Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987935
Marina Morimitsu, Teruo Yamaguchi, H. Harada
Spatio-temporal derivative method is one of the most effective methods of determining the velocity of moving objects. This method shows excellent response, but it has a problem that estimated velocity is not accurate where Hessian of the target pattern is small or there is noise on the image. It has been reported that one can obtain more stable velocity vectors by synthesizing the velocity vectors obtained for each channel that is consist of different characteristic filters. However, guidelines for the choice of optimal filter group has not been established yet. Therefore, in this study, we researched to suppress unstable velocity vectors at motion edge by using compact filter group. In particular, we made some filter group which consists of different characteristic (passband) filters, and applying it to various image sequences. Then, we searched for the filter group that can provide stable velocity vectors at motion edge on the image. We compared the results in case where filter coefficient is original and normalized. It was found that stable velocity vector can be obtained by applying normalized coefficient filters.
{"title":"Designing of the input filter group of the multichannel optical flow estimate method","authors":"Marina Morimitsu, Teruo Yamaguchi, H. Harada","doi":"10.1109/ICCAS.2014.6987935","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987935","url":null,"abstract":"Spatio-temporal derivative method is one of the most effective methods of determining the velocity of moving objects. This method shows excellent response, but it has a problem that estimated velocity is not accurate where Hessian of the target pattern is small or there is noise on the image. It has been reported that one can obtain more stable velocity vectors by synthesizing the velocity vectors obtained for each channel that is consist of different characteristic filters. However, guidelines for the choice of optimal filter group has not been established yet. Therefore, in this study, we researched to suppress unstable velocity vectors at motion edge by using compact filter group. In particular, we made some filter group which consists of different characteristic (passband) filters, and applying it to various image sequences. Then, we searched for the filter group that can provide stable velocity vectors at motion edge on the image. We compared the results in case where filter coefficient is original and normalized. It was found that stable velocity vector can be obtained by applying normalized coefficient filters.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"27 1","pages":"1070-1075"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75434277","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.2014.6987954
Weili Dai, Hao Tian, Jun Ding
Doubly salient electro-magnetic machine using traditional control method has large torque ripple for dead-time during commutation process and its special structure. During commutation, electro-magnetic torque and power will decrease quickly due to all switches are off states. In order to avoid the problem, a novel phase-shifted and interleaved angel control strategy was proposed in this paper. The control algorithm can eliminate dead-time and shape phase current of electric machine to improve output power and reduce torque ripple by adjusting phase-shifted angle and interleaved angle. In this paper, the mathematical model of the machine and working principle of the control strategy were described in detail. Moreover, phase-shifted and interleaved angle optimum method based on low torque ripple and large output power was also given. Finally, a “field-circuit” co-simulation model of motor driving system based on novel control method was built by electro-magnetic finite element analysis and transient solver of control circuit, and simulation results verify theory analysis.
{"title":"Phase-shifted and interleaved angle control for doubly salient electro-magnetic machine","authors":"Weili Dai, Hao Tian, Jun Ding","doi":"10.1109/ICCAS.2014.6987954","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987954","url":null,"abstract":"Doubly salient electro-magnetic machine using traditional control method has large torque ripple for dead-time during commutation process and its special structure. During commutation, electro-magnetic torque and power will decrease quickly due to all switches are off states. In order to avoid the problem, a novel phase-shifted and interleaved angel control strategy was proposed in this paper. The control algorithm can eliminate dead-time and shape phase current of electric machine to improve output power and reduce torque ripple by adjusting phase-shifted angle and interleaved angle. In this paper, the mathematical model of the machine and working principle of the control strategy were described in detail. Moreover, phase-shifted and interleaved angle optimum method based on low torque ripple and large output power was also given. Finally, a “field-circuit” co-simulation model of motor driving system based on novel control method was built by electro-magnetic finite element analysis and transient solver of control circuit, and simulation results verify theory analysis.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"3 1","pages":"36-41"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75123865","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.2014.6987747
Lan-Rong Dung, C. Lin, Hsiang-Fu Yuan
Following the trend of eco-conscious, the automakers tend to use high-voltage packs in the electric vehicle or hybrid electric vehicle. The packs are formed by battery cells in series and parallel connections. Because of the variation of battery production, their capacity, impedance, lifetime and chemistry characteristic vary with ambient temperature. When the batteries are charged or discharged as a pack, the differences result in the imbalance of the battery voltage. The imbalance turns out over-charged and over-discharged and shortens the capacity and lifetime of batteries. Among the equalization methods, resistively switching approach is widely used for its low complexity and low cost. The controller gauges the battery voltage no matter the equalization is on or off. The comparison of two battery voltages must be based on the charging current. If not, the racing phenomenon happens and the equalization circuit would be turned on and off frequently. PWM-based equalization can solve this problem. Detecting the voltages of the batteries when the duty is off ensures the battery voltages are both based on the charging current. The PWM-based equalization successfully eliminates the racing phenomenon and shortens charging time by 48%; from 6200 seconds of switching shunt resistor equalization to 3200 seconds.
