Pub Date : 2016-10-01DOI: 10.1109/ICCAS.2016.7832426
Sang-Youl Cho, Hwiyoung Lee, Hogene Kim
Stroke patients have reduced kinematic characteristics in gait speed, cadence, step kinematics, and range of motion (ROM). Especially, a drop foot is a common symptom during gait after stroke due to the weakness of ankle dorsiflexor. A few robotic ankle systems have been developed to measure and train pathological ankle movements. However, the previously developed systems use orthogonal ankle axis system which reproduces unnatural human ankle movements. So we have developed a robotic device that considers anatomical ankle axes in order to train ankle muscles and to measure the quantities of ankle ROM, and forefoot and hindfoot ground reaction force. We recruited 10 healthy elderly with no history of neurological disorders. Subjects performed a total of three trials with eight repetitions or more of ankle dorsi-plantarflexion using AMT. To investigate the validity of ankle angle measurements in developed AMT, we compared AMT outputs with output ankle kinematics from VICON motion capturing system. We found similar ankle movement pattern between AMT and VICON during active ankle dorsi-plantarflexion movement. The kinematics measured from AMT ankle ROM had a significant correlation with VICON ankle ROM (r = .958, n = 10, p = .00001). Therefore, we confirmed that the validity of ankle angle measurement in developed AMT.
卒中患者在步态速度、节奏、步动和活动范围(ROM)方面的运动学特征降低。特别是，由于踝关节背屈肌无力，中风后步态中出现下垂足是一种常见症状。一些机器人踝关节系统已经开发出来测量和训练病理性踝关节运动。然而，先前开发的系统使用正交踝关节轴系统，再现了不自然的人类踝关节运动。因此，我们开发了一种考虑踝关节解剖轴的机器人装置，以训练踝关节肌肉并测量踝关节ROM的量，以及前脚和后脚的地面反作用力。我们招募了10名没有神经系统疾病史的健康老年人。受试者共进行了三次试验，使用AMT进行8次或更多的踝关节背跖屈。为了研究踝关节角度测量在发达的AMT中的有效性，我们将AMT输出与VICON运动捕捉系统输出的踝关节运动学进行了比较。我们发现AMT和VICON在主动踝关节背跖屈运动中踝关节运动模式相似。AMT踝关节ROM测量的运动学与VICON踝关节ROM有显著相关性(r = 0.958, n = 10, p = 0.00001)。因此，我们证实了踝关节角度测量在发达AMT中的有效性。
{"title":"Development and evaluation of ankle muscle trainer with malleolar and subtalar movement actuators and underfoot reaction force sensors during active ankle dorsi-plantarflexion","authors":"Sang-Youl Cho, Hwiyoung Lee, Hogene Kim","doi":"10.1109/ICCAS.2016.7832426","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832426","url":null,"abstract":"Stroke patients have reduced kinematic characteristics in gait speed, cadence, step kinematics, and range of motion (ROM). Especially, a drop foot is a common symptom during gait after stroke due to the weakness of ankle dorsiflexor. A few robotic ankle systems have been developed to measure and train pathological ankle movements. However, the previously developed systems use orthogonal ankle axis system which reproduces unnatural human ankle movements. So we have developed a robotic device that considers anatomical ankle axes in order to train ankle muscles and to measure the quantities of ankle ROM, and forefoot and hindfoot ground reaction force. We recruited 10 healthy elderly with no history of neurological disorders. Subjects performed a total of three trials with eight repetitions or more of ankle dorsi-plantarflexion using AMT. To investigate the validity of ankle angle measurements in developed AMT, we compared AMT outputs with output ankle kinematics from VICON motion capturing system. We found similar ankle movement pattern between AMT and VICON during active ankle dorsi-plantarflexion movement. The kinematics measured from AMT ankle ROM had a significant correlation with VICON ankle ROM (r = .958, n = 10, p = .00001). Therefore, we confirmed that the validity of ankle angle measurement in developed AMT.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115120458","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 : 2016-10-01DOI: 10.1109/ICCAS.2016.7832427
A. Kłos-Witkowska, B. Akhmetov, Nazym Zhumangalieva, V. Karpinskyi, T. Gancarczyk
