Pub Date : 2017-08-03DOI: 10.1109/ISIE.2017.8001395
Sho-Tsung Kao, Yi Wang, Ming-Tzu Ho
This paper considers the design and implementation of a visual servo system for catching a flying ball using an active stereo vision system, a static vision system, and an omni-directional wheeled mobile robot. These multi-camera vision systems are used to track the flying ball and guide the omni-directional mobile wheeled robot to catch it. The dynamic model of a flying ball and Kalman filter are used to mitigate measurement noise, estimate the position and velocity of the flying ball, and predict its future trajectory. The mathematical model of the omni-directional mobile robot is derived to facilitate the control design. Trajectory tracking control of the mobile robot is done by combining feedback linearization and proportional-integral-derivative (PID) control. Finally, the experimental setup is constructed, and control laws and image processing algorithms are implemented through digital signal processors. The effectiveness of the designed system is validated through experimental studies. The results show that the developed vision systems are able to track a flying ball and guide and navigate the robot to catch it.
{"title":"Ball catching with omni-directional wheeled mobile robot and active stereo vision","authors":"Sho-Tsung Kao, Yi Wang, Ming-Tzu Ho","doi":"10.1109/ISIE.2017.8001395","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001395","url":null,"abstract":"This paper considers the design and implementation of a visual servo system for catching a flying ball using an active stereo vision system, a static vision system, and an omni-directional wheeled mobile robot. These multi-camera vision systems are used to track the flying ball and guide the omni-directional mobile wheeled robot to catch it. The dynamic model of a flying ball and Kalman filter are used to mitigate measurement noise, estimate the position and velocity of the flying ball, and predict its future trajectory. The mathematical model of the omni-directional mobile robot is derived to facilitate the control design. Trajectory tracking control of the mobile robot is done by combining feedback linearization and proportional-integral-derivative (PID) control. Finally, the experimental setup is constructed, and control laws and image processing algorithms are implemented through digital signal processors. The effectiveness of the designed system is validated through experimental studies. The results show that the developed vision systems are able to track a flying ball and guide and navigate the robot to catch it.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"55 1","pages":"1073-1080"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74672538","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 : 2017-08-03DOI: 10.1109/ISIE.2017.8001438
T. Yamazaki, N. Hasebe, S. Shimizu
Wide Angle Fovea (WAF) sensor acquires images having both high resolution and wide angle simultaneously. Such an image is quite applicable for multi-purpose use of the single vision sensor. When the WAF sensor is equipped on a planetary exploring rover, it influences intuitively to the basic design and model of the rover which needs to be autonomous strongly. In this paper, the authors pay attention to difference between the saliency maps generated from the WAF image and the pinhole lens image. Thus, we compared and discussed the performance of our proposed object detection method between the WAF lens and the pinhole lens by taking into consideration characteristcs of the WAF image, i.e., non-uniform resolution throughout the entire field of view (FOV) and higher distortion in more peripheral FOV.
{"title":"Considerations about saliency map from Wide Angle Fovea image","authors":"T. Yamazaki, N. Hasebe, S. Shimizu","doi":"10.1109/ISIE.2017.8001438","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001438","url":null,"abstract":"Wide Angle Fovea (WAF) sensor acquires images having both high resolution and wide angle simultaneously. Such an image is quite applicable for multi-purpose use of the single vision sensor. When the WAF sensor is equipped on a planetary exploring rover, it influences intuitively to the basic design and model of the rover which needs to be autonomous strongly. In this paper, the authors pay attention to difference between the saliency maps generated from the WAF image and the pinhole lens image. Thus, we compared and discussed the performance of our proposed object detection method between the WAF lens and the pinhole lens by taking into consideration characteristcs of the WAF image, i.e., non-uniform resolution throughout the entire field of view (FOV) and higher distortion in more peripheral FOV.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"5 1","pages":"1330-1335"},"PeriodicalIF":0.0,"publicationDate":"2017-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91100589","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 : 2017-06-30DOI: 10.1109/ISIE.2017.8001456
A. Hopkins, N. McNeill, W. Drury, A. Atkins
An SMPS for hybrid electric vehicle and electric vehicle applications is presented. The use of SiC BJTs in the primary-side switching circuitry is investigated. Practical deployment aspects are addressed. Particular attention is given to the design of the BJT base driver stage and a bespoke turn-on switching-aid circuit. Mathematical design calculations are not presented, but the proposed circuitry is demonstrated in a 1-kW isolated-output DC-DC converter operating from 800 V and supplying 48 V at a switching frequency of 60 kHz. Full-load efficiency was evaluated at 93.3% using a calorimeter.