{"title":"An anti-racing PWM-based battery pack equalization","authors":"Lan-Rong Dung, C. Lin, Hsiang-Fu Yuan","doi":"10.1109/ICCAS.2014.6987747","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987747","url":null,"abstract":"Following the trend of eco-conscious, the automakers tend to use high-voltage packs in the electric vehicle or hybrid electric vehicle. The packs are formed by battery cells in series and parallel connections. Because of the variation of battery production, their capacity, impedance, lifetime and chemistry characteristic vary with ambient temperature. When the batteries are charged or discharged as a pack, the differences result in the imbalance of the battery voltage. The imbalance turns out over-charged and over-discharged and shortens the capacity and lifetime of batteries. Among the equalization methods, resistively switching approach is widely used for its low complexity and low cost. The controller gauges the battery voltage no matter the equalization is on or off. The comparison of two battery voltages must be based on the charging current. If not, the racing phenomenon happens and the equalization circuit would be turned on and off frequently. PWM-based equalization can solve this problem. Detecting the voltages of the batteries when the duty is off ensures the battery voltages are both based on the charging current. The PWM-based equalization successfully eliminates the racing phenomenon and shortens charging time by 48%; from 6200 seconds of switching shunt resistor equalization to 3200 seconds.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"21 1","pages":"1244-1248"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73279544","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.2014.6987772
Dongyeop Kang
This paper presents a design method of a disturbance observer for discrete-time linear systems. In order to estimate the unknown disturbance, an augmented model is constructed by supposing the estimated disturbance to be an auxiliary state variable. The sufficient condition for the existence and convergence of the robust observer is proposed in terms of linear matrix inequality (LMI). Numerical examples are given to show the effectiveness of the proposed method.
{"title":"Design of a disturbance observer for discrete-time linear systems","authors":"Dongyeop Kang","doi":"10.1109/ICCAS.2014.6987772","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987772","url":null,"abstract":"This paper presents a design method of a disturbance observer for discrete-time linear systems. In order to estimate the unknown disturbance, an augmented model is constructed by supposing the estimated disturbance to be an auxiliary state variable. The sufficient condition for the existence and convergence of the robust observer is proposed in terms of linear matrix inequality (LMI). Numerical examples are given to show the effectiveness of the proposed method.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"15 1","pages":"1381-1383"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76242111","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.2014.6987754
Huasheng Tan, Mingang Hua
The problem of robust L2-L∞ filter design of uncertain neutral stochastic systems with Markovian jumping parameters and time delay is discussed in this paper. The parameter uncertainties are assumed to be norm-bounded. Based on the Lyapunov-krasovskii theory and generalized Finsler lemma, a delay-dependent stability condition is obtained. The obtained result ensures the robust stochastic stability and a prescribed L2-L∞ performance level of the filtering error systems. Sufficient conditions for the existence of the designed L2-L∞ are formulated in terms of linear matrix inequalities(LMIs). Two numerical examples are provided to illustrate the effectiveness of the proposed method.
{"title":"Robust L2-L∞ filtering for uncertain neutral stochastic system with markovian jumping parameters and time delay","authors":"Huasheng Tan, Mingang Hua","doi":"10.1109/ICCAS.2014.6987754","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987754","url":null,"abstract":"The problem of robust L<sub>2</sub>-L<sub>∞</sub> filter design of uncertain neutral stochastic systems with Markovian jumping parameters and time delay is discussed in this paper. The parameter uncertainties are assumed to be norm-bounded. Based on the Lyapunov-krasovskii theory and generalized Finsler lemma, a delay-dependent stability condition is obtained. The obtained result ensures the robust stochastic stability and a prescribed L<sub>2</sub>-L<sub>∞</sub> performance level of the filtering error systems. Sufficient conditions for the existence of the designed L<sub>2</sub>-L<sub>∞</sub> are formulated in terms of linear matrix inequalities(LMIs). Two numerical examples are provided to illustrate the effectiveness of the proposed method.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"453 1","pages":"1284-1289"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88611426","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.2014.6988036
Jinho Lee, J. Jo, Youngjae Han, Changyoung Lee
For high speed maglev using ElectroMagnetic Suspension(EMS) as levitation method, the gap between vehicle and guideway surface is maintained by only about 10mm. Therefore, to prevent the contact and improve the ride comfort, the guideway irregularity should be controlled below a certain level. Especially, the LSM stator pack attached under guideway should be clamped without any looseness, otherwise the serious collision would happen. In this study, to monitor the guideway status, an inspection vehicle is proposed and the monitoring algorithms are reviewed.