The paper presents the impact of external conditions such as: reduced temperature (L), microwave radiation (P), on the stability of Bovine Serum Albumin. As comparison controlled sample was kept in room condition (WP). The protein beyond the wide application in pharmacokinetics and pharmacodynamics drug study, is also widely used in the biosensors construction. In order to study UV-Vis spectroscopy, absorption spectra was taken. The changes with time of the protein in different concentrations (0.25, 0.5, 1, 2, 3, 4) mg / mL was observed. Base on the study, BSA (2mg/mL) was chosen and exposed to different factors (L, P, WP). Absorption spectra monitoring revealed protein changes with time after exposition to different factors. The results showed an increase in absorption, associated with the conformational changes of BSA with time. This effect was more visible for samples with high concentrations (4, 3, 2 mg / mL) than for lower one (0, 25, 0.5, 1mg/mL). Investigation on the protein stability influenced by external factors with time, showed tendency to maintain stability of BSA in low temperature (L) and the trend to accelerate aging of proteins under the influence of microwave radiation. The observed trend of change, under the influence of external factors was more evident with time.
{"title":"Bovine Serum Albumin stability in the context of biosensors","authors":"A. Kłos-Witkowska, B. Akhmetov, Nazym Zhumangalieva, V. Karpinskyi, T. Gancarczyk","doi":"10.1109/ICCAS.2016.7832427","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832427","url":null,"abstract":"The paper presents the impact of external conditions such as: reduced temperature (L), microwave radiation (P), on the stability of Bovine Serum Albumin. As comparison controlled sample was kept in room condition (WP). The protein beyond the wide application in pharmacokinetics and pharmacodynamics drug study, is also widely used in the biosensors construction. In order to study UV-Vis spectroscopy, absorption spectra was taken. The changes with time of the protein in different concentrations (0.25, 0.5, 1, 2, 3, 4) mg / mL was observed. Base on the study, BSA (2mg/mL) was chosen and exposed to different factors (L, P, WP). Absorption spectra monitoring revealed protein changes with time after exposition to different factors. The results showed an increase in absorption, associated with the conformational changes of BSA with time. This effect was more visible for samples with high concentrations (4, 3, 2 mg / mL) than for lower one (0, 25, 0.5, 1mg/mL). Investigation on the protein stability influenced by external factors with time, showed tendency to maintain stability of BSA in low temperature (L) and the trend to accelerate aging of proteins under the influence of microwave radiation. The observed trend of change, under the influence of external factors was more evident with time.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121049729","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 : 2016-10-01DOI: 10.1109/ICCAS.2016.7832355
Dinh Phap Tran, D. Morita, N. Sato, Y. Morita, Makoto Takekawa
When measuring the range of motion (ROM) of finger joints, a therapist usually uses a goniometer, which is a measuring instrument for angles. However, a measurement with a goniometer takes much time, because there are many joints in a hand. To solve this problem, we aim to develop a non-invasive automatic test device in order to reduce the burden on patients and therapists when measuring the ROM of finger joints. In our previous work, we developed a semi-automatic test device for reducing the burden on the patient. In this study, we aim to reduce the burden on the therapist by improving the conventional goniometer device. The improvement points include an increase in the visibility of target joints, an increase of operability of the virtual goniometer, and a reduction of the startup program execution time. We compared the required time to measure the angle of a PIP joint of the conventional goniometer device and the proposed goniometer device. As a result, the required time was reduced, which means a reduction in the burden on the therapist. Moreover, we evaluated the measurement accuracy by testing the proposed goniometer device and comparing the results with a conventional goniometer. The obtained result shows that the measurement accuracy of the proposed goniometer device was less than 6.6°.
