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2016 6th IEEE International Conference on Control System, Computing and Engineering (ICCSCE)最新文献

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Car-like robot path tracker with kinematic constraints 具有运动约束的类车机器人路径跟踪器
Nor Badariyah Abdul Latip, R. Omar
Safety is one of the vital features in autonomous car that has to be seriously taken into consideration in developing such a car. One of the safety issues for autonomous car is the car inability to faithfully track a pre-planned path, which might cause the car deviate from its intended course. This could lead the car to crash or involve in accident. To address this issue, this paper proposes a path tracking method based on Proportional and Proportional-Derivative controllers considering the kinematic constraints of the car. The performance of both controllers for car-like robot path tracking is evaluated and analysed. The proposed method has been proven to minimize the tracking errors which could help to enhance the safety level of the car.
安全性是自动驾驶汽车的重要特征之一,在开发此类汽车时必须认真考虑。自动驾驶汽车的安全问题之一是汽车无法忠实地跟踪预先规划的路径,这可能会导致汽车偏离预定路线。这可能会导致汽车撞车或发生事故。为了解决这一问题,本文提出了一种考虑小车运动约束的基于比例和比例导数控制器的路径跟踪方法。对两种控制器在类车机器人路径跟踪中的性能进行了评价和分析。实践证明,该方法能最大限度地减小跟踪误差,提高汽车的安全水平。
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引用次数: 0
Utilizing optimal control and physical measurements when developing operator assist, automatic functions and autonomous machines 在开发操作员辅助、自动功能和自动机器时,利用最佳控制和物理测量
B. Frank
A method using optimal control results as input to operator assist systems, automatic functions and autonomous construction machine control is presented. This method complements the vast research within autonomy to achieve the most fuel efficient solution from results that are already available from concept evaluation and system optimization in early development. The optimal control results are validated and compared to an extensive empirical study to ensure realization in real applications. The optimal control method is based on dynamic programming and finds the global optimum in regards to fuel efficiency [ton/l] at a given productivity [ton/h]. The wheel loader is used as an example due to the complex nature of the system, where the driveline and working hydraulics must work together throughout the work cycle. The main focus in this paper is how to transfer results from the optimal control calculations done offline, with high computational power, to algorithms that can be used online in operator assist systems, automatic functions and autonomous machine control. The primary result is that the method and algorithms presented in this paper works. The secondary results is that the optimal control solution shows around 15% higher fuel efficiency compared to the highest fuel efficiency measured among real operators in the extensive empirical measurement. The operator with the highest measured fuel efficiency has 20–30% higher average fuel efficiency than the fleet implying that the optimal control results, if used in operator assist systems, automatic functions and autonomous machine control, can increase the average fleet fuel efficiency by up to 35–45%, depending on operator and application.
提出了一种将最优控制结果作为操作员辅助系统、自动功能和施工机械自主控制输入的方法。这种方法是对自主领域大量研究的补充,可以从早期开发阶段的概念评估和系统优化中获得最省油的解决方案。为确保在实际应用中实现,对最优控制结果进行了验证和比较。最优控制方法基于动态规划,在给定的生产率[吨/小时]下,以燃油效率[吨/升]为全局最优。由于轮式装载机系统的复杂性,在整个工作周期中,传动系统和工作液压系统必须协同工作,因此以轮式装载机为例。本文的主要重点是如何将具有高计算能力的离线最优控制计算结果转化为可在线用于操作员辅助系统,自动功能和自主机器控制的算法。初步结果表明,本文提出的方法和算法是有效的。第二个结果是,与实际操作人员在广泛的经验测量中测量到的最高燃油效率相比,最优控制方案的燃油效率提高了约15%。燃油效率最高的操作人员的平均燃油效率比车队高20-30%,这意味着,如果将最优控制结果用于操作人员辅助系统、自动功能和自动机器控制,根据操作人员和应用情况,平均燃油效率可提高35-45%。
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引用次数: 3
Particles contaminations detection during plasma etching process by using k-nearest neighbors and Fuzzy k-nearest neighbors 等离子体刻蚀过程中粒子污染的k近邻和模糊k近邻检测
Noratika Mohammad Somari, M. F. Abdullah, M. K. Osman, A. M. Nazelan, K. A. Ahmad, Sooria Pragash Rao S. Appanan, Loh Kwang Hooi
