Pub Date : 2015-10-01DOI: 10.1109/ICCAS.2014.6987808
Numchai Narkvitul, P. Ukakimaparn, T. Trisuwannawat
This paper proposes the formulas for finding the Proportional gain, Integral gain and Derivative gain simultaneously of the PID controllers in both continuous-time and discrete-time systems. Once, the satisfied PID controller in continuous-time system is obtained. Then, just discretises it by using trapezoidal approximation or bilinear transformation, the discrete-time PID controller is easily achieved as well. The results from simulations revealed that this discrete-time controller provides a faster response than the continuous-time case.
{"title":"Closed-form formulas for continuous/discrete-time PID controllers' parameters","authors":"Numchai Narkvitul, P. Ukakimaparn, T. Trisuwannawat","doi":"10.1109/ICCAS.2014.6987808","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987808","url":null,"abstract":"This paper proposes the formulas for finding the Proportional gain, Integral gain and Derivative gain simultaneously of the PID controllers in both continuous-time and discrete-time systems. Once, the satisfied PID controller in continuous-time system is obtained. Then, just discretises it by using trapezoidal approximation or bilinear transformation, the discrete-time PID controller is easily achieved as well. The results from simulations revealed that this discrete-time controller provides a faster response than the continuous-time case.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"232 1","pages":"1526-1530"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73339741","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987920
Woo-Dong Lee
Bogie in rolling stock for monorail is very important device to decide performance and function of rolling stock. In monorail rolling stock outside, driving stability is low and increasing the speed in curve section is difficult because vehicle operates with covering up girder of elevated structures. So, transportation ability is lack and passenger evacuation is also difficult when it broke down. Because of these shortcomings, domestic introduction of the monorail is not activated despite advantage that monorail construction cost is very cheap in comparison of light railway. Rolling stock for monorail on the outside installs running wheel to drive on narrow girder, so increasing the speed is difficult. And you should separate the motor in every time replacing the wheel because traction motor is installed on the outside of the wheel. Therefore, bogie structure should be changed in order to improve the speed of vehicle and maintenance and repair efficiency. This study suggested ways to design rolling stock structure for improving driving performance and maintenance and repair efficiency.
{"title":"The design of monorail rolling stock for running performance and maintenance","authors":"Woo-Dong Lee","doi":"10.1109/ICCAS.2014.6987920","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987920","url":null,"abstract":"Bogie in rolling stock for monorail is very important device to decide performance and function of rolling stock. In monorail rolling stock outside, driving stability is low and increasing the speed in curve section is difficult because vehicle operates with covering up girder of elevated structures. So, transportation ability is lack and passenger evacuation is also difficult when it broke down. Because of these shortcomings, domestic introduction of the monorail is not activated despite advantage that monorail construction cost is very cheap in comparison of light railway. Rolling stock for monorail on the outside installs running wheel to drive on narrow girder, so increasing the speed is difficult. And you should separate the motor in every time replacing the wheel because traction motor is installed on the outside of the wheel. Therefore, bogie structure should be changed in order to improve the speed of vehicle and maintenance and repair efficiency. This study suggested ways to design rolling stock structure for improving driving performance and maintenance and repair efficiency.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"23 1","pages":"1002-1005"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73077402","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987947
Yonghun Kim, Pyungkang Kim, KyeongYong Cho, Yoonshik Hong, Soohyun Kim, Kyung-Soo Kim, Young-Keun Kim, T. Lim
It is important to measure the position of steel coils, especially when automatically transporting them by crane in the relevant industry. To realize a fully automatic coil transporting system, the positions of coils relative to the crane must be measured accurately. This paper introduces a measurement system that can detect positions of the target coil with high robustness and accuracy using 2-D laser sensors. The proposed system can derive the radius, length of a coil, which can be in various sizes, without using any prior informations about the coil. Based on the detected dimensions of the target coil, the sensor system can calculate the positions of coil in real time from a remote distance. The performance of the system is validated through experiments conducted on actual coils, which showed that the precision is within 30mm from a distance range of 5 meters.
