Pub Date : 2015-05-20DOI: 10.1109/ICCAR.2015.7166011
Syed Zeeshan Haider, Kunwar Faraz Ahmed Khan, A. Awan, Muwahida Liaquat
A robust control is developed for the system of aerospace vehicle via variable robustness control (VRC) algorithm. Aerospace vehicle dynamics contain uncertainties due to cross coupling between longitudinal and lateral dynamics. The proposed scheme makes the system of aerospace vehicle impervious of uncertainties ensuring high performance. The variable robustness control technique is based upon scenario approach of robust control design which gives flexibility of modulating robustness in control design. Scenario approach is a probabilistic approach in which cost function can be guaranteed with a certain probability. The effectiveness of proposed control design is established in presence of unknown non-linear dynamics. VRC uses convex optimization of constraints formulated in the form of linear matrix inequalities. The performance of proposed technique is tested in comparison with H∞ control design technique.
{"title":"Variable robustness control design for system of aerospace vehicle","authors":"Syed Zeeshan Haider, Kunwar Faraz Ahmed Khan, A. Awan, Muwahida Liaquat","doi":"10.1109/ICCAR.2015.7166011","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166011","url":null,"abstract":"A robust control is developed for the system of aerospace vehicle via variable robustness control (VRC) algorithm. Aerospace vehicle dynamics contain uncertainties due to cross coupling between longitudinal and lateral dynamics. The proposed scheme makes the system of aerospace vehicle impervious of uncertainties ensuring high performance. The variable robustness control technique is based upon scenario approach of robust control design which gives flexibility of modulating robustness in control design. Scenario approach is a probabilistic approach in which cost function can be guaranteed with a certain probability. The effectiveness of proposed control design is established in presence of unknown non-linear dynamics. VRC uses convex optimization of constraints formulated in the form of linear matrix inequalities. The performance of proposed technique is tested in comparison with H∞ control design technique.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126469444","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166019
Dong Cai, Cheng Zou, Zhenguo Sun, Qingxiang Zhou, Ye Fu, Guangkai Li
The thickness of coupling layer between the hollow axle inner wall and the probe wedge may vary during actual ultrasonic inspection. To study the influence of coupling layer thickness on the hollow ultrasonic inspection, the simulation models with different probe angles and different thicknesses of coupling layer were established with COMSOL Multiphysics. Flaw echoes from 38° and 45° probes under various coupling thickness were calculated and analyzed in details. A special experimental system was designed to validate the simulation results. Both simulation and experiment show that the coupling thickness variation may impact the reliability of ultrasonic testing results when the coupling thickness is less than 0.9mm.
{"title":"The influence of coupling layer thickness on hollow axles ultrasonic testing","authors":"Dong Cai, Cheng Zou, Zhenguo Sun, Qingxiang Zhou, Ye Fu, Guangkai Li","doi":"10.1109/ICCAR.2015.7166019","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166019","url":null,"abstract":"The thickness of coupling layer between the hollow axle inner wall and the probe wedge may vary during actual ultrasonic inspection. To study the influence of coupling layer thickness on the hollow ultrasonic inspection, the simulation models with different probe angles and different thicknesses of coupling layer were established with COMSOL Multiphysics. Flaw echoes from 38° and 45° probes under various coupling thickness were calculated and analyzed in details. A special experimental system was designed to validate the simulation results. Both simulation and experiment show that the coupling thickness variation may impact the reliability of ultrasonic testing results when the coupling thickness is less than 0.9mm.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117012192","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166015
K. Nguyen, Thanh-Trung Han, Hong Zhu, Yuping Zhang
This paper proposes a hybrid model of Static var compensator (SVC) capturing the continuous and discrete behaviors of SVC in term of hybrid system and an approach to design a controller of SVC to maintain voltage of power system in normal range based on maximal controlled invariant set. The proposed SVC's model is representable complex interactions between continuous dynamics and discrete events of SVC. The proposed controller is able to ensure the power system working in safe set despite the change of the grid parameters.
