Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704002
J. Kang, H. Park
This paper proposes an architecture of Universal UPnP Bridge that interconnects embedded non-IP devices1 with UPnP network in a fairly easy manner. We define non-IP device description, extended UPnP service description and message field description in order to reduce the amount of effort required to support various non-IP devices. By the descriptions and a message conversion module above, embedded non-IP devices can be connected to UPnP network without additional programming to convert different message formats. The proposed bridge guarantees seamless interaction by abstracting non-IP devices as virtual UPnP devices that performs generic UPnP device's functionalities. And we demonstrate our proposed architecture through implementation and evaluation.
{"title":"Universal UPnP bridge for embedded non-IP device with heterogeneous network interfaces","authors":"J. Kang, H. Park","doi":"10.1109/ICCAS.2013.6704002","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704002","url":null,"abstract":"This paper proposes an architecture of Universal UPnP Bridge that interconnects embedded non-IP devices1 with UPnP network in a fairly easy manner. We define non-IP device description, extended UPnP service description and message field description in order to reduce the amount of effort required to support various non-IP devices. By the descriptions and a message conversion module above, embedded non-IP devices can be connected to UPnP network without additional programming to convert different message formats. The proposed bridge guarantees seamless interaction by abstracting non-IP devices as virtual UPnP devices that performs generic UPnP device's functionalities. And we demonstrate our proposed architecture through implementation and evaluation.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"62 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":"123209841","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.2013.6704045
Yeon-woo Jung, B. Kang
This paper presents the design concepts of a protector developed in series for a small launching reconnaissance robot. By help of an archery device, the protector carrying the small robot could flight to a remote target area, and then let the robot escape from the protector for surveillance mission. The finite element model of the protector including the robot simulated the fracture behaviors of the protector assembly due to hard collision with the ground, and shock tests using the drop table evaluated the shock attenuation from the protector to the robot. Several field tests of 100m-flight revealed that desired motions (launch, flight, land, escape) were achieved successfully.
{"title":"Design and evaluation of a fracture-type protector for a small launching reconnaissance robot","authors":"Yeon-woo Jung, B. Kang","doi":"10.1109/ICCAS.2013.6704045","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704045","url":null,"abstract":"This paper presents the design concepts of a protector developed in series for a small launching reconnaissance robot. By help of an archery device, the protector carrying the small robot could flight to a remote target area, and then let the robot escape from the protector for surveillance mission. The finite element model of the protector including the robot simulated the fracture behaviors of the protector assembly due to hard collision with the ground, and shock tests using the drop table evaluated the shock attenuation from the protector to the robot. Several field tests of 100m-flight revealed that desired motions (launch, flight, land, escape) were achieved successfully.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"120 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":"116257609","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.2013.6704086
Yongwoon Ji, Sang-Jun Lee, J. Jeon
This paper proposes a disparity post-processing method for noise reduction using standard deviation, and presents the design and implementation of pipelined dedicated hardware architecture for the real-time processing performance. In the proposed method, the optimal standard deviation is calculated first using the parameters generated by iterative experiments. Through these parameters, we can determine whether the pixel of interest has the correct disparity value and can remove error pixels. We implemented the proposed dedicated hardware architecture on a Xilinx Virtex5 FPGA. The average operating frequency of this system operated up to 80MHz, which enabled real-time streaming video processing at 60fps.
{"title":"Hardware design and implementation of disparity image post-processing for noise reduction by standard deviation","authors":"Yongwoon Ji, Sang-Jun Lee, J. Jeon","doi":"10.1109/ICCAS.2013.6704086","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704086","url":null,"abstract":"This paper proposes a disparity post-processing method for noise reduction using standard deviation, and presents the design and implementation of pipelined dedicated hardware architecture for the real-time processing performance. In the proposed method, the optimal standard deviation is calculated first using the parameters generated by iterative experiments. Through these parameters, we can determine whether the pixel of interest has the correct disparity value and can remove error pixels. We implemented the proposed dedicated hardware architecture on a Xilinx Virtex5 FPGA. The average operating frequency of this system operated up to 80MHz, which enabled real-time streaming video processing at 60fps.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"45 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":"116280709","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.2013.6704156
Jindeok Seo, Gyungtae Kim, Kyomuk Lim, Changho Seok, Hyunho Kim, Seung-Sun Im, Ji-Hoon Kim, Choul‐Young Kim, H. Ko
An analog front-end design that can improve the performance of the readout integrated circuit (ROIC) for the microbolometer infrared (IR) focal plane array (FPA) is presented. The analog front-end circuit for the microbolometer generally consists of the resistance-to-current (R-I) converter and the capacitive transimpedance amplifier (CTIA). The resistances of the microbolometer FPA are changed when absorbing IR. These resistance changes are converted to the output voltages by R-I converters and CTIAs. To eliminate the VTH-variations and to reduce the 1/f noise, a novel regulated R-I converter with current mirror amplifier and a correlated double sampled (CDS) CTIA are proposed. The output noise of the proposed design is -19.15 dB lower than conventional design at 1 Hz. The chip is designed using the standard 0.18 μm 1P6M CMOS process.