{"title":"Remote position detection of steel coils using 2D laser scanners: Two-line-tracker","authors":"Yonghun Kim, Pyungkang Kim, KyeongYong Cho, Yoonshik Hong, Soohyun Kim, Kyung-Soo Kim, Young-Keun Kim, T. Lim","doi":"10.1109/ICCAS.2014.6987947","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987947","url":null,"abstract":"It is important to measure the position of steel coils, especially when automatically transporting them by crane in the relevant industry. To realize a fully automatic coil transporting system, the positions of coils relative to the crane must be measured accurately. This paper introduces a measurement system that can detect positions of the target coil with high robustness and accuracy using 2-D laser sensors. The proposed system can derive the radius, length of a coil, which can be in various sizes, without using any prior informations about the coil. Based on the detected dimensions of the target coil, the sensor system can calculate the positions of coil in real time from a remote distance. The performance of the system is validated through experiments conducted on actual coils, which showed that the precision is within 30mm from a distance range of 5 meters.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"60 1","pages":"1056-1059"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72565753","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6988040
Jing Wu, Rui-Jun Yan, Chao Yuan, Y. S. Lee, K. Shin, Chang-Soo Han
As a specially designed mechanism, cam is usually be used in many high-speed structures and mechanisms. Diverse geometric cam counters support for diverse motion applications, including the displacement, the velocity and the acceleration. This paper proposes a design of a high-speed cam which can be applied in a quick-action-based four bar linkage system. This variable high-speed cam is design by using the graphical combination of 5th and 7th polynomial cam curves. In addition, the kinematic model of a linkage system based on our proposed cam is constructed. Finally, the simulation results of the cam counter, velocity and acceleration of the designed cam are shown to validate the appropriate application of a quick-action linkage system.
{"title":"High-speed cam design for quick-action linkage system","authors":"Jing Wu, Rui-Jun Yan, Chao Yuan, Y. S. Lee, K. Shin, Chang-Soo Han","doi":"10.1109/ICCAS.2014.6988040","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6988040","url":null,"abstract":"As a specially designed mechanism, cam is usually be used in many high-speed structures and mechanisms. Diverse geometric cam counters support for diverse motion applications, including the displacement, the velocity and the acceleration. This paper proposes a design of a high-speed cam which can be applied in a quick-action-based four bar linkage system. This variable high-speed cam is design by using the graphical combination of 5th and 7th polynomial cam curves. In addition, the kinematic model of a linkage system based on our proposed cam is constructed. Finally, the simulation results of the cam counter, velocity and acceleration of the designed cam are shown to validate the appropriate application of a quick-action linkage system.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"83 1","pages":"494-498"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74814610","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987983
D. Cho, Hae-Dong Kim
To design the optimal lunar landing trajectory, the periapsis of de-orbit burn phase is usually used as a starting point of the powered descent phase. And the optimal problem is constructed based on the initial states at this point. For this optimal problem, some kinds of result trajectories have the increase in their own altitude at the early stage to earn the enough time to reduce their huge horizontal velocity for the low thrust, and this phenomenon increase the consumption of the propellant mass. For this reason, it is possible to exist another phase angle to reduce this phenomenon instead of zero for periapsis of de-orbit burn phase because the vertical velocity is not zero at this point. To find out this optimal phase angle, in this paper, the initial free state optimal problem method is applied without any additional assumption and change of hardware for the traditional optimal lunar landing problem. Using this approach, it shows that the optimal phase angle does not always equal to the periapsis for some cases, and it is possible to reduce the fuel consumption of the lunar lander.