{"title":"A hybrid system approach to static var compensator modeling and control","authors":"K. Nguyen, Thanh-Trung Han, Hong Zhu, Yuping Zhang","doi":"10.1109/ICCAR.2015.7166015","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166015","url":null,"abstract":"This paper proposes a hybrid model of Static var compensator (SVC) capturing the continuous and discrete behaviors of SVC in term of hybrid system and an approach to design a controller of SVC to maintain voltage of power system in normal range based on maximal controlled invariant set. The proposed SVC's model is representable complex interactions between continuous dynamics and discrete events of SVC. The proposed controller is able to ensure the power system working in safe set despite the change of the grid parameters.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126923839","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166037
R. Kumar, Jogendra Garain, G. Sanyal, D. Kisku
Identification of a human face in a crowded flux plays an important role in the context of surveillance. Considerable amount of research has been carried out on face identification in different applications. Accordingly, different researchers propose new algorithms. This paper attempts to showcase a novel methodology through which any face may be identified in a large crowd of human face. This proposed technique is based on relative visual saliency which is evaluated on the intensity values and respective spatial distance of the faces. In addition to visual saliency, top-down and bottom-up approaches to visual attention are also presented and explained in the context of face identification. Both of these two approaches are considered to be made a significant contribution while visual saliency is measured for attention-based face identification. Experiment has been carried out on test image dataset. The results are satisfactory and accuracy has also been measured. The evaluation made with the proposed approach exhibits quite encouraging results and accuracy leads to a future model of human face tracking and recognition system.
{"title":"Novel methodology for guiding attention of faces through relative visual saliency (RVS)","authors":"R. Kumar, Jogendra Garain, G. Sanyal, D. Kisku","doi":"10.1109/ICCAR.2015.7166037","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166037","url":null,"abstract":"Identification of a human face in a crowded flux plays an important role in the context of surveillance. Considerable amount of research has been carried out on face identification in different applications. Accordingly, different researchers propose new algorithms. This paper attempts to showcase a novel methodology through which any face may be identified in a large crowd of human face. This proposed technique is based on relative visual saliency which is evaluated on the intensity values and respective spatial distance of the faces. In addition to visual saliency, top-down and bottom-up approaches to visual attention are also presented and explained in the context of face identification. Both of these two approaches are considered to be made a significant contribution while visual saliency is measured for attention-based face identification. Experiment has been carried out on test image dataset. The results are satisfactory and accuracy has also been measured. The evaluation made with the proposed approach exhibits quite encouraging results and accuracy leads to a future model of human face tracking and recognition system.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123764102","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166009
Ana Sebastiao, C. Lucena, L. Palma, A. Cardoso, P. Gil
This study addresses the problem of tuning Mamdani-type fuzzy Proportional-Integral-Derivative controllers by solving a constrained nonlinear optimisation problem. Two different schemes are discussed. One considers merely the scaling factors optimisation, while assuming the membership functions width unchanged. In second methodology both scaling factors and membership functions width adjusted. The cost function under minimisation is chosen as the closed loop performance index, with the system dynamics described by a nonlinear model. In addition, a set of constraints to the optimisation problem are taken into account, namely bounds on scaling factors, control actions and also on the system outputs. For the second approach, extra constraints on membership functions width are also included in problem formulation. Experimental results carried out on a Multi-Input Multi-Output benchmark system shows the out-performance of considering the optimising of both scaling factors and membership function widths.