{"title":"Improvement of non-invasive semi-automatic test device for measurement of finger joints range of motion: Reduction in burden on therapist","authors":"Dinh Phap Tran, D. Morita, N. Sato, Y. Morita, Makoto Takekawa","doi":"10.1109/ICCAS.2016.7832355","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832355","url":null,"abstract":"When measuring the range of motion (ROM) of finger joints, a therapist usually uses a goniometer, which is a measuring instrument for angles. However, a measurement with a goniometer takes much time, because there are many joints in a hand. To solve this problem, we aim to develop a non-invasive automatic test device in order to reduce the burden on patients and therapists when measuring the ROM of finger joints. In our previous work, we developed a semi-automatic test device for reducing the burden on the patient. In this study, we aim to reduce the burden on the therapist by improving the conventional goniometer device. The improvement points include an increase in the visibility of target joints, an increase of operability of the virtual goniometer, and a reduction of the startup program execution time. We compared the required time to measure the angle of a PIP joint of the conventional goniometer device and the proposed goniometer device. As a result, the required time was reduced, which means a reduction in the burden on the therapist. Moreover, we evaluated the measurement accuracy by testing the proposed goniometer device and comparing the results with a conventional goniometer. The obtained result shows that the measurement accuracy of the proposed goniometer device was less than 6.6°.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127414785","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 : 2016-10-01DOI: 10.1109/ICCAS.2016.7832412
Sungbok Kim, Seokgi Kim
This paper presents a systematic approach to the design, analysis, and control of the mobile traveling simulator using optical mice. In the mobile robot traveling simulator, a traveling surface sample is made to rotate relatively to stationary optical mice, and the installations of optical mice can be changed according to a given velocity of a mobile robot under simulation. First, for structural simplicity and user convenience, three designs of the mobile robot traveling simulator are proposed, which allow 1 DOF to 3 DOF mobile robot traveling simulation. Second, the velocity kinematics of the mobile robot traveling simulator is formulated, which represents the relationship of the velocity measurements of optical mice between the mobile robot traveling simulator and a mobile robot under simulation. Third, for a given velocity of a mobile robot under simulation, the optimal parameter setting of the mobile robot traveling simulator is described, which renders a mobile robot traveling simulation as complete as possible. Fourth, simulation results are given to demonstrate the differences among three designs of the mobile robot traveling simulator.
{"title":"Systematic design, analysis, and control of mobile robot traveling simulator using optical mice","authors":"Sungbok Kim, Seokgi Kim","doi":"10.1109/ICCAS.2016.7832412","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832412","url":null,"abstract":"This paper presents a systematic approach to the design, analysis, and control of the mobile traveling simulator using optical mice. In the mobile robot traveling simulator, a traveling surface sample is made to rotate relatively to stationary optical mice, and the installations of optical mice can be changed according to a given velocity of a mobile robot under simulation. First, for structural simplicity and user convenience, three designs of the mobile robot traveling simulator are proposed, which allow 1 DOF to 3 DOF mobile robot traveling simulation. Second, the velocity kinematics of the mobile robot traveling simulator is formulated, which represents the relationship of the velocity measurements of optical mice between the mobile robot traveling simulator and a mobile robot under simulation. Third, for a given velocity of a mobile robot under simulation, the optimal parameter setting of the mobile robot traveling simulator is described, which renders a mobile robot traveling simulation as complete as possible. Fourth, simulation results are given to demonstrate the differences among three designs of the mobile robot traveling simulator.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127418732","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 : 2016-10-01DOI: 10.1109/ICCAS.2016.7832449
Xiaolong Liu, K. Hong
In this study, we have used functional near-infrared spectroscopy (fNIRS) to measure the hemodynamic response in the visual cortex. We concurrently measure and discriminate the fNIRS signals evoked by three different color stimuli: red, green, and blue (RGB) colors. Seven healthy subjects were asked to perform the RGB color stimuli experiment during a 10 s task and 25 s rest period. Using a continuous-wave fNIRS system, brain signals were acquired concurrently from the visual cortex. Multiclass linear discriminant analysis was utilized to classify RGB stimuli, which resulted in an average classification accuracy of 66.67% across the 7 subjects. A 3∼8 s time window during a 10 s task period provided the best result in classification.
