Pub Date : 2017-08-01DOI: 10.1109/COASE.2017.8256310
Chaoke Guo, Kaiyan Yu, Yongbin Gong, J. Yi
Surface cracks exist in many civil infrastructures such as road and bridge deck surfaces, parking lots, and building surfaces, etc. To prevent the crack growth and further deterioration, it is necessary to fill these cracks with appropriate materials on time. We present a robotic crack filling system that can effectively and efficiently deliver fluidic repairing materials to fill surface cracks. Motion planning and cracking filling control are the two main tasks presented in this paper. We present a graph-based crack coverage (GCC) algorithm to solve motion planning problem. The filling motion control is captured by a model predictive control (MPC) scheme given the mobile platform trajectory. We also develop a crack-filling robotic prototype. Simulation and experimental results are presented to demonstrate the system design and performance evaluation.
{"title":"Optimal motion planning and control of a crack filling robot for civil infrastructure automation","authors":"Chaoke Guo, Kaiyan Yu, Yongbin Gong, J. Yi","doi":"10.1109/COASE.2017.8256310","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256310","url":null,"abstract":"Surface cracks exist in many civil infrastructures such as road and bridge deck surfaces, parking lots, and building surfaces, etc. To prevent the crack growth and further deterioration, it is necessary to fill these cracks with appropriate materials on time. We present a robotic crack filling system that can effectively and efficiently deliver fluidic repairing materials to fill surface cracks. Motion planning and cracking filling control are the two main tasks presented in this paper. We present a graph-based crack coverage (GCC) algorithm to solve motion planning problem. The filling motion control is captured by a model predictive control (MPC) scheme given the mobile platform trajectory. We also develop a crack-filling robotic prototype. Simulation and experimental results are presented to demonstrate the system design and performance evaluation.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122885248","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256273
Tongshun Liu, K. Zhu
The intelligent tool wear monitoring is of great importance to improve the milling precision and efficiency. In traditional intelligent tool wear monitoring methods, features used to indicate tool wear always vary with cutting conditions and hence not applicable in cutting condition-varying cases. In this paper, a cutting condition robust milling tool wear monitoring method is proposed. In the method, the irregularity of cutting force is measured by fractal dimension and then utilized to indicate the tool wear level. Experiments of tool wear monitoring are conducted for high speed CNC manufacturing. The simulation results show that the proposed fractal dimension of cutting force is capable to indicate tool wear level and robust to cutting conditions.
{"title":"Intelligent robust milling tool wear monitoring via fractal analysis of cutting force","authors":"Tongshun Liu, K. Zhu","doi":"10.1109/COASE.2017.8256273","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256273","url":null,"abstract":"The intelligent tool wear monitoring is of great importance to improve the milling precision and efficiency. In traditional intelligent tool wear monitoring methods, features used to indicate tool wear always vary with cutting conditions and hence not applicable in cutting condition-varying cases. In this paper, a cutting condition robust milling tool wear monitoring method is proposed. In the method, the irregularity of cutting force is measured by fractal dimension and then utilized to indicate the tool wear level. Experiments of tool wear monitoring are conducted for high speed CNC manufacturing. The simulation results show that the proposed fractal dimension of cutting force is capable to indicate tool wear level and robust to cutting conditions.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"59 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132532718","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256309
Monica Abarca, Carlos Saito, A. Angulo, J. A. Paredes, F. Cuéllar
This paper describes the design of a hexacopter platform for air quality measurement purposes outfitted with gear that allows it to fly at altitudes up to 5000 meters above sea level (MASL). The multicopter is equipped with sensing technology to monitor the quality of the air, thus, presenting itself as a portable and easy-to-position in 3-dimensional environments alternative to high-cost static monitoring stations. Aside from the design considerations regarded to allow the aircraft to fly at high altitudes, a methodology is presented to describe the process concerning air quality data acquisition. This work features an analysis of the performance of the hexacopter by scrutinizing data from flight tests held at high-altitude and sea level locations and an analysis of results from the values obtained by the drone's low-cost sensors, which are compared against the data obtained from professional equipment certified by the EPA (Environmental Protection Agency of United States) from SENAMHI, the local regulatory entity in Peru.
