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2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)最新文献

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Quantitative measures of controllability for descriptor systems 广义系统可控性的定量测度
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704061
Haemin Lee, Youngjin Park
Controllability and observability are a structural property that carries information useful for control system design. There are many measures to determine the location of actuator and sensor like degree of controllability(DOC), degree of observability(DOO) and degree of disturbance rejectability(DODR). However, Those measures are mostly defined in standard state space systems, not in descriptor systems. Descriptor systems, or singular systems, consist of slow and fast systems, which mean there are singularities in the systems. In this paper, DOC for descriptor systems which is defined as minimum input energy to change the states is proposed and the result is same with the minimum energy to change the states of slow systems and that means the fast systems does not affect the input energy. A simple numerical example is used to verify the result.
可控性和可观测性是一种结构特性,它携带着对控制系统设计有用的信息。确定作动器和传感器位置的方法有很多,如可控度(DOC)、可观测度(DOO)和抗扰度(DODR)。然而,这些度量大多在标准状态空间系统中定义,而不是在描述符系统中定义。广义系统,或称奇异系统,由慢速系统和快速系统组成,这意味着系统中存在奇点。本文提出了广义系统的DOC,将其定义为改变状态的最小输入能量,其结果与慢速系统改变状态的最小输入能量相同,即快速系统不影响输入能量。最后用一个简单的数值算例验证了计算结果。
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引用次数: 2
Portable biological signal measurement system for biofeedback and experiment for functional assessment 用于生物反馈和功能评估实验的便携式生物信号测量系统
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704003
Kenichiro Koga, Ippei Nakayama, Jun Kobayashi
This paper presents a biological signal measurement system for biofeedback. The system was assembled based on system design concept, “portable” and “inexpensive,” in order to spread the biofeedback among people who want to promote their mental health and performance improvement. If a biofeedback system is portable, you are able to spend daily life wearing the system, and then the biofeedback will effectively work on mental problem or performance improvement for the user. Moreover, if a biofeedback system is made at low cost, most people who need some help for mental health are able to have their own biofeedback system. The assembled biological signal measurement system consists of an Android OS smart phone, micro controller (Arduino Mega ADK), and three biological sensors. The Android OS smart phone was adopted because of its compact size and cost. Experiments were conducted to verify the functions of the biological signal measurement system, and then the system could successfully capture the transitions of the subjects' mental conditions for biofeedback.
提出了一种用于生物反馈的生物信号测量系统。该系统是根据“便携”和“廉价”的系统设计理念组装的,目的是在希望促进心理健康和提高表现的人群中传播生物反馈。如果一个生物反馈系统是便携式的,你就可以在日常生活中佩戴这个系统,然后生物反馈将有效地为用户解决心理问题或提高表现。此外,如果生物反馈系统的成本较低,大多数需要心理健康帮助的人都能够拥有自己的生物反馈系统。组装的生物信号测量系统由Android操作系统智能手机、微控制器(Arduino Mega ADK)和三个生物传感器组成。采用Android操作系统的智能手机是因为它的体积小,成本低。通过实验验证了生物信号测量系统的功能,成功捕获了被试心理状态的转变,并进行了生物反馈。
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引用次数: 5
Control strategies for manipulating contact force of Impact Wrench to generate high level torque 操纵冲击扳手接触力产生大扭矩的控制策略
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704222
Jaemin Lee, D. Ko, H. Chun, D. Hur
Impact Wrench is one of power tools which have sophisticated structure to generate impact motion by using electrical motor or hydraulic actuators. In the system, an impacting module, which consists of impactor, spindle, connect balls, locker and spring, has an important role to generate impacting motion. In this paper, two strategies are investigated for improving performance to generate high level torque at an anvil. The motion equation of the system during impacting motion is derived and the control methodologies are proposed to manipulate contact force, sequentially. One of the proposed control methods is controlling the spring length by compressing on the opposite side of impactor. The other method is to accelerate or decelerate the rotational behavior by modifying velocity profile. Besides, the simulation results of two strategies are compared in magnitude of contact force and impacting frequency.
