Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704189
H. Moon, Jong-Cheol Kim, Jong-jun Kim, Young-Baek Kim
The productivity and reliability are regarded as most essential features of the automatic welding system. From practical point of view, the carriage and band system has been verified as one of most effective welding systems for pipeline laying. The productivity depends on several parameters such as a performance of the welding system, the level of operator's skill and the reliable sensor systems. This application-oriented paper introduces new automatic welding equipment for pipeline construction. It is based on cutting-edge design and practical welding physics to minimize downtime due to the system faults. This paper also describes the control system which was designed and implemented for the automatic welding equipment. The system has the self diagnostic function which facilitates maintenance and repairs, and has the wireless network function via which the welding task data can be transmitted and monitored. The signal processing algorithm was also developed for the narrow welding groove in order to implement higher accuracy of seam tracking and fully automatic operation.
{"title":"A study on signal processing algorithm for seam tracking in pipeline welding","authors":"H. Moon, Jong-Cheol Kim, Jong-jun Kim, Young-Baek Kim","doi":"10.1109/ICCAS.2013.6704189","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704189","url":null,"abstract":"The productivity and reliability are regarded as most essential features of the automatic welding system. From practical point of view, the carriage and band system has been verified as one of most effective welding systems for pipeline laying. The productivity depends on several parameters such as a performance of the welding system, the level of operator's skill and the reliable sensor systems. This application-oriented paper introduces new automatic welding equipment for pipeline construction. It is based on cutting-edge design and practical welding physics to minimize downtime due to the system faults. This paper also describes the control system which was designed and implemented for the automatic welding equipment. The system has the self diagnostic function which facilitates maintenance and repairs, and has the wireless network function via which the welding task data can be transmitted and monitored. The signal processing algorithm was also developed for the narrow welding groove in order to implement higher accuracy of seam tracking and fully automatic operation.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"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":"122541329","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.2013.6703889
Suncheol Kwon, Youngjin Na, Yunjoo Kim, Jung Kim
This study investigated the characteristics of human responses to different amounts of SEMG-based assistive torque. A power assistive device provided proportional torque with respect to the estimated human torque using surface electromyography (SEMG). Seven participants performed self-paced elbow flexion tests under five conditions, each having the different proportion of the assistance. We computed the variability of the angle and angular velocity of the elbow joint to quantify relative stability of the assisted movements. Power spectral density of the angular acceleration of the joint was also computed to characterize the power and bandwidth of the movements in the frequency domain. From the experiments the variability gradually increased with the amount of the assistive torque and it indicated that the movements in response to increased assistive torque became relatively more unstable. In addition, the power and bandwidth of the movements were gradually increased although subject's physical efforts for the movements were decreased. This study can be used as a cornerstone to determine the amount of SEMG-based assistive torque for maintaining smooth and natural human movements.
{"title":"Characteristics of elbow movements to different amounts of surface electromyography-based assistive torque","authors":"Suncheol Kwon, Youngjin Na, Yunjoo Kim, Jung Kim","doi":"10.1109/ICCAS.2013.6703889","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703889","url":null,"abstract":"This study investigated the characteristics of human responses to different amounts of SEMG-based assistive torque. A power assistive device provided proportional torque with respect to the estimated human torque using surface electromyography (SEMG). Seven participants performed self-paced elbow flexion tests under five conditions, each having the different proportion of the assistance. We computed the variability of the angle and angular velocity of the elbow joint to quantify relative stability of the assisted movements. Power spectral density of the angular acceleration of the joint was also computed to characterize the power and bandwidth of the movements in the frequency domain. From the experiments the variability gradually increased with the amount of the assistive torque and it indicated that the movements in response to increased assistive torque became relatively more unstable. In addition, the power and bandwidth of the movements were gradually increased although subject's physical efforts for the movements were decreased. This study can be used as a cornerstone to determine the amount of SEMG-based assistive torque for maintaining smooth and natural human movements.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"34 5 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":"123038013","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.2013.6703955
D. Kim, Jin Bae Park, Y. Joo
This paper presents relaxed stabilization condition for artificial Takagi-Sugeno (T-S) fuzzy control systems. Continuous membership functions of the T-S fuzzy system are represented by staircase membership functions. With the property of the staircase membership functions, it turns the set of infinite number of linear matrix inequalities(LMIs) based stability conditions into a finite one. The proposed stability analysis is represented dilated LMIs which is used to add slack variables for less conservative stability conditions. Finally, simulation example is given to illustrate the merits of the proposed method.