This paper present the particle contamination detection during plasma etching process by using k-nearest neighbor (kNN) and Fuzzy k-nearest neighbor (FkNN). In the process of manufacturing semiconductor devices, detecting particle contamination in process tool is a vital factor for determining for product yield. In situ particle is an accurate and cost effective method of contamination control in a production environment which possible to measure particles under actual conditions in real time. Data were collected from two sources Statistical Process Control (SPC) database and Advance Process Control (APC) database. There are four features which are Standard Deviation of voltage bias, Range between minimum and maximum of voltage bias, average of voltage bias and Radio frequency (RF) per Hour. These data are analyzed to identify important features that able to correlate with the particle contamination count during plasma etching process. In this research there are two part of analysis, individual parameter analysis and combination several parameter analysis by using kNN and FkNN. This analysis, used to classify into two levels of contamination, that are low and high particles contamination. By analysis results, kNN method is highest accuracy 83.33% by using standard deviation of voltage bias and FkNN show highest accuracy on combination parameters analysis 80.56% from combination between RF hour and standard deviation of voltage bias.
本文提出了基于k近邻和模糊k近邻的等离子体刻蚀过程中粒子污染检测方法。在半导体器件的制造过程中,检测加工工具中的颗粒污染是决定产品成品率的重要因素。原位颗粒是一种准确且经济有效的生产环境污染控制方法,可以在实际条件下实时测量颗粒。数据来源于统计过程控制(SPC)数据库和先进过程控制(APC)数据库。电压偏差的标准偏差,电压偏差的最小值和最大值之间的范围,电压偏差的平均值和每小时射频(RF)四个特征。对这些数据进行分析,以确定在等离子体蚀刻过程中能够与颗粒污染计数相关的重要特征。在本研究中,采用kNN和FkNN进行单个参数分析和组合多个参数分析。这一分析,用于将污染分为两个级别,即低颗粒污染和高颗粒污染。分析结果表明,kNN方法对电压偏置标准差的分析精度最高,为83.33%;FkNN方法对射频小时与电压偏置标准差的组合参数分析精度最高,为80.56%。
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引用次数: 6
Slotted triangle on hollow pyramidal microwave absorber characteristics 开槽三角形对空心锥体微波吸收器特性的影响
Ahmad Yusof, H. Abdullah, Najwa Rawaida Ahmad Fauzi, N. A. Ismail, A. R. Razali, A. Ahmad, M. Taib, Azwati Azmin, Nazirah Mohamat Kasim, A. M. Mozi
This paper presents the performance effect of hollow pyramidal microwave absorber that had been applied with slotted array principle. The Sierpinski triangle was used as the slotted on the hollow pyramidal microwave absorber. This paper includes the theories, simulation and measurement result. The simulation using CST Microwave Studio Suite used to predict the Sierpinski triangle design of microwave absorber performance. Measurement had been done successfully via an arch method at 8 GHz till 12 GHz. From the increasing iteration in Sierpinski triangle principle leads to stable the impedance of absorber and resulting high absorption at frequency range between 11 GHz till 12 GHz.
本文介绍了采用开槽阵列原理的空心锥体微波吸收器的性能效果。采用Sierpinski三角形作为空心锥形微波吸收器的开槽。本文包括理论、仿真和测试结果。利用CST Microwave Studio Suite进行仿真,用于预测Sierpinski三角形设计的微波吸收器性能。在8 GHz到12 GHz波段,通过拱形法成功地进行了测量。从谢尔宾斯基三角原理的不断迭代可知,吸收器的阻抗稳定,在11 GHz至12 GHz的频率范围内具有较高的吸光度。
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引用次数: 3
Enhanced delay compensator based parallel cascade control scheme 基于增强延迟补偿器的并联串级控制方案
G. Raja, Ahmad Ali
Conventional parallel cascade control structure (PCCS) does not yield satisfactory closed-loop performance for processes with large time delay. To overcome this limitation, this manuscript presents a modified Smith delay compensator based PCCS. Stable, integrating and unstable processes with dead time are considered in this work. The proposed PCCS consists of a secondary disturbance rejection controller, a stabilizing controller, a setpoint tracking controller, a setpoint filter and a lag filter for the predicted disturbance. Settings of the primary setpoint filter and setpoint tracking controller are obtained using direct synthesis approach whereas the secondary disturbance rejection controller is designed using internal model control approach. Routh-Hurwitz stability criterion is used to design the stabilizing controller. Moreover, the method of choosing primary and secondary closed-loop time constants is discussed. Simulation studies show that the proposed scheme results in enhanced regulatory performance which is very much essential in process industries.