{"title":"Optimal phase angle design for the lunar lander","authors":"D. Cho, Hae-Dong Kim","doi":"10.1109/ICCAS.2014.6987983","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987983","url":null,"abstract":"To design the optimal lunar landing trajectory, the periapsis of de-orbit burn phase is usually used as a starting point of the powered descent phase. And the optimal problem is constructed based on the initial states at this point. For this optimal problem, some kinds of result trajectories have the increase in their own altitude at the early stage to earn the enough time to reduce their huge horizontal velocity for the low thrust, and this phenomenon increase the consumption of the propellant mass. For this reason, it is possible to exist another phase angle to reduce this phenomenon instead of zero for periapsis of de-orbit burn phase because the vertical velocity is not zero at this point. To find out this optimal phase angle, in this paper, the initial free state optimal problem method is applied without any additional assumption and change of hardware for the traditional optimal lunar landing problem. Using this approach, it shows that the optimal phase angle does not always equal to the periapsis for some cases, and it is possible to reduce the fuel consumption of the lunar lander.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"26 1","pages":"184-189"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78613905","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987788
H. Kim, Oh-Chang Kwon, B. Song, Hoon Lee, Hyungsun Jang
This paper presents the confidence assessment algorithm of lane mark detected by a vision sensor for lane change decision and its application to lane-level localization. The lane mark information is critical to determine whether driving maneuver is either lane following or lane change. Furthermore, it should be considered that the detected lane mark could be wrong due to its worn-out or soil/snow/obstacles on the mark. Thus it is necessary to assess the confidence of lane. By using detection results of each side of lane from vision sensor and vehicle state measured by in-vehicle sensor, lane confidence assessment algorithm based on probabilistic data association filter (PDAF) is proposed. And by using estimation results from PDAF, lane change decision algorithm is also proposed. The proposed algorithms are validated experimentally via field test data.
{"title":"Lane confidence assessment and lane change decision for lane-level localization","authors":"H. Kim, Oh-Chang Kwon, B. Song, Hoon Lee, Hyungsun Jang","doi":"10.1109/ICCAS.2014.6987788","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987788","url":null,"abstract":"This paper presents the confidence assessment algorithm of lane mark detected by a vision sensor for lane change decision and its application to lane-level localization. The lane mark information is critical to determine whether driving maneuver is either lane following or lane change. Furthermore, it should be considered that the detected lane mark could be wrong due to its worn-out or soil/snow/obstacles on the mark. Thus it is necessary to assess the confidence of lane. By using detection results of each side of lane from vision sensor and vehicle state measured by in-vehicle sensor, lane confidence assessment algorithm based on probabilistic data association filter (PDAF) is proposed. And by using estimation results from PDAF, lane change decision algorithm is also proposed. The proposed algorithms are validated experimentally via field test data.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"220 1","pages":"1448-1451"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80215900","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987783
Hyungjune Bae, Yeonsik Kang
This paper presents the development of an algorithm that uses nonlinear model predictive control (NMPC) to avoid collisions between a driver's vehicle and the nearby vehicles in complex situations. In particular, the paths of the driver's vehicle and the nearby vehicles are predicted to avoid collisions. NMPC is used to predict the paths of all vehicles, and if a collision is detected in the predicted path, the driver's vehicle attempts to avoid the collision through a left lane change, right lane change, or braking maneuver. Several scenarios are implemented through MATLAB/Simulink simulations to verify the performance of the proposed algorithms when multiple vehicles are engaged in sudden lane change movements.
{"title":"Decision making methods based on nonlinear model predictive control for emergency collision avoidance in complex situations (ICCAS 2014)","authors":"Hyungjune Bae, Yeonsik Kang","doi":"10.1109/ICCAS.2014.6987783","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987783","url":null,"abstract":"This paper presents the development of an algorithm that uses nonlinear model predictive control (NMPC) to avoid collisions between a driver's vehicle and the nearby vehicles in complex situations. In particular, the paths of the driver's vehicle and the nearby vehicles are predicted to avoid collisions. NMPC is used to predict the paths of all vehicles, and if a collision is detected in the predicted path, the driver's vehicle attempts to avoid the collision through a left lane change, right lane change, or braking maneuver. Several scenarios are implemented through MATLAB/Simulink simulations to verify the performance of the proposed algorithms when multiple vehicles are engaged in sudden lane change movements.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"36 1","pages":"1424-1427"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84350063","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987741
Jung-Su Kim, J. Back, Gyunghoon Park
The type-k disturbance observer, also known as high order disturbance observer, is a robust output feedback controller which can reject polynomial-in-time disturbances exactly and at the same time unmodeled disturbances approximately. To ensure the robust stability of the closed-loop system, the key component of the controller called Q-filter should be designed appropriately. In this paper, we formulate the design problem in terms of a set of bilinear matrix inequalities so that the coefficients of Q-filters are chosen simultaneously. The solution from the proposed method can be less conservative compared to the recursive design procedure developed recently.