{"title":"Dilated LMIs based stability analysis for artificial T-S fuzzy control systems","authors":"D. Kim, Jin Bae Park, Y. Joo","doi":"10.1109/ICCAS.2013.6703955","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703955","url":null,"abstract":"This paper presents relaxed stabilization condition for artificial Takagi-Sugeno (T-S) fuzzy control systems. Continuous membership functions of the T-S fuzzy system are represented by staircase membership functions. With the property of the staircase membership functions, it turns the set of infinite number of linear matrix inequalities(LMIs) based stability conditions into a finite one. The proposed stability analysis is represented dilated LMIs which is used to add slack variables for less conservative stability conditions. Finally, simulation example is given to illustrate the merits of the proposed method.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"27 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":"122312431","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.2013.6703860
J. Fei, Mingyuan Xin, Weili Dai
In this paper, an adaptive backstepping sliding mode control approach is proposed to attenuate the tracking error and control the MEMS triaxial gyroscope. An adaptive backstepping controller that can compensate the system nonlinearities is incorporated into the sliding mode control scheme in the Lyapunov framework. First, a robust backstepping control system incorporated with sliding mode control technique is designed. Then, an adaptive law is derived to estimate the upper bound value of the lumped uncertainty in the backstepping sliding mode control. With the adaptive backstepping sliding mode controller, the chattering in control efforts can be obviously reduced. Numerical simulation is provided to verify the effectiveness of the proposed scheme.
{"title":"Adaptive backstepping sliding mode control for MEMS gyroscope","authors":"J. Fei, Mingyuan Xin, Weili Dai","doi":"10.1109/ICCAS.2013.6703860","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703860","url":null,"abstract":"In this paper, an adaptive backstepping sliding mode control approach is proposed to attenuate the tracking error and control the MEMS triaxial gyroscope. An adaptive backstepping controller that can compensate the system nonlinearities is incorporated into the sliding mode control scheme in the Lyapunov framework. First, a robust backstepping control system incorporated with sliding mode control technique is designed. Then, an adaptive law is derived to estimate the upper bound value of the lumped uncertainty in the backstepping sliding mode control. With the adaptive backstepping sliding mode controller, the chattering in control efforts can be obviously reduced. Numerical simulation is provided to verify the effectiveness of the proposed scheme.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"23 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121005003","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.2013.6704019
Omar Al-Buraiki, Sami El Ferik
In this paper, an adaptive Self-Tuning Regulator is proposed to control an autonomous bicycle kinematics. The model used for describing the dynamics of the bicycle is Whipple's bicycle model. The roll (lean) and the steer angle of the bicycle the two outputs of the model and the torques across the roll and steer angle as the two control variables. The identification technique used in here is recursive least square identification and the proposed control strategy is state feedback control with the controller gain calculated using linear quadratic regulator. The autonomous bicycle was tested for varying velocities and it was observed that the adaptive controller gives a good control action of the bicycle model not just within the stable velocity region but outside it as well.
