Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704065
Y. Mizuchi, Y. Hagiwara, Akimasa Suzuki, H. Imamura, Yongwoon Choi
The usability of wearable augmented reality (AR) systems would improve by letting users arbitrarily display virtual information on their palm and simultaneously manipulate it as tablet computers or smartphones. To realize such interaction between users and virtual information, we aim to robustly estimate 3-D palm posture against finger motion. This is based on the assumption that finger motion is separately estimated from palm posture and applied to manipulation of displayed information. In addition, the capability of electric sources, sensors, and processors are very limited in wearable computers. For this reason, by using a monocular camera and estimating palm posture from only a few image feature-points, we achieve an efficient estimation that satisfies real-time constraint on wearable computers. The accuracy and the robustness of our method are demonstrated by qualitative and quantitative comparison with a widely-used cardboard maker. Additionally, we confirmed that our method is run on a mobile computer at the average of 12.44 msec per frame.
{"title":"Monocular 3D palm posture estimation based on feature-points robust against finger motion","authors":"Y. Mizuchi, Y. Hagiwara, Akimasa Suzuki, H. Imamura, Yongwoon Choi","doi":"10.1109/ICCAS.2013.6704065","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704065","url":null,"abstract":"The usability of wearable augmented reality (AR) systems would improve by letting users arbitrarily display virtual information on their palm and simultaneously manipulate it as tablet computers or smartphones. To realize such interaction between users and virtual information, we aim to robustly estimate 3-D palm posture against finger motion. This is based on the assumption that finger motion is separately estimated from palm posture and applied to manipulation of displayed information. In addition, the capability of electric sources, sensors, and processors are very limited in wearable computers. For this reason, by using a monocular camera and estimating palm posture from only a few image feature-points, we achieve an efficient estimation that satisfies real-time constraint on wearable computers. The accuracy and the robustness of our method are demonstrated by qualitative and quantitative comparison with a widely-used cardboard maker. Additionally, we confirmed that our method is run on a mobile computer at the average of 12.44 msec per frame.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"102 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":"134014422","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.2013.6703892
N. Ko, S. Noh, Yongseon Moon
This paper describes an implementation of autonomous navigation of a mobile robot indoors. The implementation includes map building, path planning, localization, local path planning and obstacle avoidance, and path tracking. ICP(Iterative closest point) is employed to build grid based map using scanned range data. Dijkstra algorithm plans path from an initial location to a goal position. Particle filter estimates the robot position and orientation using the scanned range data. Elastic force is used for local path planning and obstacle avoidance towards a goal position. The algorithms are combined for autonomous navigation in a work area of 100m×40m, which comprises rooms, corridors, obstacles like passers-by, and many furniture and exhibition area. The robot ran at the maximum speed of 1.0 m/sec, and passed all the way points and reached to goal location through the path of the length 165m in 255 seconds, with the average speed of 0.65m/sec.
{"title":"Implementing indoor navigation of a mobile robot","authors":"N. Ko, S. Noh, Yongseon Moon","doi":"10.1109/ICCAS.2013.6703892","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703892","url":null,"abstract":"This paper describes an implementation of autonomous navigation of a mobile robot indoors. The implementation includes map building, path planning, localization, local path planning and obstacle avoidance, and path tracking. ICP(Iterative closest point) is employed to build grid based map using scanned range data. Dijkstra algorithm plans path from an initial location to a goal position. Particle filter estimates the robot position and orientation using the scanned range data. Elastic force is used for local path planning and obstacle avoidance towards a goal position. The algorithms are combined for autonomous navigation in a work area of 100m×40m, which comprises rooms, corridors, obstacles like passers-by, and many furniture and exhibition area. The robot ran at the maximum speed of 1.0 m/sec, and passed all the way points and reached to goal location through the path of the length 165m in 255 seconds, with the average speed of 0.65m/sec.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"15 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":"131513976","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.2013.6703948
K. Sung, Sung-Won Jung, M. Park, Y. Jeong, Woo-Song Lee, I. Park, Sung-Hyun Han
We present a new technology for real-time walking of a biped robot. A biped robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments for a 20-DOFs humanoid robot.
{"title":"A study on stable motion control of humanoid robot for unmanned FA","authors":"K. Sung, Sung-Won Jung, M. Park, Y. Jeong, Woo-Song Lee, I. Park, Sung-Hyun Han","doi":"10.1109/ICCAS.2013.6703948","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703948","url":null,"abstract":"We present a new technology for real-time walking of a biped robot. A biped robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments for a 20-DOFs humanoid robot.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"74 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":"131759496","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.2013.6704140
Chang-Hoi Kim, Hocheol Shin, H. Lee
Research into the gait planning of a walking robot is the underlying development of quadruped robots. Despite the efforts in stable gait planning, many walking robots that have been developed thus far do not have enough ability to adapt to uneven territory. In this paper, we acquired the motion data of the trotting lizards using the motion capture equipment and analyzed the gait systematically. In addition, we applied it to the kinematic model of the lizard and acquired the trajectory of each joint through an inverse kinematic solution. Moreover, we proposed the joint space-based gait of the lizard model by approximating the acquired joint trajectory to a sinusoidal function. We verified through the simulation that the proposed gait faithfully follows actual gait of lizards.