{"title":"Design of Q-filters for disturbance observers via BMI approach","authors":"Jung-Su Kim, J. Back, Gyunghoon Park","doi":"10.1109/ICCAS.2014.6987741","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987741","url":null,"abstract":"The type-k disturbance observer, also known as high order disturbance observer, is a robust output feedback controller which can reject polynomial-in-time disturbances exactly and at the same time unmodeled disturbances approximately. To ensure the robust stability of the closed-loop system, the key component of the controller called Q-filter should be designed appropriately. In this paper, we formulate the design problem in terms of a set of bilinear matrix inequalities so that the coefficients of Q-filters are chosen simultaneously. The solution from the proposed method can be less conservative compared to the recursive design procedure developed recently.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"7 1","pages":"1197-1200"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80923999","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987872
Bong-ju Lee, H. Kim
For autonomous excavating, the trajectories should be generated for specific tasks for an excavator. We generate the trajectory using virtual motion camouflage (VMC). For trajectory generation, kinematics of the target excavator are derived and VMC method is formulated. Two simulations are conducted. One is trajectory generation for a manipulator of the excavator to avoid obstacles, and the other is to excavate. From the results of simulations, we can obtain sub-optimized trajectories and show that VMC can be used to generate the trajectory for an excavator.
{"title":"Trajectory generation for an automated excavator","authors":"Bong-ju Lee, H. Kim","doi":"10.1109/ICCAS.2014.6987872","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987872","url":null,"abstract":"For autonomous excavating, the trajectories should be generated for specific tasks for an excavator. We generate the trajectory using virtual motion camouflage (VMC). For trajectory generation, kinematics of the target excavator are derived and VMC method is formulated. Two simulations are conducted. One is trajectory generation for a manipulator of the excavator to avoid obstacles, and the other is to excavate. From the results of simulations, we can obtain sub-optimized trajectories and show that VMC can be used to generate the trajectory for an excavator.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"26 1","pages":"716-719"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84032571","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6988024
Hyeonbeom Lee, H. Kim
This paper presents robust control for a quadrotor using TS (Takagi-Sugeno) fuzzy model and an LMI (Linear Matrix Inequality) approach. TS fuzzy model can provide an effective representation of nonlinear systems with a set of local linear models. We present TS fuzzy model for the quarotor which is composed of local linear models valid in different operation points. Also, a state feedback controller is designed based on LMIs with the pole placement method. Simulation results illustrate the more stable tracking performance of the proposed controller in comparison with a conventional LQR controller.
{"title":"Robust control of a quadrotor using Takagi-Sugeno fuzzy model and an LMI approach","authors":"Hyeonbeom Lee, H. Kim","doi":"10.1109/ICCAS.2014.6988024","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6988024","url":null,"abstract":"This paper presents robust control for a quadrotor using TS (Takagi-Sugeno) fuzzy model and an LMI (Linear Matrix Inequality) approach. TS fuzzy model can provide an effective representation of nonlinear systems with a set of local linear models. We present TS fuzzy model for the quarotor which is composed of local linear models valid in different operation points. Also, a state feedback controller is designed based on LMIs with the pole placement method. Simulation results illustrate the more stable tracking performance of the proposed controller in comparison with a conventional LQR controller.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"1 1","pages":"370-374"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77956210","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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