{"title":"Adaptive control of autonomous bicycle kinematics","authors":"Omar Al-Buraiki, Sami El Ferik","doi":"10.1109/ICCAS.2013.6704019","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704019","url":null,"abstract":"In this paper, an adaptive Self-Tuning Regulator is proposed to control an autonomous bicycle kinematics. The model used for describing the dynamics of the bicycle is Whipple's bicycle model. The roll (lean) and the steer angle of the bicycle the two outputs of the model and the torques across the roll and steer angle as the two control variables. The identification technique used in here is recursive least square identification and the proposed control strategy is state feedback control with the controller gain calculated using linear quadratic regulator. The autonomous bicycle was tested for varying velocities and it was observed that the adaptive controller gives a good control action of the bicycle model not just within the stable velocity region but outside it as well.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"112 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":"116638090","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.2013.6704205
Jae Young Lee, Jin Bae Park, Y. Choi, Keun Uk Lee
In this paper, we propose an online adaptive neural-algorithm to solve the CT nonlinear optimal control problems. Compared to the existing methods, which adopt the architecture with two neural networks (NNs) for actor-critic implementations, only one NN for critic is used to implement the algorithm, simplifying the structure of the computation model. Moreover, we also provide a generalized learning rule for updating the NN weights, which covers the existing critic update rules as special cases. The theoretical and numerical results are given under the required persistent excitation condition to verify and analyze stability and performance of the proposed method.
{"title":"An online single-network adaptive algorithm for continuous-time nonlinear optimal control","authors":"Jae Young Lee, Jin Bae Park, Y. Choi, Keun Uk Lee","doi":"10.1109/ICCAS.2013.6704205","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704205","url":null,"abstract":"In this paper, we propose an online adaptive neural-algorithm to solve the CT nonlinear optimal control problems. Compared to the existing methods, which adopt the architecture with two neural networks (NNs) for actor-critic implementations, only one NN for critic is used to implement the algorithm, simplifying the structure of the computation model. Moreover, we also provide a generalized learning rule for updating the NN weights, which covers the existing critic update rules as special cases. The theoretical and numerical results are given under the required persistent excitation condition to verify and analyze stability and performance of the proposed method.","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":"121660317","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.2013.6704190
MoonYoung Chung, S. Ko, H. Moon, Jin-Yong Choi
SAW (Submerged Arc Welding) machines normally consist of two or more torches to increase productivity. The performance of conventional SAW depends on the experience of the operators. Error between the measured and the actual values of welding conditions is accumulated as time goes on. Therefore, the weld quality cannot be guaranteed because of the error. Even if a number of welding defects occur, workers are not able to find out the cause of defects because the measured signals show a big difference with the actual values. In this study, a stable measuring system was developed for the welding conditions such as current, voltage, speed so that workers can easily monitor the actual welding conditions. If the error between monitored and measured signals occurs, workers are able to easily correct the actual welding conditions through this system. In this way, it increased the reliability of the welding conditions. This system was applied to an actual welding system and showed that the weld quality was stabilized and improved.
{"title":"A study on measuring system of Submerged Arc welding for panel butt joint in shipyard","authors":"MoonYoung Chung, S. Ko, H. Moon, Jin-Yong Choi","doi":"10.1109/ICCAS.2013.6704190","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704190","url":null,"abstract":"SAW (Submerged Arc Welding) machines normally consist of two or more torches to increase productivity. The performance of conventional SAW depends on the experience of the operators. Error between the measured and the actual values of welding conditions is accumulated as time goes on. Therefore, the weld quality cannot be guaranteed because of the error. Even if a number of welding defects occur, workers are not able to find out the cause of defects because the measured signals show a big difference with the actual values. In this study, a stable measuring system was developed for the welding conditions such as current, voltage, speed so that workers can easily monitor the actual welding conditions. If the error between monitored and measured signals occurs, workers are able to easily correct the actual welding conditions through this system. In this way, it increased the reliability of the welding conditions. This system was applied to an actual welding system and showed that the weld quality was stabilized and improved.","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":"121825335","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.2013.6704069
V. Bui, Young Bok Kim
Control allocation is an important part of a system. It implements the function that map the desired commanded forces from the controller into the commands of the different actuators. In this paper, the authors present an approach for solving constrained control allocation problem in vessel system by using multi-parametric quadratic programming (mp-QP) algorithm. The goal of mp-QP algorithm applied in this study is to compute a solution to minimize a quadratic performance index subject to linear equality and inequality constraints. The solution can be pre-computed off-line in the explicit form of a piecewise linear (PWL) function of the generalized forces and constrains. The efficiency of mp-QP approach is evaluated through a dynamic positioning simulation for a ship by using four tugboats with constraints about limited pushing forces and found to work well.