传统的并联串级控制结构(PCCS)对于大时滞过程的闭环性能不理想。为了克服这一限制,本文提出了一种改进的基于PCCS的史密斯延迟补偿器。研究了具有死时间的稳定过程、积分过程和不稳定过程。所提出的PCCS由二次干扰抑制控制器、稳定控制器、设定值跟踪控制器、设定值滤波器和预测干扰的滞后滤波器组成。主设定值滤波器和设定值跟踪控制器的整定采用直接综合法,二次抗扰控制器采用内模控制法设计。采用roth - hurwitz稳定性判据设计稳定控制器。讨论了主、次闭环时间常数的选择方法。仿真研究表明,该方案提高了流程工业的监管绩效,这是非常必要的。
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引用次数: 0
ZigBee and Power Line Communications interconnectivity applied to fuzzy logic controlled automated lighting system ZigBee与电力线通信互连在模糊逻辑控制自动化照明系统中的应用
Jessie R. Balbin, Dionis A. Padilla, F. Caluyo, Carlos C. Hortinela, F. Cruz, Janette C. Fausto, Ramon G. Garcia, Ernesto M. Vergara, G. P. S. Baluyot, Clint Yves B. de Luna, John Christopher R. Orio
The ongoing trend in technology made home appliances and electronic devices connect to the Internet. However, an issue on energy efficiency is still a big problem to different countries although these technologies were used. Recently, the European Commission introduced the use of Power Line Communications (PLC) in which data is being transmitted through power lines as a preparation for transition from the Electric Grid to a new concept Smart Grid. PLC being a new wired protocol is still under development to communicate with other protocols including wireless protocol for seamless connection. The study focuses on interconnecting ZigBee wireless protocol to the said wired protocol by developing a gateway to convert their protocols into one common protocol. A method used in converting protocols includes varying the PLC's Programmable System on Chip (PSoC) into a computer architecture which enables Universal Asynchronous Receiver/Transmitted (UART) communication to successfully interconnect with ZigBee. The said interconnection is applied on a fuzzy logic controlled light system in which transmission test and power consumption was evaluated. The results of the analysis were presented to which they can be used as a guide for interconnecting other protocols with PLC.
不断发展的技术趋势使家用电器和电子设备连接到互联网。然而,尽管这些技术得到了应用,能源效率问题对不同的国家来说仍然是一个大问题。最近,欧盟委员会引入了电力线通信(PLC)的使用,其中数据通过电力线传输,作为从电网过渡到新概念智能电网的准备。PLC作为一种新的有线协议,与其他协议(包括无线协议)进行无缝连接的通信仍在发展中。该研究的重点是通过开发网关将ZigBee无线协议转换为一个通用协议,将其与上述有线协议互连。用于转换协议的方法包括将PLC的可编程片上系统(PSoC)转换为计算机架构,使通用异步接收/传输(UART)通信能够成功地与ZigBee互连。将所述互连应用于模糊逻辑控制的照明系统,并对其传输测试和功耗进行了评估。给出了分析结果,它们可以作为与PLC互连其他协议的指南。
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引用次数: 6
Automatic extraction of multiword expression candidates for Indonesian language 印尼语多词候选表达式的自动提取
D. Gunawan, A. Amalia, Indra Charisma
The utilization of dictionary-based multiword expressions (MWEs) has limitation regarding the availability of the word combination, because there are many possible multiword expressions that can be extracted from a text. This research is a preliminary study to extract multiword expressions from a text for Indonesian language. The aim of this study is determining the best method to extract multiword expression candidates for Indonesian language. This research proposed a method to extract multiword expression candidates from texts in a corpus. The text is tokenized and then filtered with stop words to remove unnecessary words. The result of these steps is multiword expression candidates that are still mixed with common and uncommon multiword expressions. To filter uncommon multiword expressions, they are ranked with the other multiword expressions from the other texts within the same corpus by using TF-IDF algorithm. This research evaluates three options for extracting multiword expression candidates. The option which utilizes combination of special characters and stop words to determine word combination is promising because it excels in combining word rate, has more appropriate multiword expression candidates, while it spends almost the same amount of memory usage compared to the others.