{"title":"Three class classification of fNIRS signals for the detection of RGB color stimuli in the visual cortex","authors":"Xiaolong Liu, K. Hong","doi":"10.1109/ICCAS.2016.7832449","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832449","url":null,"abstract":"In this study, we have used functional near-infrared spectroscopy (fNIRS) to measure the hemodynamic response in the visual cortex. We concurrently measure and discriminate the fNIRS signals evoked by three different color stimuli: red, green, and blue (RGB) colors. Seven healthy subjects were asked to perform the RGB color stimuli experiment during a 10 s task and 25 s rest period. Using a continuous-wave fNIRS system, brain signals were acquired concurrently from the visual cortex. Multiclass linear discriminant analysis was utilized to classify RGB stimuli, which resulted in an average classification accuracy of 66.67% across the 7 subjects. A 3∼8 s time window during a 10 s task period provided the best result in classification.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125837144","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}
In this paper, a bit error rate testing system has been developed and the transmission quality of visible light communication was studied. An optimization of reference voltage of the comparator was performed. A measured bit error rate was less than 10−7 without a disturbance light. This result indicates that the developed system is applicable in indoor communication. A bit error rate clearly became worse when the disturbance light was inserted. The results showed that this testing system is possible to evaluate quantitatively the effect of disturbance light. Signal to noise ratio (SNR) at the input of comparator was calculated, and measured bit error rate was plotted versus SNR. However, a difference between measurement and theoretical curve was observed. To reduce this difference, the review of noise source and the improvement of the mounting method for transmitter/receiver, will be required.
{"title":"Evaluation of transmission quality of visible light communication using bit error rate measurement","authors":"Nobuo Sasaki, Hiroki Shimada, Syunpei Shimada, Hiroki Kobayashi","doi":"10.1109/ICCAS.2016.7832488","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832488","url":null,"abstract":"In this paper, a bit error rate testing system has been developed and the transmission quality of visible light communication was studied. An optimization of reference voltage of the comparator was performed. A measured bit error rate was less than 10−7 without a disturbance light. This result indicates that the developed system is applicable in indoor communication. A bit error rate clearly became worse when the disturbance light was inserted. The results showed that this testing system is possible to evaluate quantitatively the effect of disturbance light. Signal to noise ratio (SNR) at the input of comparator was calculated, and measured bit error rate was plotted versus SNR. However, a difference between measurement and theoretical curve was observed. To reduce this difference, the review of noise source and the improvement of the mounting method for transmitter/receiver, will be required.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"56 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126006911","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 : 2016-10-01DOI: 10.1109/ICCAS.2016.7832309
Sangil Lee, Seung Jae Lee, Jae-Hyun Park, H. Kim
In this paper, we propose a planar panorama stitching method to blend consecutive images captured by a multirotor equipped with a fish-eye camera. In addition, we suggest an exposure correction method to reduce the brightness difference between contiguous images, and a drift error correction method to compensate the estimated position of multirotor. In experiments, the multi-rotor flies at 35 meters above the ground, and the fish-eye camera attached in gimbals system takes pictures. Then we validate the performance of the algorithm with processing video frames. In order to supervise and observe a specific region, it is more efficient to blend multiple captured images, because it is possible to construct a planar map with higher resolution at low cost. In detail, first, geographic relation between consecutive images is estimated by using Euclidean homography. At the same time, the proposed algorithm estimates the position of multi-rotor on the planar map, so that it is possible to blend images with minimizing the variance of drift error. Then, the proposed algorithm uses histogram matching to compensate the different brightness of images. For this, we divide an image into three layers: background, foreground, and overexposure. Finally, we use multi-band blending to create a seamless panorama.