{"title":"Design and development of an hexacopter for air quality monitoring at high altitudes","authors":"Monica Abarca, Carlos Saito, A. Angulo, J. A. Paredes, F. Cuéllar","doi":"10.1109/COASE.2017.8256309","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256309","url":null,"abstract":"This paper describes the design of a hexacopter platform for air quality measurement purposes outfitted with gear that allows it to fly at altitudes up to 5000 meters above sea level (MASL). The multicopter is equipped with sensing technology to monitor the quality of the air, thus, presenting itself as a portable and easy-to-position in 3-dimensional environments alternative to high-cost static monitoring stations. Aside from the design considerations regarded to allow the aircraft to fly at high altitudes, a methodology is presented to describe the process concerning air quality data acquisition. This work features an analysis of the performance of the hexacopter by scrutinizing data from flight tests held at high-altitude and sea level locations and an analysis of results from the values obtained by the drone's low-cost sensors, which are compared against the data obtained from professional equipment certified by the EPA (Environmental Protection Agency of United States) from SENAMHI, the local regulatory entity in Peru.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132543343","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256218
Jianhong Zou, Qianchuan Zhao
Detection of occupancy in the elevator car is becoming increasingly important because the elevator control system relies the real-time data on occupancy to avoid overload, improve comfort and reduce energy consumption. This paper focuses on detection of occupancy of elevator car in the video scenes in oblique views. We propose an occupancy detection method fusing analysis of dual synchronous videos captured by two cameras installed inside and outside the elevator, respectively. One video is used to detect the absolute value of occupancy by the duration of full opening state of the elevator door. The other video is used to solve the coefficient of the occupancy by the change of foreground areas before and after the elevator door is opened. The absolute value and the coefficient jointly determines occupancy measurement. The experimental result verifies the effectiveness of our method and the correctness reaches up to 91.7%, exceeding that of the traditional method based on pixel statistics in the connected area. This method may contribute to the elevator control system after it is integrated with the video surveillance system.
{"title":"Occupancy detection in elevator car by fusing analysis of dual videos","authors":"Jianhong Zou, Qianchuan Zhao","doi":"10.1109/COASE.2017.8256218","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256218","url":null,"abstract":"Detection of occupancy in the elevator car is becoming increasingly important because the elevator control system relies the real-time data on occupancy to avoid overload, improve comfort and reduce energy consumption. This paper focuses on detection of occupancy of elevator car in the video scenes in oblique views. We propose an occupancy detection method fusing analysis of dual synchronous videos captured by two cameras installed inside and outside the elevator, respectively. One video is used to detect the absolute value of occupancy by the duration of full opening state of the elevator door. The other video is used to solve the coefficient of the occupancy by the change of foreground areas before and after the elevator door is opened. The absolute value and the coefficient jointly determines occupancy measurement. The experimental result verifies the effectiveness of our method and the correctness reaches up to 91.7%, exceeding that of the traditional method based on pixel statistics in the connected area. This method may contribute to the elevator control system after it is integrated with the video surveillance system.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133344544","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256160
Dohyeung Kim, R. Voyles
As a result of advances in technology, systems have grown more and more complex, leading to greater opportunities for failure. System fault has become an increasingly significant threat to the reliability and fault tolerance of automation systems. Redundancy of components within the system is one popular method for enhancing fault tolerance. One of the simple and effective methods for fault tolerance that has stood the test of time is Triple Modular Redundancy, which provides not one redundant copy of a critical system component, but two extra copies for a total of three. Ironically, providing three copies of a sensor, for example, only provides tolerance to one failure. It takes four copies to provide resilience to a double-point failure, but this can be expensive in terms of the cost of sensors and installation, wiring, and interface circuitry. We propose Quadruple Adaptive Redundancy, a new method that adds software-based estimation techniques, rather than additional hardware components, to achieve higher levels of robustness with virtually no incremental cost. In this paper, the performance of Quadruple Adaptive Redundancy is verified through computer simulations and compared to Triple Modular Redundancy with one and two induced sensor failures.