基于字典的多词表达式(MWEs)的使用在单词组合的可用性方面受到限制,因为可以从文本中提取许多可能的多词表达式。本研究是对印尼语文本中多词表达提取的初步研究。本研究的目的是确定提取印尼语多词候选表达的最佳方法。本研究提出了一种从语料库文本中提取多词候选表达的方法。文本被标记化,然后用停止词过滤以删除不必要的词。这些步骤的结果是多词候选表达式仍然混合着常见和不常见的多词表达式。为了过滤不常见的多词表达式,使用TF-IDF算法将它们与同一语料库中其他文本中的其他多词表达式进行排序。本研究评估了提取多词候选表达式的三种选择。使用特殊字符和停止词的组合来确定单词组合的选项是有前途的,因为它在组合单词率方面表现出色,有更合适的多单词表达候选者,而与其他选项相比,它花费的内存使用量几乎相同。
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引用次数: 10
Optimization of hybrid electric vehicle control for efficient performance at critical energy levels 混合动力汽车在关键能量水平下的高效性能控制优化
Mohammed Hayyan Alsibai, Maxwell Sayong, Li Woon Koay, S. M. Atnaw, N. N. N. Hamran
This paper proposes an optimization algorithm to regulate energy consumption and powertrain control of a hybrid electric vehicle (HEV). The algorithm is applied on a prototype vehicle manufactured by adding an electric motor to an all-terrain vehicle (ATV). The control system is designed using an embedded micro-controller unit (MCU). The main targets in this study are to improve the electric energy consumption efficiency and to reduce the ICE usage to minimum. The MCU controls the automatic switching between the electric motor and the internal combustion engine of the ATV. Furthermore, the system gives guidance for driver to use the limited resource efficiently at critical energy level. It restricts the driver performance using pulse width modulation (PWM). PWM duty cycle is adjusted to get optimum performance in term of maximizing the travel distance. Various driving scenarios are analyzed in this study. Factors such travel speed, energy level, stop-and-go frequency have been taken into consideration. The experiments showed significant improvement.
提出了一种用于混合动力汽车能耗调节和动力系统控制的优化算法。将该算法应用于在全地形车(ATV)上加装电动机制造的原型车。控制系统采用嵌入式微控制器设计。本研究的主要目标是提高电能消耗效率,并将ICE的使用降至最低。单片机控制亚视电机与内燃机的自动切换。此外,该系统还指导驾驶员在临界能量水平下有效利用有限的资源。它使用脉冲宽度调制(PWM)来限制驱动器的性能。调整PWM占空比,使其在最大行程距离方面获得最佳性能。本研究分析了不同的驾驶场景。考虑了行驶速度、能量水平、走走停停频率等因素。实验显示出明显的改善。
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引用次数: 0
Calculation and allocation of load losses in distribution system using load research data and load factor method 利用负荷研究数据和负荷因子法计算和分配配电网的负荷损失
S. Nuchprayoon
This work employs load research data and load factor method to calculate load losses in distribution system. The datasets during 2008–2012 are obtained from The Provincial Electricity Authority of Thailand. It is found that the loss factor is proportional to the load factor. But, at a given load factor, the loss constant coefficient may vary depending on daily load pattern. Thus, the load losses vary significantly with location and load class. It is proposed to allocate load losses for each service area and each tariff schedule based on either peak load or energy consumption.