{"title":"Deploying SiC BJTs in an 800-V switched-mode power supply for hybrid & electric vehicles","authors":"A. Hopkins, N. McNeill, W. Drury, A. Atkins","doi":"10.1109/ISIE.2017.8001456","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001456","url":null,"abstract":"An SMPS for hybrid electric vehicle and electric vehicle applications is presented. The use of SiC BJTs in the primary-side switching circuitry is investigated. Practical deployment aspects are addressed. Particular attention is given to the design of the BJT base driver stage and a bespoke turn-on switching-aid circuit. Mathematical design calculations are not presented, but the proposed circuitry is demonstrated in a 1-kW isolated-output DC-DC converter operating from 800 V and supplying 48 V at a switching frequency of 60 kHz. Full-load efficiency was evaluated at 93.3% using a calorimeter.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"20 1","pages":"1431-1438"},"PeriodicalIF":0.0,"publicationDate":"2017-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76500786","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001222
Y. Guan, J. Vasquez, J. Guerrero
As the intelligent control and detection technology improving, more and more smart devices/sensors can be used to increase the living standard. In order to integrate the Internet of Things (IoT) with microgrid (MG), an enhanced hierarchical control strategy for IoT-based home scale MG is proposed in this paper. Physical smart devices/sensors and inverters are defined at the primary level. Electrical and environmental variables deviation restoration loops are adopted at the secondary level. Power flow management and optimization algorithms with different objectives are deployed at the tertiary level. In this sense, the IoT infrastructure can be smoothly integrated with the original MG hierarchical Control theory. The proposed structure will be implemented in an IoT MG laboratory in line with VICINITY project at Aalborg University, Denmark.
{"title":"An enhanced hierarchical control strategy for the Internet of Things-based home scale microgrid","authors":"Y. Guan, J. Vasquez, J. Guerrero","doi":"10.1109/ISIE.2017.8001222","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001222","url":null,"abstract":"As the intelligent control and detection technology improving, more and more smart devices/sensors can be used to increase the living standard. In order to integrate the Internet of Things (IoT) with microgrid (MG), an enhanced hierarchical control strategy for IoT-based home scale MG is proposed in this paper. Physical smart devices/sensors and inverters are defined at the primary level. Electrical and environmental variables deviation restoration loops are adopted at the secondary level. Power flow management and optimization algorithms with different objectives are deployed at the tertiary level. In this sense, the IoT infrastructure can be smoothly integrated with the original MG hierarchical Control theory. The proposed structure will be implemented in an IoT MG laboratory in line with VICINITY project at Aalborg University, Denmark.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"18 1","pages":"51-56"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75223424","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001559
Suvodip Chakraborty, A. Dasgupta, Punyashlok Dash, A. Routray
Internet of things (IoT) has captured a promising market in industrial electronics. Considering the scenario, we introduce a wearable wireless electrooculogram (EOG) recorder for IoT-based industrial applications. This device has advantages over existing EOG recorders concerning its ease of wearing, portability and usability. The recording software is an Android app which makes it useful for a common man as well as many researchers working on eye-tracking based IoT applications. The system consists of Ag plated Cu electrodes for capturing the bio-potential near the canthus and the forehead. The analog EOG signal is pre-amplified using a signal conditioning circuit, comprising of an instrumentation amplifier, a bandpass filter and a differential amplifier. An embedded Wi-Fi module is used for transmission of data. The system has been compared with standard EOG recorders, and the results show it has comparable SNR and sampling rates with the existing recorders.