{"title":"A solution for constrained control allocation problem by using multi-parametric quadratic programming algorithm","authors":"V. Bui, Young Bok Kim","doi":"10.1109/ICCAS.2013.6704069","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704069","url":null,"abstract":"Control allocation is an important part of a system. It implements the function that map the desired commanded forces from the controller into the commands of the different actuators. In this paper, the authors present an approach for solving constrained control allocation problem in vessel system by using multi-parametric quadratic programming (mp-QP) algorithm. The goal of mp-QP algorithm applied in this study is to compute a solution to minimize a quadratic performance index subject to linear equality and inequality constraints. The solution can be pre-computed off-line in the explicit form of a piecewise linear (PWL) function of the generalized forces and constrains. The efficiency of mp-QP approach is evaluated through a dynamic positioning simulation for a ship by using four tugboats with constraints about limited pushing forces and found to work well.","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":"121826931","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.2013.6703926
Jun-Hyuck Im, G. Moon, G. Jee
Laser scanner provides very accurate distance information up to around landmark from the sensor. It is possible to estimate the position and orientation relative to the drive from the surrounding landmarks that are recognized by utilizing these points of the laser scanner. In this paper, after setting arbitrarily the environment of the obstacle, we performed the simulation of the position and attitude estimation of the vehicle by generating the laser scanner data. At the simulation result, position error was within 3m, attitude error was revealed in 10 degrees or less.
{"title":"Position and attitude estimation of a vehicle using laser scanner in the obstacle environment","authors":"Jun-Hyuck Im, G. Moon, G. Jee","doi":"10.1109/ICCAS.2013.6703926","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703926","url":null,"abstract":"Laser scanner provides very accurate distance information up to around landmark from the sensor. It is possible to estimate the position and orientation relative to the drive from the surrounding landmarks that are recognized by utilizing these points of the laser scanner. In this paper, after setting arbitrarily the environment of the obstacle, we performed the simulation of the position and attitude estimation of the vehicle by generating the laser scanner data. At the simulation result, position error was within 3m, attitude error was revealed in 10 degrees or less.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"31 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":"124870172","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.2013.6703897
Yan Li, Y. Chen, H. Ahn
This paper discusses a practical order identification method for fractional order linear and nonlinear systems, which can adapt and benefit any order dependent system identification methods. Based on the adaptive fractional order iterative learning control (FOILC) results, the P-type fractional order iterative learning identification (FOILI) strategy is applied to estimate the system order iteratively and accurately. Associated with the order sensitivity functions, a series of convergence conditions are derived to optimize the learning gains and to guarantee the monotonic decrease of error bounds. Two illustrative examples are provided to validate the concepts.
{"title":"On P-type fractional order iterative learning identification","authors":"Yan Li, Y. Chen, H. Ahn","doi":"10.1109/ICCAS.2013.6703897","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703897","url":null,"abstract":"This paper discusses a practical order identification method for fractional order linear and nonlinear systems, which can adapt and benefit any order dependent system identification methods. Based on the adaptive fractional order iterative learning control (FOILC) results, the P-type fractional order iterative learning identification (FOILI) strategy is applied to estimate the system order iteratively and accurately. Associated with the order sensitivity functions, a series of convergence conditions are derived to optimize the learning gains and to guarantee the monotonic decrease of error bounds. Two illustrative examples are provided to validate the concepts.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"8 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":"125083101","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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