{"title":"Exposure correction and image blending for planar panorama stitching","authors":"Sangil Lee, Seung Jae Lee, Jae-Hyun Park, H. Kim","doi":"10.1109/ICCAS.2016.7832309","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832309","url":null,"abstract":"In this paper, we propose a planar panorama stitching method to blend consecutive images captured by a multirotor equipped with a fish-eye camera. In addition, we suggest an exposure correction method to reduce the brightness difference between contiguous images, and a drift error correction method to compensate the estimated position of multirotor. In experiments, the multi-rotor flies at 35 meters above the ground, and the fish-eye camera attached in gimbals system takes pictures. Then we validate the performance of the algorithm with processing video frames. In order to supervise and observe a specific region, it is more efficient to blend multiple captured images, because it is possible to construct a planar map with higher resolution at low cost. In detail, first, geographic relation between consecutive images is estimated by using Euclidean homography. At the same time, the proposed algorithm estimates the position of multi-rotor on the planar map, so that it is possible to blend images with minimizing the variance of drift error. Then, the proposed algorithm uses histogram matching to compensate the different brightness of images. For this, we divide an image into three layers: background, foreground, and overexposure. Finally, we use multi-band blending to create a seamless panorama.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"7 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126118104","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 : 2016-10-01DOI: 10.1109/ICCAS.2016.7832413
Ran Zhao, Dong-hwan Lee, Hong-Kyu Lee
The work presented in this paper deals with a navigation problem for wheel mobile robots in unknown environments. Dynamic environments usually contain not only static but also moving obstacles. The environments are completely unknown to the robot; thus, in order to guide the robot along a collisions-free path efficiently to reach the goal position quickly, proximity sensors installed on the robot's body must be used to detect information about the surroundings. In this paper, the navigation approach is achieved by a combination of primary behaviors which are used for dealing with different situations, that is, a danger judgment behavior based on the judgment of the direction and dangerous level of upcoming danger is developed for avoiding obstacles; when there is no collision risk, the robot will be guided towards its target according to a target positioning behavior. All the behaviors are achieved by means of fuzzy inference system. The proposed navigation method is demonstrated by simulation experiments implemented using Matlab; and the simulation results verified that the proposed method effectively addresses the mobile robot navigation problem.
{"title":"Real-time navigation for multiple mobile robots in dynamic environments based on fuzzy logic","authors":"Ran Zhao, Dong-hwan Lee, Hong-Kyu Lee","doi":"10.1109/ICCAS.2016.7832413","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832413","url":null,"abstract":"The work presented in this paper deals with a navigation problem for wheel mobile robots in unknown environments. Dynamic environments usually contain not only static but also moving obstacles. The environments are completely unknown to the robot; thus, in order to guide the robot along a collisions-free path efficiently to reach the goal position quickly, proximity sensors installed on the robot's body must be used to detect information about the surroundings. In this paper, the navigation approach is achieved by a combination of primary behaviors which are used for dealing with different situations, that is, a danger judgment behavior based on the judgment of the direction and dangerous level of upcoming danger is developed for avoiding obstacles; when there is no collision risk, the robot will be guided towards its target according to a target positioning behavior. All the behaviors are achieved by means of fuzzy inference system. The proposed navigation method is demonstrated by simulation experiments implemented using Matlab; and the simulation results verified that the proposed method effectively addresses the mobile robot navigation problem.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125248199","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 : 2016-10-01DOI: 10.1109/ICCAS.2016.7832415
Y. Nam
This paper presents the comparison study of Time Delay Control (TDC) and Uncertainty and Disturbance Estimation (UDE) based control which are robust control strategies for uncertain nonlinear systems. While TDC gives the same performance to a Proportional-Integral-Derivative (PID) control with time-varying gains, UDE based control gives an additional compensation for canceling system nonlinearities and introducing desired dynamics. In other words, UDE based control estimates only system uncertainties and unpredictable disturbances, but TDC treats even system nonlinearities and desired dynamics as uncertainties to be estimated. Since UDE based control requires less effort of estimating uncertainties than TDC, it shows better control performance over its counterpart. Simulation study on the position tracking control of a 2-link rigid robot manipulator is given to compare both controllers in tracking and disturbance rejection performance.