{"title":"Development of a wireless wearable electrooculogram recorder for IoT based applications","authors":"Suvodip Chakraborty, A. Dasgupta, Punyashlok Dash, A. Routray","doi":"10.1109/ISIE.2017.8001559","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001559","url":null,"abstract":"Internet of things (IoT) has captured a promising market in industrial electronics. Considering the scenario, we introduce a wearable wireless electrooculogram (EOG) recorder for IoT-based industrial applications. This device has advantages over existing EOG recorders concerning its ease of wearing, portability and usability. The recording software is an Android app which makes it useful for a common man as well as many researchers working on eye-tracking based IoT applications. The system consists of Ag plated Cu electrodes for capturing the bio-potential near the canthus and the forehead. The analog EOG signal is pre-amplified using a signal conditioning circuit, comprising of an instrumentation amplifier, a bandpass filter and a differential amplifier. An embedded Wi-Fi module is used for transmission of data. The system has been compared with standard EOG recorders, and the results show it has comparable SNR and sampling rates with the existing recorders.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"38 1","pages":"1991-1995"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81704224","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001424
Irfan Ahmad, B. Srisuchinwong
A new simple two-transistor four-dimensional (4D) chaotic oscillator is proposed using two sub-circuits, i.e. a modified single-transistor Colpitts oscillator, and another singletransistor sub-circuit for the fourth dimension. The circuit is much simpler than two existing two-transistor 4D chaotic circuits, as it has only nine electronic components, and only eleven algebraic terms in the state equation. The latter includes only three terms of nonlinearity. The circuit offers the largest Lyapunov exponent of 0.3232, which is much higher than those of the two existing two-transistor 4D chaotic circuits. The Lyapunov dimension is also identified at 3.0807. Synchronization through active control is demonstrated as a practical example of possible applications to chaos-based secure communications.
{"title":"A simple two-transistor 4D chaotic oscillator and its synchronization via active control","authors":"Irfan Ahmad, B. Srisuchinwong","doi":"10.1109/ISIE.2017.8001424","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001424","url":null,"abstract":"A new simple two-transistor four-dimensional (4D) chaotic oscillator is proposed using two sub-circuits, i.e. a modified single-transistor Colpitts oscillator, and another singletransistor sub-circuit for the fourth dimension. The circuit is much simpler than two existing two-transistor 4D chaotic circuits, as it has only nine electronic components, and only eleven algebraic terms in the state equation. The latter includes only three terms of nonlinearity. The circuit offers the largest Lyapunov exponent of 0.3232, which is much higher than those of the two existing two-transistor 4D chaotic circuits. The Lyapunov dimension is also identified at 3.0807. Synchronization through active control is demonstrated as a practical example of possible applications to chaos-based secure communications.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"37 1","pages":"1249-1254"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82988039","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001586
Ahmed M. Fares, C. Klumpner, M. Sumner
The Performance of battery packs is highly affected by imbalances between the series connected cells that provide the required string voltage. A modular battery implementation based on cascaded converters can have advantages over traditional centralized battery systems with add-ons active/passive balancing techniques. This paper investigates the use of a modular battery integrated within a cascaded converter and how the choice of the converter topology for the module influences the benefits and limitations of the modular battery system performance. Simulation results have been obtained using detailed battery model to validate the analysis.
{"title":"Investigating the benefits and limitations of cascaded converter topologies used in modular battery systems","authors":"Ahmed M. Fares, C. Klumpner, M. Sumner","doi":"10.1109/ISIE.2017.8001586","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001586","url":null,"abstract":"The Performance of battery packs is highly affected by imbalances between the series connected cells that provide the required string voltage. A modular battery implementation based on cascaded converters can have advantages over traditional centralized battery systems with add-ons active/passive balancing techniques. This paper investigates the use of a modular battery integrated within a cascaded converter and how the choice of the converter topology for the module influences the benefits and limitations of the modular battery system performance. Simulation results have been obtained using detailed battery model to validate the analysis.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"2 1","pages":"2123-2130"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81387954","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001228
C. Su, Yu-Chi Pu, Hai-Ming Ching, Chao-Lin Kuo, Jheng-He Kuo
In this paper, an innovative transformer load monitoring system by utilizing smart meter data has been designed to determine the daily power profile of distribution transformers. A two-stage load estimator algorithm that combines customer load pattern from smart meters and state estimation (SE) theory is developed to provide the secondary output power of distribution transformers in the low voltage network at a sound accuracy with customer smart meter measurements. The estimated results that could reflect true transformer loading within 15 min intervals then are used for transformer load management. A data visualization based hanuman machine interface is also designed to allow operators to intuitively monitor the loading levels of distribution transformers. Test results of a practical distribution feeder with 12 transformers in Taipower are presented. The methodology proposed in this paper can effectively assist electric utilities for the evaluation of loading factors of distribution transformers to prevent the burn out of transformers caused by overloading problem. The operation efficiency of distribution systems can also be enhanced by loading balance of distribution transformers.