{"title":"An analog front-end IC with regulated R-I amplifier and CDS CTIA for microbolometer","authors":"Jindeok Seo, Gyungtae Kim, Kyomuk Lim, Changho Seok, Hyunho Kim, Seung-Sun Im, Ji-Hoon Kim, Choul‐Young Kim, H. Ko","doi":"10.1109/ICCAS.2013.6704156","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704156","url":null,"abstract":"An analog front-end design that can improve the performance of the readout integrated circuit (ROIC) for the microbolometer infrared (IR) focal plane array (FPA) is presented. The analog front-end circuit for the microbolometer generally consists of the resistance-to-current (R-I) converter and the capacitive transimpedance amplifier (CTIA). The resistances of the microbolometer FPA are changed when absorbing IR. These resistance changes are converted to the output voltages by R-I converters and CTIAs. To eliminate the VTH-variations and to reduce the 1/f noise, a novel regulated R-I converter with current mirror amplifier and a correlated double sampled (CDS) CTIA are proposed. The output noise of the proposed design is -19.15 dB lower than conventional design at 1 Hz. The chip is designed using the standard 0.18 μm 1P6M CMOS process.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"28 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":"121754304","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.2013.6703907
Dong W. Kim
Robot-posture with genetic algorithm is presented in this paper. As a robot platform walking biped robot is used. To cope with the difficulties and explain unknown empirical laws in the robot, practical robot walking on a descending sloped floor is modeled by genetic architecture. These results from the modeling strategy is analyzed and compared.
{"title":"A study on the humanoid-robot-posture-generation","authors":"Dong W. Kim","doi":"10.1109/ICCAS.2013.6703907","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703907","url":null,"abstract":"Robot-posture with genetic algorithm is presented in this paper. As a robot platform walking biped robot is used. To cope with the difficulties and explain unknown empirical laws in the robot, practical robot walking on a descending sloped floor is modeled by genetic architecture. These results from the modeling strategy is analyzed and compared.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"39 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":"128029708","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.2013.6704000
R. Uskenbayeva, A. Kuandykov, Young Cho, D. Kozhamzharova, Zhuldyz Kalpeyeva
Currently, the designing of automatic control for unmanned vehicles (UV) is one of the most important issues in the solution of problems related to the development of intelligent unmanned vehicles. The ultimate goal and the effectiveness of its implementation are not possible without the use of high-tech automatic control systems (ACS). The paper suggests methods and management models of collaboration of UVs. The proposed model of group of UA to support business processes (list of certain types of work) in a given space, aiming to achieve the global goal or business process. The article considers the problem of controlling a group of UV to perform various tasks. To build such kind of control we applied multiagent approach. The article provides the formulation of group work management of UV, the model and solution algorithm.
{"title":"Models and methods of joint work management of group of unmanned vehicles","authors":"R. Uskenbayeva, A. Kuandykov, Young Cho, D. Kozhamzharova, Zhuldyz Kalpeyeva","doi":"10.1109/ICCAS.2013.6704000","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704000","url":null,"abstract":"Currently, the designing of automatic control for unmanned vehicles (UV) is one of the most important issues in the solution of problems related to the development of intelligent unmanned vehicles. The ultimate goal and the effectiveness of its implementation are not possible without the use of high-tech automatic control systems (ACS). The paper suggests methods and management models of collaboration of UVs. The proposed model of group of UA to support business processes (list of certain types of work) in a given space, aiming to achieve the global goal or business process. The article considers the problem of controlling a group of UV to perform various tasks. To build such kind of control we applied multiagent approach. The article provides the formulation of group work management of UV, the model and solution algorithm.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"30 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":"125645237","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.2013.6704210
Jayoung Kim, Jihong Lee
This paper focuses on real-time estimation of optimal control parameters (maximum friction coefficient and optimal slip ratio) in order to secure maneuverability of a mobile robot on rough terrain. This paper is largely divided into two parts; 1) material identification, 2) estimation of optimal control parameters. Firstly, since maximum friction coefficient and optimal slip ratio indicate different characteristics depending on material types, prior to estimation of optimal control parameters, it is needed to identify which material a robot is moving on. Thus, this paper proposes a method for material identification based on soil resistance impeding motion of a robot. Material identification includes Gaussian classifier to stochastically identify one of the material types. Secondly, an estimator is developed so as to predict maximum friction coefficient and optimal slip ratio which are crucial parameters for a mobile robot while effectively traversing rough terrain. Friction-slip curves based on experimental data from a test for analysis of a wheel-terrain interaction are employed to make a prediction model for estimation of optimal control parameters. Results of material identification and estimation of optimal control parameters are verified through one-wheel driving experiments on three kinds of material types: sand, gravel and grass using the wheel-terrain interaction testbed.