{"title":"Trotting gait analysis of a lizard using motion capture","authors":"Chang-Hoi Kim, Hocheol Shin, H. Lee","doi":"10.1109/ICCAS.2013.6704140","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704140","url":null,"abstract":"Research into the gait planning of a walking robot is the underlying development of quadruped robots. Despite the efforts in stable gait planning, many walking robots that have been developed thus far do not have enough ability to adapt to uneven territory. In this paper, we acquired the motion data of the trotting lizards using the motion capture equipment and analyzed the gait systematically. In addition, we applied it to the kinematic model of the lizard and acquired the trajectory of each joint through an inverse kinematic solution. Moreover, we proposed the joint space-based gait of the lizard model by approximating the acquired joint trajectory to a sinusoidal function. We verified through the simulation that the proposed gait faithfully follows actual gait of lizards.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"53 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":"132981842","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.2013.6703961
Jin-won Jang, Sewon Lee, Hee-Jung Hwang, K. Baek
A global image thresholding algorithm based on boundary selection is proposed for improving conventional histogram-based thresholding algorithms. An image is divided into blocks of a fixed size, and the pixel variance of each block is used for finding the boundary blocks that a bimodal histogram. Otsu's threshold value of boundary block is used to classify object blocks and background blocks. The average values of these blocks are used to determine the optimal threshold value. Experimental results show that proposed algorithm improves on conventional thresholding methods for various types of images.
{"title":"Global thresholding algorithm based on boundary selection","authors":"Jin-won Jang, Sewon Lee, Hee-Jung Hwang, K. Baek","doi":"10.1109/ICCAS.2013.6703961","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703961","url":null,"abstract":"A global image thresholding algorithm based on boundary selection is proposed for improving conventional histogram-based thresholding algorithms. An image is divided into blocks of a fixed size, and the pixel variance of each block is used for finding the boundary blocks that a bimodal histogram. Otsu's threshold value of boundary block is used to classify object blocks and background blocks. The average values of these blocks are used to determine the optimal threshold value. Experimental results show that proposed algorithm improves on conventional thresholding methods for various types of images.","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":"130710085","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.2013.6704005
Su-Gil Lee, Byeong-Song Lee, Jun-Ho Lee, Chan-Bae Park, Jae-hee Kim, Shin-Myung Jung
The influence of logistics on the national economy increases as the economy advances. Vehicle transportation, however, cannot meet the ever-increasing transportation demand, with its economic efficiency deteriorating over time. Judging that such transportation demand cannot be met only by vehicle transportation, the government also seeks to increase transportation through railroads. In this study, the voltage supplied to TTX in trial operation was monitored and analyzed to identify the voltage condition supplied by the existing railroad. To directly measure the voltage supplied to TTX, PT was installed at the bottom of TTX pantograph for monitoring the primary voltage of the transformer, and for accurate measuring, surrounding environment and conditions were recorded and the analysis of stringing voltage using CBEMA curve was conducted. As a result, some of the section on Honam, Jonngang and Taebaek line were supplied 110[%] pf rated voltage (25[kV]) for more than 200[s] frequently exceeding 110[%] Taebaek line appeared to have had the installed voltage in worst condition.
{"title":"A study of train braking energy saving simulation for conventional line","authors":"Su-Gil Lee, Byeong-Song Lee, Jun-Ho Lee, Chan-Bae Park, Jae-hee Kim, Shin-Myung Jung","doi":"10.1109/ICCAS.2013.6704005","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704005","url":null,"abstract":"The influence of logistics on the national economy increases as the economy advances. Vehicle transportation, however, cannot meet the ever-increasing transportation demand, with its economic efficiency deteriorating over time. Judging that such transportation demand cannot be met only by vehicle transportation, the government also seeks to increase transportation through railroads. In this study, the voltage supplied to TTX in trial operation was monitored and analyzed to identify the voltage condition supplied by the existing railroad. To directly measure the voltage supplied to TTX, PT was installed at the bottom of TTX pantograph for monitoring the primary voltage of the transformer, and for accurate measuring, surrounding environment and conditions were recorded and the analysis of stringing voltage using CBEMA curve was conducted. As a result, some of the section on Honam, Jonngang and Taebaek line were supplied 110[%] pf rated voltage (25[kV]) for more than 200[s] frequently exceeding 110[%] Taebaek line appeared to have had the installed voltage in worst condition.","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":"131152238","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.2013.6704175
Jae-hong Lee, Heon Gu, Hyungchan Kim, Jungmin Kim, Hyoungrae Kim, Hakil Kim
This study develops and implements a Kinect-based 3D gesture recognition system for interactive manipulation of 3D objects in educational visualization softwares. The developed system detects and tracks human hands from the RGBD images captured by a Kinect sensor and recognizes human gestures by counting the number of open fingers of each fist and tracking 3D motion of both hands. The status of fists and gestures of hands are recognized as control commands of manipulating 3D structures visualized in 2D monitor by Molecule Viewer. The developed system is implemented on a Windows 7 laptop PC using C# and Emgu CV 2.3.0 library, and tested in ordinary classroom environment. Its performance demonstrates the overall average accuracy of around 90% in recognizing status of hands and gesture commands under various ambient lighting conditions.