{"title":"Comparison study of time delay control (TDC) and uncertainty and disturbance estimation (UDE) based control","authors":"Y. Nam","doi":"10.1109/ICCAS.2016.7832415","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832415","url":null,"abstract":"This paper presents the comparison study of Time Delay Control (TDC) and Uncertainty and Disturbance Estimation (UDE) based control which are robust control strategies for uncertain nonlinear systems. While TDC gives the same performance to a Proportional-Integral-Derivative (PID) control with time-varying gains, UDE based control gives an additional compensation for canceling system nonlinearities and introducing desired dynamics. In other words, UDE based control estimates only system uncertainties and unpredictable disturbances, but TDC treats even system nonlinearities and desired dynamics as uncertainties to be estimated. Since UDE based control requires less effort of estimating uncertainties than TDC, it shows better control performance over its counterpart. Simulation study on the position tracking control of a 2-link rigid robot manipulator is given to compare both controllers in tracking and disturbance rejection performance.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125689217","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 : 2016-10-01DOI: 10.1109/ICCAS.2016.7832394
Joko Hariyono, Laksono Kurnianggoro, Wahyono, K. Jo
The aim of this work is to improve driver awareness by proposing a collision risk analysis method. Pedestrian in the scene is observed by sequential frames from monocular camera mounted on the car. Positional information of object is extracted by projecting the centroid of bounding box on the ground plane. Four elements of collision criteria are constructed which are pedestrian walking direction, its velocity, car speed and relative distance of pedestrian. The analysis of collision risk is performed using fuzzy inference method that is used for calculating the degree of risk. Furthermore, localization of pedestrian is performed according to its risk score. The pedestrian with low collision score is labeled as low risk (green), pedestrian which is increasing its collision score is considered as medium risk (yellow) and pedestrian with high collision score is labelled as high risk (red). A quantitative analysis is performed by measuring effectiveness of this approach. The performance evaluation shows our proposed method achieved average accuracy 87.5% and it significantly outperforms human perception with more than 25% improvement.
{"title":"Analysis of pedestrian collision risk using fuzzy inference model","authors":"Joko Hariyono, Laksono Kurnianggoro, Wahyono, K. Jo","doi":"10.1109/ICCAS.2016.7832394","DOIUrl":"https://doi.org/10.1109/ICCAS.2016.7832394","url":null,"abstract":"The aim of this work is to improve driver awareness by proposing a collision risk analysis method. Pedestrian in the scene is observed by sequential frames from monocular camera mounted on the car. Positional information of object is extracted by projecting the centroid of bounding box on the ground plane. Four elements of collision criteria are constructed which are pedestrian walking direction, its velocity, car speed and relative distance of pedestrian. The analysis of collision risk is performed using fuzzy inference method that is used for calculating the degree of risk. Furthermore, localization of pedestrian is performed according to its risk score. The pedestrian with low collision score is labeled as low risk (green), pedestrian which is increasing its collision score is considered as medium risk (yellow) and pedestrian with high collision score is labelled as high risk (red). A quantitative analysis is performed by measuring effectiveness of this approach. The performance evaluation shows our proposed method achieved average accuracy 87.5% and it significantly outperforms human perception with more than 25% improvement.","PeriodicalId":426270,"journal":{"name":"2016 16th International Conference on Control, Automation and Systems (ICCAS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114518952","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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