{"title":"Real-time estimation of maximum friction and optimal slip ratio based on material identification for a mobile robot on rough terrain","authors":"Jayoung Kim, Jihong Lee","doi":"10.1109/ICCAS.2013.6704210","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704210","url":null,"abstract":"This paper focuses on real-time estimation of optimal control parameters (maximum friction coefficient and optimal slip ratio) in order to secure maneuverability of a mobile robot on rough terrain. This paper is largely divided into two parts; 1) material identification, 2) estimation of optimal control parameters. Firstly, since maximum friction coefficient and optimal slip ratio indicate different characteristics depending on material types, prior to estimation of optimal control parameters, it is needed to identify which material a robot is moving on. Thus, this paper proposes a method for material identification based on soil resistance impeding motion of a robot. Material identification includes Gaussian classifier to stochastically identify one of the material types. Secondly, an estimator is developed so as to predict maximum friction coefficient and optimal slip ratio which are crucial parameters for a mobile robot while effectively traversing rough terrain. Friction-slip curves based on experimental data from a test for analysis of a wheel-terrain interaction are employed to make a prediction model for estimation of optimal control parameters. Results of material identification and estimation of optimal control parameters are verified through one-wheel driving experiments on three kinds of material types: sand, gravel and grass using the wheel-terrain interaction testbed.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"30 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":"127976131","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.2013.6704177
Sungbok Kim, Geunhyung Lim, Hyungjin Kim
This paper presents the scale-invariant isotropy analysis of an optical mouse array for the mobile robot velocity estimation. First, with the characteristic length introduced, the velocity kinematics of a mobile robot with optical mice is described. Then, the uncertainty ellipsoid is obtained to represent the error characteristics of the optical mouse based mobile robot velocity estimation, and the isotropy index is defined as the closeness of the uncertainty ellipsoid to a sphere. Next, using the defined isotropy index, the conditions for the anisotropic, isotropic, and regular optical mouse arrays are derived in terms of the installation positions of optical mice, along with the corresponding characteristic lengths.
{"title":"Scale-invariant isotropy of an optical mouse array for mobile robot velocity estimation","authors":"Sungbok Kim, Geunhyung Lim, Hyungjin Kim","doi":"10.1109/ICCAS.2013.6704177","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704177","url":null,"abstract":"This paper presents the scale-invariant isotropy analysis of an optical mouse array for the mobile robot velocity estimation. First, with the characteristic length introduced, the velocity kinematics of a mobile robot with optical mice is described. Then, the uncertainty ellipsoid is obtained to represent the error characteristics of the optical mouse based mobile robot velocity estimation, and the isotropy index is defined as the closeness of the uncertainty ellipsoid to a sphere. Next, using the defined isotropy index, the conditions for the anisotropic, isotropic, and regular optical mouse arrays are derived in terms of the installation positions of optical mice, along with the corresponding characteristic lengths.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"32 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":"115866420","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}
Human being has been familiar with mobile system such as smart phone, tablet PC and smart robot-cleaner. These systems differ from fixed type system. Fixed system's power is normally supplied from socket outlet. However, battery supplies power to mobile system; battery have become important energy source in system that has mobility. Therefore, researchers have interested in the mobile system to have long life-span. They have studied on battery management and algorithm of battery state. Further, researchers have tried to use renewable energy to replace the energy source or to use as a back-up power. This paper study on expanding mobile system life-span by considering the discharge and charge characteristic of battery.
{"title":"Using battery in mobile system","authors":"Byung-Keun Yoon, Youn-Ho Choi, Nae-Soo Cho, Woo-Hyun Kwon","doi":"10.1109/ICCAS.2013.6703990","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703990","url":null,"abstract":"Human being has been familiar with mobile system such as smart phone, tablet PC and smart robot-cleaner. These systems differ from fixed type system. Fixed system's power is normally supplied from socket outlet. However, battery supplies power to mobile system; battery have become important energy source in system that has mobility. Therefore, researchers have interested in the mobile system to have long life-span. They have studied on battery management and algorithm of battery state. Further, researchers have tried to use renewable energy to replace the energy source or to use as a back-up power. This paper study on expanding mobile system life-span by considering the discharge and charge characteristic of battery.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"6 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":"115900938","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.2013.6703951
B. Shim, Sung-Won Jung, Moon-Youl Park, K. Sung, I. Park, W. Hwang, Sung-Hyun Han
We propose a new approach to control of mobile robot of trajectory following and fuzzy perception concept with a nonholonomic mobile robot named ROBO-N. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicability, teleoperation and planned behaviors, together with their combination with reactive ones, have been considered. Experimental results, of an application to control the ROBO-N Robot autonomous vehicle, demonstrate the robustness of the proposed method.
{"title":"A study on real-time control of mobile robot with two wheel","authors":"B. Shim, Sung-Won Jung, Moon-Youl Park, K. Sung, I. Park, W. Hwang, Sung-Hyun Han","doi":"10.1109/ICCAS.2013.6703951","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703951","url":null,"abstract":"We propose a new approach to control of mobile robot of trajectory following and fuzzy perception concept with a nonholonomic mobile robot named ROBO-N. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicability, teleoperation and planned behaviors, together with their combination with reactive ones, have been considered. Experimental results, of an application to control the ROBO-N Robot autonomous vehicle, demonstrate the robustness of the proposed method.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"1 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":"130056163","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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