冲击扳手是一种结构复杂,利用电动机或液压作动器产生冲击运动的电动工具。在系统中,由冲击器、主轴、连接球、锁紧器和弹簧组成的冲击模块对产生冲击运动起着重要的作用。在本文中,研究了两种策略,以提高性能,以产生高水平的扭矩在铁砧。推导了系统在冲击运动过程中的运动方程,提出了对接触力进行顺序控制的控制方法。提出的一种控制方法是通过对冲击器的反面进行压缩来控制弹簧长度。另一种方法是通过改变速度剖面来加速或减速旋转行为。并对两种策略的仿真结果进行了接触力大小和冲击频率的比较。
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引用次数: 9
A modeling and attitude control of robot for wind turbines 风力发电机机器人建模与姿态控制
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704162
Jin-Young Kong, Yeonsik Kang, Kyung-Chul Han, J. Song, Kyungho Sun, Baek-Kyu Cho
Wind turbines are in the limelight in the alternative energy industry. However, they face frequent and various problems during operation. We focused on the Supervising of the blades of a wind turbine. In this paper, we present the design of a maintenance robot that takes the size of wind turbine blades into consideration. So the general form of the robot is a square with four wires fixed to its vertices and to the nacelle. After the robot is placed near the nacelle, it moves along the blades. We also designed an attitude control algorithm for the robot to maintain its balance. Our control algorithm for the robot consists of roll and pitch attitude controllers and a height controller. Each controller was designed independently and then superposed together. We used simulations to verify our control algorithm.
风力涡轮机是替代能源行业的焦点。然而,它们在运行过程中经常遇到各种各样的问题。我们把重点放在风力涡轮机叶片的监督上。在本文中,我们提出了一个考虑风力发电机叶片尺寸的维修机器人的设计。所以机器人的一般形状是一个正方形,有四根电线固定在它的顶点和机舱上。当机器人被放置在机舱附近时,它会沿着叶片移动。我们还设计了一种姿态控制算法,使机器人保持平衡。我们的机器人控制算法由俯仰和俯仰姿态控制器和高度控制器组成。每个控制器独立设计,然后叠加在一起。我们用仿真来验证我们的控制算法。
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引用次数: 0
Observability analysis of 2D geometric features using the condition number for SLAM applications 利用 SLAM 应用中的条件数分析二维几何特征的可观测性
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704133
Suyong Yeon, N. Doh
Observability analysis is a very powerful tool for discriminating whether a robot can estimate its own state. However, this method cannot investigate how much of the system is observable. This is a major problem from a state estimation perspective because there is too much noise in real environments. Therefore, although the system (or a mobile robot) is observable, it cannot estimate its own state. To address this problem, we propose an observability analysis method that uses the condition number. Mathematically, the condition number of matrix represents a degree of robustness to noise. We utilize this property of the condition number to investigate the degree of observability. In other words, the condition number of the observability matrix demonstrates the feasibility of state estimation and the robustness of its feasibility for estimation.
