routes where insufficient traffic or a lack of funds precludes the construction of a dedicated new high-speed railway. Appling the ride comfort control train, we can expect 30% of speed up on existing lines, but the stability of the electric current would be low because of ride comfort control train. Also, the spark between the catenary and pantagraph cause environmental problems such as noise, radio wave malfunction. Therefore, the on pantagraph for the power suppling device is very essential for stable electric power supply.
{"title":"A study of train ride comfort control for conventional curve line","authors":"Su-Gil Lee","doi":"10.1109/ICCAS.2013.6704004","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704004","url":null,"abstract":"Train ride comfort control of tilting train are now an established feature of railway operations throughout the world. For intercity traffic, tilt provides operators with increasing speeds, and therefore enhanced competitiveness, on existing routes where insufficient traffic or a lack of funds precludes the construction of a dedicated new high-speed railway. Appling the ride comfort control train, we can expect 30% of speed up on existing lines, but the stability of the electric current would be low because of ride comfort control train. Also, the spark between the catenary and pantagraph cause environmental problems such as noise, radio wave malfunction. Therefore, the on pantagraph for the power suppling device is very essential for stable electric power supply.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133709625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704149
Seul-Ki Han, W. Ra, Jin Bae Park
This paper proposes a linear estimation theory based direction of arrival (DOA) estimator to guarantee high-performance and computational efficiency. To do this, state-space system is derived from the linear prediction relation of the sinusoidal acoustic signal. Since it contains uncertain measurement matrix, the recently developed non-conservative robust Kalman filter (NCRKF) can be applied to compensate the performance degradation by the uncertain measurement matrix. However, unfortunately, the statistical information used in NCRKF scheme may not be precise in actual situation and it leads to the performance degradation. Therefore, in this paper, constrained NCRKF (CNCRKF) is presented to develop practical DOA estimator. It adopts constraint condition derived from the relation between target states to solve the performance degradation problem by the incorrect statistical information. The performance of the proposed solution is demonstrated by the computer simulation.
{"title":"Practical direction of arrival estimator using constrained robust Kalman filtering","authors":"Seul-Ki Han, W. Ra, Jin Bae Park","doi":"10.1109/ICCAS.2013.6704149","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704149","url":null,"abstract":"This paper proposes a linear estimation theory based direction of arrival (DOA) estimator to guarantee high-performance and computational efficiency. To do this, state-space system is derived from the linear prediction relation of the sinusoidal acoustic signal. Since it contains uncertain measurement matrix, the recently developed non-conservative robust Kalman filter (NCRKF) can be applied to compensate the performance degradation by the uncertain measurement matrix. However, unfortunately, the statistical information used in NCRKF scheme may not be precise in actual situation and it leads to the performance degradation. Therefore, in this paper, constrained NCRKF (CNCRKF) is presented to develop practical DOA estimator. It adopts constraint condition derived from the relation between target states to solve the performance degradation problem by the incorrect statistical information. The performance of the proposed solution is demonstrated by the computer simulation.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"108 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131821668","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-01DOI: 10.14257/ASTL.2016.140.49
Y. Lho, Y. Hwang, Sang Yong Lee
DC-DC converter is composed of a PWM-IC (pulse width modulation-integrated circuit) controller, a MOSFET (metal-oxide semiconductor field effect transistor), inductor, capacitor, etc. PWM is applied to control and regulate the total output voltage. It is shown that the variation of threshold voltage at MOSFET and the offset voltage increase caused by radiation effects make the PWM pulse unstable. Radiation gives the main influence on the changes in the electrical characteristics of PWM-IC and MOSFET. In the PWM operation, the missing pulses, the changes in pulse width, and a change of the output waveform are studied by the simulation program with integrated circuit emphasis (SPICE) and compared with experiments.
{"title":"A study on radiation effects on PWM-IC controller of DC/DC power buck converter","authors":"Y. Lho, Y. Hwang, Sang Yong Lee","doi":"10.14257/ASTL.2016.140.49","DOIUrl":"https://doi.org/10.14257/ASTL.2016.140.49","url":null,"abstract":"DC-DC converter is composed of a PWM-IC (pulse width modulation-integrated circuit) controller, a MOSFET (metal-oxide semiconductor field effect transistor), inductor, capacitor, etc. PWM is applied to control and regulate the total output voltage. It is shown that the variation of threshold voltage at MOSFET and the offset voltage increase caused by radiation effects make the PWM pulse unstable. Radiation gives the main influence on the changes in the electrical characteristics of PWM-IC and MOSFET. In the PWM operation, the missing pulses, the changes in pulse width, and a change of the output waveform are studied by the simulation program with integrated circuit emphasis (SPICE) and compared with experiments.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134189725","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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