{"title":"Design of transformer load monitoring systems by utilizing smart meter data","authors":"C. Su, Yu-Chi Pu, Hai-Ming Ching, Chao-Lin Kuo, Jheng-He Kuo","doi":"10.1109/ISIE.2017.8001228","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001228","url":null,"abstract":"In this paper, an innovative transformer load monitoring system by utilizing smart meter data has been designed to determine the daily power profile of distribution transformers. A two-stage load estimator algorithm that combines customer load pattern from smart meters and state estimation (SE) theory is developed to provide the secondary output power of distribution transformers in the low voltage network at a sound accuracy with customer smart meter measurements. The estimated results that could reflect true transformer loading within 15 min intervals then are used for transformer load management. A data visualization based hanuman machine interface is also designed to allow operators to intuitively monitor the loading levels of distribution transformers. Test results of a practical distribution feeder with 12 transformers in Taipower are presented. The methodology proposed in this paper can effectively assist electric utilities for the evaluation of loading factors of distribution transformers to prevent the burn out of transformers caused by overloading problem. The operation efficiency of distribution systems can also be enhanced by loading balance of distribution transformers.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"78 1","pages":"88-92"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80661281","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001562
Kazushige Ashimori, H. Igarashi
At present, there are plenty of musical instruments such as a piano, guitar and drums around us. There are widely spread all over the world, however practice hard for a long time is needed perform them cleverly. The main methods presently used to practice them are listening to music, watching professional performances, reading music notes and so on. This paper, focus on the performance of the guitar and aims to skill assists using tactile information with haptic gloves. As a result, the fingers of the both hands were synchronized using the master — slave method haptic gloves. Then, outputs of both master and slave was agreed.
{"title":"Skill assist system for musical instruments by skilled players force feedback","authors":"Kazushige Ashimori, H. Igarashi","doi":"10.1109/ISIE.2017.8001562","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001562","url":null,"abstract":"At present, there are plenty of musical instruments such as a piano, guitar and drums around us. There are widely spread all over the world, however practice hard for a long time is needed perform them cleverly. The main methods presently used to practice them are listening to music, watching professional performances, reading music notes and so on. This paper, focus on the performance of the guitar and aims to skill assists using tactile information with haptic gloves. As a result, the fingers of the both hands were synchronized using the master — slave method haptic gloves. Then, outputs of both master and slave was agreed.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"5 1","pages":"2008-2013"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91093009","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 : 2017-06-19DOI: 10.1109/isie.2017.8001226
W. Issa, S. Sharkh, Rashid Albadwawi, M. Abusara, T. Mallick
Parallel inverters in AC microgrids can achieve accurate power sharing using droop control. However, different grid line impedances will result in different transient power and thus different energy being delivered or absorbed by the inverters during sudden load changes. This might lead the DC link voltage to rise beyond the trip limit causing the inverter to shut down, which reduces the reliability of the whole microgrid. This paper investigates the effect of the mismatch in line impedances on the stability of the DC link voltage during a sudden load changes and proposes a scheme to control the DC link voltage during disturbances. Simulation and experimental results are presented to verify the efficacy of the proposed controller.
{"title":"DC link voltage control during sudden load changes in AC microgrids","authors":"W. Issa, S. Sharkh, Rashid Albadwawi, M. Abusara, T. Mallick","doi":"10.1109/isie.2017.8001226","DOIUrl":"https://doi.org/10.1109/isie.2017.8001226","url":null,"abstract":"Parallel inverters in AC microgrids can achieve accurate power sharing using droop control. However, different grid line impedances will result in different transient power and thus different energy being delivered or absorbed by the inverters during sudden load changes. This might lead the DC link voltage to rise beyond the trip limit causing the inverter to shut down, which reduces the reliability of the whole microgrid. This paper investigates the effect of the mismatch in line impedances on the stability of the DC link voltage during a sudden load changes and proposes a scheme to control the DC link voltage during disturbances. Simulation and experimental results are presented to verify the efficacy of the proposed controller.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"7 1","pages":"76-81"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85281702","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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