Pub Date : 2015-12-28DOI: 10.1109/ICCAS.2015.7364899
Phuong Dam Thanh, Cát Pgs.Tskh. Phạm Thượng
Chaos and its drive-response synchronization for a fractional-order cellular neural networks (CNN) are studied. It is found that chaos exists in the fractional-order system with six-cell. The phase synchronisation of drive and response chaotic trajectories is investigated after that. These works based on Lyapunov exponents (LE), Lyapunov stability theory and numerical solving fractional-order system in Matlab environment.
{"title":"Chaos in the fractional order Cellular Neural Network and its sychronization","authors":"Phuong Dam Thanh, Cát Pgs.Tskh. Phạm Thượng","doi":"10.1109/ICCAS.2015.7364899","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364899","url":null,"abstract":"Chaos and its drive-response synchronization for a fractional-order cellular neural networks (CNN) are studied. It is found that chaos exists in the fractional-order system with six-cell. The phase synchronisation of drive and response chaotic trajectories is investigated after that. These works based on Lyapunov exponents (LE), Lyapunov stability theory and numerical solving fractional-order system in Matlab environment.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"32 1","pages":"161-166"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74726259","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364816
Kiho Kim, Do-Kyung Ahn
A pyroprocessing technology is being developed at the Korea Atomic Energy Research Institute. This technology development is conducted in a completely sealed argon cell where, as the cell is active, human operators' access to the in-cell is not possible owing to the nature of the toxicity of argon gas. Relevant processing equipment installed inside the cell should be operated and maintained in a fully remote manner by using remote handling systems. This paper describes the procedures of evaluating the processing equipment from the remote operation and maintenance viewpoints from the design stage to the fabrication using evaluation systems such as a simulator and an evaluation mock-up. The remote operability and maintainability of the design models of the processing equipment were evaluated in a simulator. The fabricated processing equipment was tested in an evaluation mock-up before being installed in the argon cell. The evaluation results conducted on the 3D models of electro-refining processing equipment in a simulator and the fabricated electrolytic reduction processing equipment in an evaluation mock-up are also demonstrated.
{"title":"Evaluation of remote operability and maintainability of pyroprocessing equipment","authors":"Kiho Kim, Do-Kyung Ahn","doi":"10.1109/ICCAS.2015.7364816","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364816","url":null,"abstract":"A pyroprocessing technology is being developed at the Korea Atomic Energy Research Institute. This technology development is conducted in a completely sealed argon cell where, as the cell is active, human operators' access to the in-cell is not possible owing to the nature of the toxicity of argon gas. Relevant processing equipment installed inside the cell should be operated and maintained in a fully remote manner by using remote handling systems. This paper describes the procedures of evaluating the processing equipment from the remote operation and maintenance viewpoints from the design stage to the fabrication using evaluation systems such as a simulator and an evaluation mock-up. The remote operability and maintainability of the design models of the processing equipment were evaluated in a simulator. The fabricated processing equipment was tested in an evaluation mock-up before being installed in the argon cell. The evaluation results conducted on the 3D models of electro-refining processing equipment in a simulator and the fabricated electrolytic reduction processing equipment in an evaluation mock-up are also demonstrated.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"25 1","pages":"1224-1227"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87084510","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364877
Sanghyob Lee, Myunghwan Eom, Dongkyoung Chwa
This paper proposes robust swing up and balancing control scheme of the acrobot system based on a disturbance observer. The partial feedback linearization and LQR control method are fast and effective way to control the nominal acrobot system. However, these control method does not guarantee the robustness. Also, the limit cycle phenomenon which appears in the acrobot system around the desired unstable equilibrium point can be assumed a sinusoidal signal. Therefore, disturbance observer for the sinusoidal disturbance is applied to develop the compensation scheme which minimizes the effect of the disturbance. The proposed control strategy was verified through the simulation results.