本文采用负荷研究数据和负荷因子法计算配电系统的负荷损耗。2008-2012年的数据集来自泰国省电力局。结果表明,损耗因子与负载因子成正比。但是,在给定的负荷系数下,损耗常数系数可能随日负荷模式而变化。因此,负载损失随位置和负载类别的不同而显著变化。提出了基于峰值负荷或能耗来分配各服务区域的负荷损失和每个电价计划的方案。
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引用次数: 6
Preliminary study of palm oil biomass cement based microwave absorber 棕榈油生物质水泥基微波吸收剂的初步研究
Nadrah Nur Kharber, H. Abdullah, A. R. Razali, D. S. A. Damit, M. Z. Endut, M. Taib, Norhayati Mohamad Noor, Linda Mohd Kasim
In order to deal with more and more serious problem of microwave radiation pollution, palm oil biomass cement based microwave absorber is needed in order to prevent the buildings from the microwave radiation coming from telecommunication towers. This paper describes the capability of palm oil biomass waste from palm oil fuel ash (POFA) as an absorbing material in cement based microwave absorber that will affects absorption performance. The simulation using CST Microwave Studio Suite used to predict the design of palm oil biomass cement based microwave absorber performance. The absorption performance for palm oil biomass cement based microwave absorber will be investigated using free space arch reflectivity measurement method at frequency range 8 to 12 GHz. The study includes the comparison on absorption performance of palm oil biomass cement based microwave absorber with commercial flat microwave absorber and commercial concrete brick. This study showed that the replacement of 20% POFA has a good potential to absorb the microwave signal.
为了应对日益严重的微波辐射污染问题,需要采用棕榈油生物质水泥基微波吸收剂来防止建筑物受到来自电信塔的微波辐射。本文介绍了棕榈油燃料灰(POFA)产生的棕榈油生物质废弃物作为水泥基微波吸收剂吸收材料的性能,这将影响其吸收性能。利用CST Microwave Studio Suite进行模拟,用于预测设计棕榈油生物质水泥基微波吸收剂的性能。采用自由空间弓反射率测量方法,在8 ~ 12 GHz频率范围内研究棕榈油生物质水泥基微波吸收体的吸收性能。研究了棕榈油生物质水泥基微波吸收剂与商用平板微波吸收剂和商用混凝土砖的吸收性能比较。研究表明,替换20%的POFA具有良好的吸收微波信号的潜力。
{"title":"Preliminary study of palm oil biomass cement based microwave absorber","authors":"Nadrah Nur Kharber, H. Abdullah, A. R. Razali, D. S. A. Damit, M. Z. Endut, M. Taib, Norhayati Mohamad Noor, Linda Mohd Kasim","doi":"10.1109/ICCSCE.2016.7893638","DOIUrl":"https://doi.org/10.1109/ICCSCE.2016.7893638","url":null,"abstract":"In order to deal with more and more serious problem of microwave radiation pollution, palm oil biomass cement based microwave absorber is needed in order to prevent the buildings from the microwave radiation coming from telecommunication towers. This paper describes the capability of palm oil biomass waste from palm oil fuel ash (POFA) as an absorbing material in cement based microwave absorber that will affects absorption performance. The simulation using CST Microwave Studio Suite used to predict the design of palm oil biomass cement based microwave absorber performance. The absorption performance for palm oil biomass cement based microwave absorber will be investigated using free space arch reflectivity measurement method at frequency range 8 to 12 GHz. The study includes the comparison on absorption performance of palm oil biomass cement based microwave absorber with commercial flat microwave absorber and commercial concrete brick. This study showed that the replacement of 20% POFA has a good potential to absorb the microwave signal.","PeriodicalId":6540,"journal":{"name":"2016 6th IEEE International Conference on Control System, Computing and Engineering (ICCSCE)","volume":"19 1","pages":"557-562"},"PeriodicalIF":0.0,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80827447","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}
引用次数: 1
期刊
2016 6th IEEE International Conference on Control System, Computing and Engineering (ICCSCE)
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