{"title":"The development and application of guideway monitoring vehicle for super speed maglev","authors":"Jinho Lee, J. Jo, Youngjae Han, Changyoung Lee","doi":"10.1109/ICCAS.2014.6988036","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6988036","url":null,"abstract":"For high speed maglev using ElectroMagnetic Suspension(EMS) as levitation method, the gap between vehicle and guideway surface is maintained by only about 10mm. Therefore, to prevent the contact and improve the ride comfort, the guideway irregularity should be controlled below a certain level. Especially, the LSM stator pack attached under guideway should be clamped without any looseness, otherwise the serious collision would happen. In this study, to monitor the guideway status, an inspection vehicle is proposed and the monitoring algorithms are reviewed.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"21 1","pages":"427-429"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84472415","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.2014.6987982
N. S. Ahmad
Frequency-based Popov criterion has been previously used to analyse and design the analog phase-locked loops (PLLs) in the literature. Although in general it is better than the circle criterion for Lur'e systems with sector-bounded nonlinearities, Popov criterion may be conservative when the multiplier is limited to be nonnegative. Furthermore, for high order systems or multi-input-multi-output cases, the frequency-based approach will be computationally intensive. In this paper, a less conservative phaselock condition based on extended Popov criterion where the multiplier is indefinite is presented. The result is formulated in terms of linear matrix inequality which can be easily solved via convex optimization methods. A numerical example with Butterworth filter is provided to show that the result provides a significant improvement for the stability and locking frequency of analog PLLs.
{"title":"A less conservative phaselock criterion with linear matrix inequality condition","authors":"N. S. Ahmad","doi":"10.1109/ICCAS.2014.6987982","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987982","url":null,"abstract":"Frequency-based Popov criterion has been previously used to analyse and design the analog phase-locked loops (PLLs) in the literature. Although in general it is better than the circle criterion for Lur'e systems with sector-bounded nonlinearities, Popov criterion may be conservative when the multiplier is limited to be nonnegative. Furthermore, for high order systems or multi-input-multi-output cases, the frequency-based approach will be computationally intensive. In this paper, a less conservative phaselock condition based on extended Popov criterion where the multiplier is indefinite is presented. The result is formulated in terms of linear matrix inequality which can be easily solved via convex optimization methods. A numerical example with Butterworth filter is provided to show that the result provides a significant improvement for the stability and locking frequency of analog PLLs.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"36 1","pages":"179-183"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84527695","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.2014.6987953
G. Duan
This paper considers the control of a system which is the cascaded result of a second-order nonlinear plant and a first-order actuator system. It is shown that such a system can be converted equivalently into a fully-actuated third-order quasi-linear system, and as soon as this is done, a simple complete general parametrization of the position-velocity-acceleration feedback controller can be immediately given, which provides, no matter the open loop system is linear or not, a constant linear closed-loop system with designed eigenstructure. Furthermore, the approach also provides all the degrees of design freedom represented by a stable matrix F; and another parameter matrix Z; which is in fact dense in the parameter space. They can be further optimized to achieve additional requirements on the closed-loop system.
{"title":"Direct parametric approach for cascaded systems with application in robot control","authors":"G. Duan","doi":"10.1109/ICCAS.2014.6987953","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987953","url":null,"abstract":"This paper considers the control of a system which is the cascaded result of a second-order nonlinear plant and a first-order actuator system. It is shown that such a system can be converted equivalently into a fully-actuated third-order quasi-linear system, and as soon as this is done, a simple complete general parametrization of the position-velocity-acceleration feedback controller can be immediately given, which provides, no matter the open loop system is linear or not, a constant linear closed-loop system with designed eigenstructure. Furthermore, the approach also provides all the degrees of design freedom represented by a stable matrix F; and another parameter matrix Z; which is in fact dense in the parameter space. They can be further optimized to achieve additional requirements on the closed-loop system.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"35 1","pages":"29-35"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78593401","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.2014.6987739
Keigo Watanabe, Yuya Yamada, I. Nagai
In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.
{"title":"The development of a 3D position measurement system for indoor aerial robots","authors":"Keigo Watanabe, Yuya Yamada, I. Nagai","doi":"10.1109/ICCAS.2014.6987739","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987739","url":null,"abstract":"In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"29 1","pages":"1185-1190"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78636574","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.2014.6987734
Haijun Fang, S. Dianat, L. K. Mestha, A. Radomski
In this paper, we will present an approach developing a linear model of a radio frequency (RF) power generator by using pseudo random binary signals (PRBS). We will compare two linear models obtained respectively by the PRBS approach and a traditional modeling approach. The result shows that both approaches achieve a very similar model of the RF power generator. Moreover, it can be shown that the PRBS approach is easily implemented in FPGA (Field-Programmable Gate Array) and can be adapted for the on-line system identification.
{"title":"Developing a linear model of RF power generators with pseudo random binary signals (PRBS)","authors":"Haijun Fang, S. Dianat, L. K. Mestha, A. Radomski","doi":"10.1109/ICCAS.2014.6987734","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987734","url":null,"abstract":"In this paper, we will present an approach developing a linear model of a radio frequency (RF) power generator by using pseudo random binary signals (PRBS). We will compare two linear models obtained respectively by the PRBS approach and a traditional modeling approach. The result shows that both approaches achieve a very similar model of the RF power generator. Moreover, it can be shown that the PRBS approach is easily implemented in FPGA (Field-Programmable Gate Array) and can be adapted for the on-line system identification.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"4 1","pages":"1158-1162"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88488014","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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