{"title":"Robust swing up and balancing control of the acrobot based on a disturbance observer","authors":"Sanghyob Lee, Myunghwan Eom, Dongkyoung Chwa","doi":"10.1109/ICCAS.2015.7364877","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364877","url":null,"abstract":"This paper proposes robust swing up and balancing control scheme of the acrobot system based on a disturbance observer. The partial feedback linearization and LQR control method are fast and effective way to control the nominal acrobot system. However, these control method does not guarantee the robustness. Also, the limit cycle phenomenon which appears in the acrobot system around the desired unstable equilibrium point can be assumed a sinusoidal signal. Therefore, disturbance observer for the sinusoidal disturbance is applied to develop the compensation scheme which minimizes the effect of the disturbance. The proposed control strategy was verified through the simulation results.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"106 1","pages":"48-53"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80740385","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364946
Y. Shi, T. Song, T. Um
This paper presents a Rauch-Tung-Striebel backward smoothing (RTSBS) methodology applied to the integrated particle filter (IPF), which is an algorithm for single target tracking in clutter by incorporating the probability of target existence into the traditional particle filter as a track quality measure for false track discrimination (FTD). This integrated particle-Rauch-Tung-Striebel backward smoothing (IP-RTSBS) algorithm absorbs the forward filtering backward smoothing approach to smooth the trajectory state, which is then applied to the RTS smoothing methodology to obtain the smoothing propagation to update the probability of target existence. As a result, both the probability of target existence and trajectory estimation are improved. The smoothing benefits is validated in the simulations.
{"title":"Integrated particle Rauch-Tung-Striebel backward smoothing for single target tracking in clutter","authors":"Y. Shi, T. Song, T. Um","doi":"10.1109/ICCAS.2015.7364946","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364946","url":null,"abstract":"This paper presents a Rauch-Tung-Striebel backward smoothing (RTSBS) methodology applied to the integrated particle filter (IPF), which is an algorithm for single target tracking in clutter by incorporating the probability of target existence into the traditional particle filter as a track quality measure for false track discrimination (FTD). This integrated particle-Rauch-Tung-Striebel backward smoothing (IP-RTSBS) algorithm absorbs the forward filtering backward smoothing approach to smooth the trajectory state, which is then applied to the RTS smoothing methodology to obtain the smoothing propagation to update the probability of target existence. As a result, both the probability of target existence and trajectory estimation are improved. The smoothing benefits is validated in the simulations.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"39 1","pages":"393-398"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75606179","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364689
First A. Ho-chan Kim, Second B. Hea-yong Yun, Seung-gyu Lim Third C. Author, I. Lee
Generally electrical circuits are fabricated as PCB(Printed Circuit Board) and mounted on a casing of the product. And it requires lots of other parts and some labor for assembly. Recently a molding technology is increasingly applied to embed simple circuits on a plastic casing. The technology is called as MID(Molded Interconnected Device). By using this technology PCB fabrication can be replaced by molding, and lot of the corresponding assembly process for the PCB can be eliminated when if the circuit is simple enough to molding. Furthermore as the improvement of conductive materials and printing technologies of electric circuit, simple circuits can be printed directly on the part casing. It reduces the complexity of the product design and production cost also. Therefore this paper introduces a new MID fabrication process by using direct 3D printing technology. And applied to an automotive part of cruise control switch. The methodology and design is shown.
{"title":"Fabrication of 3D printed circuit device by using direct write technology","authors":"First A. Ho-chan Kim, Second B. Hea-yong Yun, Seung-gyu Lim Third C. Author, I. Lee","doi":"10.1109/ICCAS.2015.7364689","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364689","url":null,"abstract":"Generally electrical circuits are fabricated as PCB(Printed Circuit Board) and mounted on a casing of the product. And it requires lots of other parts and some labor for assembly. Recently a molding technology is increasingly applied to embed simple circuits on a plastic casing. The technology is called as MID(Molded Interconnected Device). By using this technology PCB fabrication can be replaced by molding, and lot of the corresponding assembly process for the PCB can be eliminated when if the circuit is simple enough to molding. Furthermore as the improvement of conductive materials and printing technologies of electric circuit, simple circuits can be printed directly on the part casing. It reduces the complexity of the product design and production cost also. Therefore this paper introduces a new MID fabrication process by using direct 3D printing technology. And applied to an automotive part of cruise control switch. The methodology and design is shown.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"18 1","pages":"1964-1968"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72932643","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364641
T. Lee, Jae-Saek Oh, Jung-ha Kim
In this paper, we propose a monocular camera-based vehicle detection system for use in autonomous vehicles. In order to accurately and rapidly detect a vehicle on the real road, we have designed a vehicle detection system that follows two basic steps namely; Hypothesis Generation and Hypothesis Verification. In the hypothesis generation step, a candidate region of vehicles is set by using the shadow properties of the vehicle. In the hypothesis verification step, based on the candidate regions, we are able to distinguish between the vehicle and the non-vehicle. For the hypothesis verification, we use histograms of oriented gradients (HOG) feature and support vector machine (SVM) classifier. To fit the vehicle detection system, detailed settings of the HOG such as the cell, block and bin were selected.