{"title":"Quadruple adaptive redundancy with fault detection estimator","authors":"Dohyeung Kim, R. Voyles","doi":"10.1109/COASE.2017.8256160","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256160","url":null,"abstract":"As a result of advances in technology, systems have grown more and more complex, leading to greater opportunities for failure. System fault has become an increasingly significant threat to the reliability and fault tolerance of automation systems. Redundancy of components within the system is one popular method for enhancing fault tolerance. One of the simple and effective methods for fault tolerance that has stood the test of time is Triple Modular Redundancy, which provides not one redundant copy of a critical system component, but two extra copies for a total of three. Ironically, providing three copies of a sensor, for example, only provides tolerance to one failure. It takes four copies to provide resilience to a double-point failure, but this can be expensive in terms of the cost of sensors and installation, wiring, and interface circuitry. We propose Quadruple Adaptive Redundancy, a new method that adds software-based estimation techniques, rather than additional hardware components, to achieve higher levels of robustness with virtually no incremental cost. In this paper, the performance of Quadruple Adaptive Redundancy is verified through computer simulations and compared to Triple Modular Redundancy with one and two induced sensor failures.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133766237","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256074
Florens Wasserfall, N. Hendrich, Jianwei Zhang
Adaptively computing the layer heights for 3D-printed parts has the potential to achieve high quality results while maintaining a reasonably short printing time. The basic concept, several error measures and variations of the algorithm have been around in the literature for two decades now, but never showed significant impact on widely used slicing software. Users of our early test implementations reported two major drawbacks of the existing approaches: the control measures are not intuitively usable and the resulting height distribution in many cases is not optimal for an object, requiring extensive post-editing. In this paper, we propose a more intuitive control measure and implementation based on the volumetric surface error and a subsequent manual refinement of layer heights by manipulating an interpolated height-curve. We describe the efficient computation of adaptive layers by analyzing the model surface over the full layer height. All implementations are available as ready-to-use open source software.
{"title":"Adaptive slicing for the FDM process revisited","authors":"Florens Wasserfall, N. Hendrich, Jianwei Zhang","doi":"10.1109/COASE.2017.8256074","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256074","url":null,"abstract":"Adaptively computing the layer heights for 3D-printed parts has the potential to achieve high quality results while maintaining a reasonably short printing time. The basic concept, several error measures and variations of the algorithm have been around in the literature for two decades now, but never showed significant impact on widely used slicing software. Users of our early test implementations reported two major drawbacks of the existing approaches: the control measures are not intuitively usable and the resulting height distribution in many cases is not optimal for an object, requiring extensive post-editing. In this paper, we propose a more intuitive control measure and implementation based on the volumetric surface error and a subsequent manual refinement of layer heights by manipulating an interpolated height-curve. We describe the efficient computation of adaptive layers by analyzing the model surface over the full layer height. All implementations are available as ready-to-use open source software.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133926018","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256329
X. Zhao, Y. Lu, Lizhu Han, Xia Wang, Qianchuan Zhao
This paper concentrates on attitude tracking control design for spacecrafts with actuator faults. By introducing a Nussbaum gain technique law to handle unknown healthy indicators, we propose a Lyapunov function-based feedback control design. It is proved that with the developed controller, the solution of the closed-loop systems is bounded, while the tracking issue can be realized. The efficiency of the developed control design is further shown by a numerical simulation.
{"title":"A nussbaum gain approach to attitude tracking control of spacecrafts with actuator faults","authors":"X. Zhao, Y. Lu, Lizhu Han, Xia Wang, Qianchuan Zhao","doi":"10.1109/COASE.2017.8256329","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256329","url":null,"abstract":"This paper concentrates on attitude tracking control design for spacecrafts with actuator faults. By introducing a Nussbaum gain technique law to handle unknown healthy indicators, we propose a Lyapunov function-based feedback control design. It is proved that with the developed controller, the solution of the closed-loop systems is bounded, while the tracking issue can be realized. The efficiency of the developed control design is further shown by a numerical simulation.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114594222","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256303
Bocheng Li, L. Xia, Qianchuan Zhao
Reinforcement learning (RL) is a widely adopted theory in machine learning, which aims to handle the optimal decision of intelligent agent interacting with the stochastic dynamic environment. Its origin may come from the motivation of phycological observations since 1960's [1]. It blooms recently as the emerging of large sample data and powerful computation facility, especially the AlphaGo's beat over the human top Go player in 2016 [2].