可观察性分析是一种非常强大的工具,可用于判别机器人能否估计自身状态。但是,这种方法无法研究系统中有多少是可观测的。从状态估计的角度来看,这是一个大问题,因为真实环境中存在太多噪音。因此,尽管系统(或移动机器人)是可观测的,但它无法估计自己的状态。为了解决这个问题,我们提出了一种使用条件数的可观测性分析方法。从数学上讲,矩阵的条件数代表了对噪声的鲁棒性程度。我们利用条件数的这一特性来研究可观测性的程度。换句话说,可观测性矩阵的条件数证明了状态估计的可行性及其估计可行性的鲁棒性。
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引用次数: 7
Linear quadratic AMD controller with an observer for buildings under seismic ground motion 地震动作用下建筑物带观测器的线性二次型AMD控制器
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704178
L. Guenfaf, S. Allaoua
This paper is devoted to the study of active control with an observer for the control of structural vibration using an electric servomotor active mass driver (AMD) system. Composed primarily of an electric servomotor and a ball screw, the electrical AMD system is free from noise problems, oil leakage, and labor-intensive maintenance that commonly are associated with hydraulic AMD systems. For technological reasons and for cost reasons the number of sensors is limited by using the Luenberger observer. This observer is based on the synthesis of a static gain to stabilize the error state estimation and the convergence of the observer status to the state of the real system. In this study an instantaneous linear quadratic control algorithm is adopted using an observer. Numerical simulation is performed using a single sensor on the top floor of a five-story steel frame structure under the conditions of a Kanai-Tajimi power spectral density function of ground acceleration.
本文研究了带观测器的结构振动主动控制方法,并利用电动伺服电机主动质量驱动器(AMD)系统进行结构振动控制。主要由电动伺服电机和滚珠丝杠组成,电动AMD系统没有噪音问题,漏油问题,以及通常与液压AMD系统相关的劳动密集型维护。由于技术原因和成本原因,传感器的数量受到使用Luenberger观测器的限制。该观测器是基于静态增益的综合,以稳定误差状态估计和观测器状态收敛到实际系统状态。本研究采用了一种带观测器的瞬时线性二次控制算法。在地面加速度的Kanai-Tajimi功率谱密度函数条件下,利用五层钢框架结构顶层的单传感器进行了数值模拟。
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引用次数: 4
Delay-dependent H∞ control for linear systems with a time-delay and interval randomly varying disturbances 具有时滞和区间随机扰动的线性系统的时滞相关H∞控制
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704017
Kihoon Kim, Myeongjin Park, O. Kwon
This paper considers a delay-dependent H∞ problem for linear systems with a constant time-delay and interval randomly varying disturbances. It is assumed that the variance probability of disturbances satisfies the Bernoulli distribution. By constructing a suitable Lyapunov-Krasovskii functional, an H∞ control criterion for the system is proposed in terms of linear matrix inequalities (LMIs) which can be easily solvable by effective optimization algorithms. One numerical example is included to demonstrate the effectiveness of the presented criterion with designed controller.
研究一类具有常时滞和区间随机扰动的线性系统的时滞相关H∞问题。假设扰动的方差概率满足伯努利分布。通过构造一个合适的Lyapunov-Krasovskii泛函,提出了一个基于线性矩阵不等式(lmi)的H∞控制准则,该准则可通过有效的优化算法求解。最后通过一个算例验证了所设计控制器的有效性。
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引用次数: 0
Mode changing tracker for ground target tracking on aerial images from unmanned aerial vehicles (ICCAS 2013) 基于无人机航拍图像的地面目标跟踪变模跟踪器(ICCAS 2013)
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704242
Byoungil Jeon, Kwang-yul Baek, Chanho Kim, H. Bang
This paper addresses mode changing tracker that has global and local tracking mode for efficient target tracking in aerial images from unmanned aerial vehicle. There are two modes in this tracker; Global tracking for object detection and local object tracking. In global tracking, an object in current image sequence is detected with covariance matrix matching. The covariance matrix is one of the efficient ways describing models as fusion of spatial and statistical properties of features. In local tracking, tracker conducts object tracking with kernel-based object tracking algorithm. Kernel-based object tracking algorithm, also known as mean shift, is one of the modern object tracking approaches. We demonstrate the performance of the tracker on aerial image sequences.