{"title":"On-road vehicle detection based on appearance features for autonomous vehicles","authors":"T. Lee, Jae-Saek Oh, Jung-ha Kim","doi":"10.1109/ICCAS.2015.7364641","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364641","url":null,"abstract":"In this paper, we propose a monocular camera-based vehicle detection system for use in autonomous vehicles. In order to accurately and rapidly detect a vehicle on the real road, we have designed a vehicle detection system that follows two basic steps namely; Hypothesis Generation and Hypothesis Verification. In the hypothesis generation step, a candidate region of vehicles is set by using the shadow properties of the vehicle. In the hypothesis verification step, based on the candidate regions, we are able to distinguish between the vehicle and the non-vehicle. For the hypothesis verification, we use histograms of oriented gradients (HOG) feature and support vector machine (SVM) classifier. To fit the vehicle detection system, detailed settings of the HOG such as the cell, block and bin were selected.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"26 1","pages":"1720-1723"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73028919","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364837
Tae-Koo Kang, Huazhen Zhang, D. Pae, M. Lim
In this paper, we propose a fast binary based HMAX model (B-HMAX). In our method, we detect corner based interest points after the second layer C1 to extract fewer numbers of features with better distinctiveness, and use binary string to describe the image patches extracted around detected corners, then use hamming distance for matching between two patches in the third layer S2, which is much faster than Euclidean method. Experimental results demonstrate that our proposed B-HMAX model can significantly reduce the total process time, while keeping the accuracy performance as the same with or better than standard HMAX.
{"title":"A binary based HMAX model for object recognition","authors":"Tae-Koo Kang, Huazhen Zhang, D. Pae, M. Lim","doi":"10.1109/ICCAS.2015.7364837","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364837","url":null,"abstract":"In this paper, we propose a fast binary based HMAX model (B-HMAX). In our method, we detect corner based interest points after the second layer C1 to extract fewer numbers of features with better distinctiveness, and use binary string to describe the image patches extracted around detected corners, then use hamming distance for matching between two patches in the third layer S2, which is much faster than Euclidean method. Experimental results demonstrate that our proposed B-HMAX model can significantly reduce the total process time, while keeping the accuracy performance as the same with or better than standard HMAX.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"37 1","pages":"1297-1301"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73884883","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364885
Sangho Lee, JaeNeung Choi, Kyungmin Jeong, Taewon Seo
In this research, new mechanism robot platform by using energy conversion is suggested for large-obstacle overcoming, named FlipBot-II, which can be used for accidents such as Fukushima nuclear power plant. By changing the potential energy from a compliant pole deflection to the kinetic energy, the robot can jump to overcome an obstacle. The kinematic parameters are optimized to increase the leaping ability. The objective function is selected by the leaping height while the direction of jumping is constrained by the forward direction. The kinematic parameters of the compliant rectangular pole are selected by the design parameters: length, width, and thickness. Based on orthogonal array experimental design, DAFUL simulation is performed to get the maximum leaping height. As a result, the leaping height is increased by 6.2 % from the initial value while the initial value is also found near the optimum by trial and error method. Experimental verification is remained as a future work of this study.