{"title":"Complexity analysis of reinforcement learning and its application to robotics","authors":"Bocheng Li, L. Xia, Qianchuan Zhao","doi":"10.1109/COASE.2017.8256303","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256303","url":null,"abstract":"Reinforcement learning (RL) is a widely adopted theory in machine learning, which aims to handle the optimal decision of intelligent agent interacting with the stochastic dynamic environment. Its origin may come from the motivation of phycological observations since 1960's [1]. It blooms recently as the emerging of large sample data and powerful computation facility, especially the AlphaGo's beat over the human top Go player in 2016 [2].","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123934440","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 : 2017-08-01DOI: 10.1109/COASE.2017.8256246
Chun-Ming Chang, Shi-Chung Chang, Chun-Hung Chen
Ordinal transformation is a technique of ordinal optimization that utilizes a simplified model for performance evaluation and ranking to further reduce computational effort. This presentation-only paper will be focused on investigating how simplified models of different variability levels affect ranking. The simulation-based study investigates capacity allocation of a re-entrant line in the context of semiconductor manufacturing by using two queuing network approximation models, Jackson network approximation (JNA) and queuing network analyzer (QNA). Both are based on parametric decomposition method and JNA is a special case of QNA with a unity squared coefficient of variation because of the exponential assumptions. Mean cycle time (MCT) is the performance index. Simulation studies of a five-station re-entrant line demonstrate that QNA capture of heterogeneous variability greatly improves the MCT ranking correlation of top-10 allocations out of 415 designs by almost 8 times over JNA at the cost of less than 3% computation time increase, i.e., the value of keeping a good model of variability from simplification.
{"title":"How simplified models of different variability affects performance of ordinal transformation","authors":"Chun-Ming Chang, Shi-Chung Chang, Chun-Hung Chen","doi":"10.1109/COASE.2017.8256246","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256246","url":null,"abstract":"Ordinal transformation is a technique of ordinal optimization that utilizes a simplified model for performance evaluation and ranking to further reduce computational effort. This presentation-only paper will be focused on investigating how simplified models of different variability levels affect ranking. The simulation-based study investigates capacity allocation of a re-entrant line in the context of semiconductor manufacturing by using two queuing network approximation models, Jackson network approximation (JNA) and queuing network analyzer (QNA). Both are based on parametric decomposition method and JNA is a special case of QNA with a unity squared coefficient of variation because of the exponential assumptions. Mean cycle time (MCT) is the performance index. Simulation studies of a five-station re-entrant line demonstrate that QNA capture of heterogeneous variability greatly improves the MCT ranking correlation of top-10 allocations out of 415 designs by almost 8 times over JNA at the cost of less than 3% computation time increase, i.e., the value of keeping a good model of variability from simplification.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124290288","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}
We propose a method to improve the automated test case generation for Metric Temporal Logic (MTL) falsification for Cyber-Physical Systems (CPS). In this work, we focus on request-response MTL specifications. That is, specifications that consist of at least one antecedent and a corresponding consequent. Test case generation is particularly difficult for these specifications since the consequent is only considered if the antecedent is satisfied. Therefore, we propose a method that first targets the antecedent in the specification. We show that our framework can improve upon existing falsification methods on a number of benchmark problems.
{"title":"Vacuity aware falsification for MTL request-response specifications","authors":"Adel Dokhanchi, Shakiba Yaghoubi, Bardh Hoxha, Georgios Fainekos","doi":"10.1109/COASE.2017.8256286","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256286","url":null,"abstract":"We propose a method to improve the automated test case generation for Metric Temporal Logic (MTL) falsification for Cyber-Physical Systems (CPS). In this work, we focus on request-response MTL specifications. That is, specifications that consist of at least one antecedent and a corresponding consequent. Test case generation is particularly difficult for these specifications since the consequent is only considered if the antecedent is satisfied. Therefore, we propose a method that first targets the antecedent in the specification. We show that our framework can improve upon existing falsification methods on a number of benchmark problems.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125522153","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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