本文研究了一种具有全局和局部跟踪模式的变模跟踪器,用于对无人机航拍图像进行有效的目标跟踪。这个跟踪器有两种模式;目标检测的全局跟踪和局部目标跟踪。在全局跟踪中,采用协方差矩阵匹配的方法检测当前图像序列中的目标。协方差矩阵是特征的空间特性和统计特性的融合,是描述模型的有效方法之一。在局部跟踪中,跟踪器采用基于核的目标跟踪算法对目标进行跟踪。基于核的目标跟踪算法,又称均值移位算法,是一种现代目标跟踪方法。我们演示了跟踪器在航空图像序列上的性能。
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引用次数: 17
Active cannula robot with misorientation auto-recovery camera: A method to improve hand-eye coordination in minimally invasive surgery 带错位自动恢复摄像头的主动插管机器人:一种提高微创手术中手眼协调能力的方法
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6703908
Xiao Li, Taeyoung Choi, Hanyong Chun, Suhyeon Gim, Soojun Lee, Sungchul Kang, Keri Kim
We develop a kind of active cannula robot (microsurgery system) used in minimally invasive surgery. This robot mainly consists of two parts: active cannula and control unit. The active cannula is composed of two or three concentric pre-curved elastic tubes that can be translated and rotated relative to one another. Each tube is driven by a motor with a decelerator. Elastic interaction is caused as tubes are translated and rotated relatively, which reshape the cannula to bypass the barriers. In addition, vision system is also integrated into our system. However, when the micro-camera fastened to the tip of cannula rotates together with the active cannula, the orientation of object presented on the monitor is always changing, which will complicate manual dexterity among surgeons. To solve this problem, we design a real-time misorientation auto-recovery algorithm for calibrating the rotation angle and confirm it by experiment.
研制了一种用于微创手术的主动插管机器人(微手术系统)。该机器人主要由主动导管和控制单元两部分组成。活动套管由两个或三个同心的预弯曲弹性管组成,这些弹性管可以相互平移和旋转。每根管子都由带减速器的电机驱动。弹性相互作用是由于管子的相对平移和旋转引起的,这使管子重塑以绕过障碍物。此外,视觉系统也被集成到我们的系统中。然而,当固定在导管尖端的微型摄像机与活动导管一起旋转时,显示器上显示的物体方向总是在变化,这给外科医生的手工灵巧性带来了困难。为了解决这一问题,我们设计了一种实时定位误差自动恢复算法来校准旋转角度,并通过实验进行了验证。
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引用次数: 4
The novel impact point prediction of a ballistic target with interacting multiple models 多模型交互作用下弹道目标弹着点预测新方法
Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6703972
Jae-Kyung Jung, D. Hwang
The threat of ballistic targets has increased rapidly in recent years. Therefore, it is essential to prepare the capabilities to predict their impact points in order to assign the firing battery to defense them effectively. Because the trajectory of a short-range ballistic target represents severe non-linear characteristics and consists of boost phase and ballistic phase, it is difficult to estimate the state and predict its impact point using single dynamic model in overlapping region. In this paper, the method to distinguish the trajectory phase from the measurement data and the method to estimate the state using a different extended Kalman filter (EKF) with interacting multiple models are proposed in order to fuse the state of a ballistic target in overlapping region. For effective the state fusion, it is necessary to merge each state from a different EKF in accordance with the mode probability depending on the residual error between the estimated state and measurement. A Monte Carlo simulation is used in the verification of the proposed method.
近年来,弹道导弹的威胁迅速增加。因此,准备预测其冲击点的能力是至关重要的,以便分配发射单元来有效地防御它们。由于近程弹道目标的弹道具有严重的非线性特征,并且由助推段和弹道段组成,在重叠区域用单一的动力学模型很难估计其状态和预测其弹着点。为了融合重叠区域内弹道目标的状态,提出了从测量数据中区分弹道相位的方法和使用多模型交互作用的不同扩展卡尔曼滤波(EKF)估计弹道目标状态的方法。为了实现有效的状态融合,需要根据依赖于估计状态和测量值之间残差的模态概率,从不同的EKF中合并每个状态。用蒙特卡罗仿真验证了所提出的方法。
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引用次数: 8
期刊
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)
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