{"title":"Interactive manipulation of 3D objects using Kinect for visualization tools in education","authors":"Jae-hong Lee, Heon Gu, Hyungchan Kim, Jungmin Kim, Hyoungrae Kim, Hakil Kim","doi":"10.1109/ICCAS.2013.6704175","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704175","url":null,"abstract":"This study develops and implements a Kinect-based 3D gesture recognition system for interactive manipulation of 3D objects in educational visualization softwares. The developed system detects and tracks human hands from the RGBD images captured by a Kinect sensor and recognizes human gestures by counting the number of open fingers of each fist and tracking 3D motion of both hands. The status of fists and gestures of hands are recognized as control commands of manipulating 3D structures visualized in 2D monitor by Molecule Viewer. The developed system is implemented on a Windows 7 laptop PC using C# and Emgu CV 2.3.0 library, and tested in ordinary classroom environment. Its performance demonstrates the overall average accuracy of around 90% in recognizing status of hands and gesture commands under various ambient lighting conditions.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"20 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":"130979261","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.2013.6704174
Takuya Matsumoto, T. Aida
Code Division Multiple Access (CDMA) is one of the key technologies supporting our mobile communications today. In this paper, we analytically evaluate the performance of CDMA multi-user demodulator, when we transmit data correlated with each other. For this purpose, we utilize the replica method of statistical physics. Our analysis makes it clear that the correlation within data enables us to enhance communication efficiency in low redundancy region while the property of spread code sequence most affects the performance in high redundancy one.
{"title":"Replica analysis of CDMA multiuser-demodulator for correlated data","authors":"Takuya Matsumoto, T. Aida","doi":"10.1109/ICCAS.2013.6704174","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704174","url":null,"abstract":"Code Division Multiple Access (CDMA) is one of the key technologies supporting our mobile communications today. In this paper, we analytically evaluate the performance of CDMA multi-user demodulator, when we transmit data correlated with each other. For this purpose, we utilize the replica method of statistical physics. Our analysis makes it clear that the correlation within data enables us to enhance communication efficiency in low redundancy region while the property of spread code sequence most affects the performance in high redundancy one.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"37 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":"132862211","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.2013.6703940
Myoung-Chul Park, Kyungmin Jeong, H. Ahn
In this paper, we propose an idea for distance-based scaling of a directed formation of mobile autonomous agents in the plane. Based on the formation control strategies found in the literature, we introduce modified control laws that can be applied to single-integrator modeled agents so that the agents achieve the desired formation and formation scaling. We provide full analysis that figures out exact conditions for the convergence of the agents to the desired formation. Simulation results to support our analysis are included.
{"title":"Formation-scaling strategy for an acyclic triangular formation: Distance-based approach","authors":"Myoung-Chul Park, Kyungmin Jeong, H. Ahn","doi":"10.1109/ICCAS.2013.6703940","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703940","url":null,"abstract":"In this paper, we propose an idea for distance-based scaling of a directed formation of mobile autonomous agents in the plane. Based on the formation control strategies found in the literature, we introduce modified control laws that can be applied to single-integrator modeled agents so that the agents achieve the desired formation and formation scaling. We provide full analysis that figures out exact conditions for the convergence of the agents to the desired formation. Simulation results to support our analysis are included.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"42 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":"133659024","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.2013.6704077
Masanori Tsuzaki, T. Takimoto
In this paper, we consider an operator support system for a class of manual control systems that a human operator manually control a multi-rotor helicopter. The multi-rotor helicopter is used in environmental observations, pesticide applications, disaster damage tracking systems, and so on. However, skillful techniques are required for operations of the multi-rotor helicopter. In fact, serious accidents are caused by human errors. In order to prevent serious accidents, it is important to detect any symptoms of the human error in real time. In this paper, we have proposed a human error detection method and an operator support system which alert the human operator to abnormal operations. The proposed support system is based on the identification method for a smallest model set which are consistent with the input and output data of the manual control system.
{"title":"Development of the support system for manual operations of a multi-rotor helicopter","authors":"Masanori Tsuzaki, T. Takimoto","doi":"10.1109/ICCAS.2013.6704077","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704077","url":null,"abstract":"In this paper, we consider an operator support system for a class of manual control systems that a human operator manually control a multi-rotor helicopter. The multi-rotor helicopter is used in environmental observations, pesticide applications, disaster damage tracking systems, and so on. However, skillful techniques are required for operations of the multi-rotor helicopter. In fact, serious accidents are caused by human errors. In order to prevent serious accidents, it is important to detect any symptoms of the human error in real time. In this paper, we have proposed a human error detection method and an operator support system which alert the human operator to abnormal operations. The proposed support system is based on the identification method for a smallest model set which are consistent with the input and output data of the manual control system.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"20 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":"132198978","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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