{"title":"Kinematic parameter design of a novel compliant field robotic platform for large-obstacle overcoming","authors":"Sangho Lee, JaeNeung Choi, Kyungmin Jeong, Taewon Seo","doi":"10.1109/ICCAS.2015.7364885","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364885","url":null,"abstract":"In this research, new mechanism robot platform by using energy conversion is suggested for large-obstacle overcoming, named FlipBot-II, which can be used for accidents such as Fukushima nuclear power plant. By changing the potential energy from a compliant pole deflection to the kinetic energy, the robot can jump to overcome an obstacle. The kinematic parameters are optimized to increase the leaping ability. The objective function is selected by the leaping height while the direction of jumping is constrained by the forward direction. The kinematic parameters of the compliant rectangular pole are selected by the design parameters: length, width, and thickness. Based on orthogonal array experimental design, DAFUL simulation is performed to get the maximum leaping height. As a result, the leaping height is increased by 6.2 % from the initial value while the initial value is also found near the optimum by trial and error method. Experimental verification is remained as a future work of this study.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"4 1","pages":"92-94"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76155304","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364869
K. Kakita, N. Hara, K. Konishi
Floating offshore wind turbines have attracted interest in recent years. In floating offshore wind turbines, generator output fluctuation and platform motions are caused by the variation of wind and waves. In this paper, a PI control in collective blade pitch control is used to suppress the fluctuation and motions, and PI controller gains are tuned by the FRIT (Fictitious Reference Iterative Tuning) method. We show that the tuned PI controller improves the disturbance suppression performance.
{"title":"PI controller gain tuning with FRIT in collective blade pitch control of floating offshore wind turbines","authors":"K. Kakita, N. Hara, K. Konishi","doi":"10.1109/ICCAS.2015.7364869","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364869","url":null,"abstract":"Floating offshore wind turbines have attracted interest in recent years. In floating offshore wind turbines, generator output fluctuation and platform motions are caused by the variation of wind and waves. In this paper, a PI control in collective blade pitch control is used to suppress the fluctuation and motions, and PI controller gains are tuned by the FRIT (Fictitious Reference Iterative Tuning) method. We show that the tuned PI controller improves the disturbance suppression performance.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"21 1","pages":"7-11"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81748163","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7365004
Wonsuk Lee, Youngwoo Lee, Gyuhyun Park, Seongil Hong, Byunghun Choi, Y. Kang
This paper introduces a rescue robot to extract a casualty from hazardous environment and suggests a specific whole-body behavior strategy suitable for the rescue mission taking into account the characteristics of the robot configuration. Since the robot has redundant degrees of freedom, a task-priority based CLIK as differential inverse kinematics approach is adopted for real-time implementation and the redundant domain is utilized to reflect some restrictions in terms of safety and stability of the robot. When multiple tasks with different priority are handled simultaneously by the CLIK, a well-known Algorithmic Singularity problem could be taken place. For this issue, hence, this study applies a robust algorithm against the algorithmic singularity as well as the kinematic singularity and its applicability is verified through a real experiment using a small-scaled simulator instead of the developing rescue-robot.
{"title":"Whole-body motion control for a rescue robot using robust task-priority based CLIK","authors":"Wonsuk Lee, Youngwoo Lee, Gyuhyun Park, Seongil Hong, Byunghun Choi, Y. Kang","doi":"10.1109/ICCAS.2015.7365004","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7365004","url":null,"abstract":"This paper introduces a rescue robot to extract a casualty from hazardous environment and suggests a specific whole-body behavior strategy suitable for the rescue mission taking into account the characteristics of the robot configuration. Since the robot has redundant degrees of freedom, a task-priority based CLIK as differential inverse kinematics approach is adopted for real-time implementation and the redundant domain is utilized to reflect some restrictions in terms of safety and stability of the robot. When multiple tasks with different priority are handled simultaneously by the CLIK, a well-known Algorithmic Singularity problem could be taken place. For this issue, hence, this study applies a robust algorithm against the algorithmic singularity as well as the kinematic singularity and its applicability is verified through a real experiment using a small-scaled simulator instead of the developing rescue-robot.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"84 1","pages":"675-679"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81977393","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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