{"title":"Optimal tuning of scaling factors and membership functions for mamdani type PID fuzzy controllers","authors":"Ana Sebastiao, C. Lucena, L. Palma, A. Cardoso, P. Gil","doi":"10.1109/ICCAR.2015.7166009","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166009","url":null,"abstract":"This study addresses the problem of tuning Mamdani-type fuzzy Proportional-Integral-Derivative controllers by solving a constrained nonlinear optimisation problem. Two different schemes are discussed. One considers merely the scaling factors optimisation, while assuming the membership functions width unchanged. In second methodology both scaling factors and membership functions width adjusted. The cost function under minimisation is chosen as the closed loop performance index, with the system dynamics described by a nonlinear model. In addition, a set of constraints to the optimisation problem are taken into account, namely bounds on scaling factors, control actions and also on the system outputs. For the second approach, extra constraints on membership functions width are also included in problem formulation. Experimental results carried out on a Multi-Input Multi-Output benchmark system shows the out-performance of considering the optimising of both scaling factors and membership function widths.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129874461","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166034
Tang Bin, Mo Lei, Wu Honggang, Zheng Xiaoxia
It is difficult for least square method (LS) to deal with the ill-conditioned matrix of nonlinear polynomial model. In the case of the higher order of system, the matrix inversion is very complicated. A new approach based on LS is present which is combined with mirror-injection algorithm in order to obtain polynomial parameters identification of nonlinear system model. The columns of coefficient matrix of the inconsistent equations of nonlinear polynomial model are orthogonalized. The novel method avoids the high-order matrix inversion and ill-conditioned matrix problem. The precision and velocity of identification are improved, while the computation load is low simultaneously. Performance analysis is carried out using MATLAB simulation. The results prove the effectiveness of the proposed approach.
{"title":"A novel nonlinear model parameters identification algorithm","authors":"Tang Bin, Mo Lei, Wu Honggang, Zheng Xiaoxia","doi":"10.1109/ICCAR.2015.7166034","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166034","url":null,"abstract":"It is difficult for least square method (LS) to deal with the ill-conditioned matrix of nonlinear polynomial model. In the case of the higher order of system, the matrix inversion is very complicated. A new approach based on LS is present which is combined with mirror-injection algorithm in order to obtain polynomial parameters identification of nonlinear system model. The columns of coefficient matrix of the inconsistent equations of nonlinear polynomial model are orthogonalized. The novel method avoids the high-order matrix inversion and ill-conditioned matrix problem. The precision and velocity of identification are improved, while the computation load is low simultaneously. Performance analysis is carried out using MATLAB simulation. The results prove the effectiveness of the proposed approach.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"22 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116857438","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166006
Xiao Li, Dandan Wang
Most of the researches on mobile robot wall-following problem are focused on straight or continuous smooth wall-following cases. This paper proposes a behavior-based fuzzy controller for multi-type-wall following. The fuzzy controller provides an information fusion mechanism for combining sensor data from all laser range finder sensors. The behavior-based approach is implemented as a coordinator to manage the switching among various behaviors to solve the multi-type-wall following problem. The simulation results demonstrate that the mobile robot can follow the wall with convex corner and concave corner.
{"title":"Behavior-based mamdani fuzzy controller for mobile robot wall-following","authors":"Xiao Li, Dandan Wang","doi":"10.1109/ICCAR.2015.7166006","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166006","url":null,"abstract":"Most of the researches on mobile robot wall-following problem are focused on straight or continuous smooth wall-following cases. This paper proposes a behavior-based fuzzy controller for multi-type-wall following. The fuzzy controller provides an information fusion mechanism for combining sensor data from all laser range finder sensors. The behavior-based approach is implemented as a coordinator to manage the switching among various behaviors to solve the multi-type-wall following problem. The simulation results demonstrate that the mobile robot can follow the wall with convex corner and concave corner.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126619470","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 : 2014-10-30DOI: 10.1109/ICCAR.2015.7165998
E. Harik, F. Guérin, F. Guinand, J. Brethé, Hervé Pelvillain
This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.
{"title":"A decentralized interactive architecture for aerial and ground mobile robots cooperation","authors":"E. Harik, F. Guérin, F. Guinand, J. Brethé, Hervé Pelvillain","doi":"10.1109/ICCAR.2015.7165998","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7165998","url":null,"abstract":"This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129313902","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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