Pub Date : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268343
Phuc Manh Nguyen, V. C. Nguyen, Son Ngoc Nguyen, Linh Dang, Ha Xuan Nguyen, V. D. Nguyen
Recently, traffic light detection and classification systems have been studied and developed to build an autonomous car by many research institutes, universities, and companies. However, the results of existing traffic light detection systems are still not stable under day and night conditions. It is difficult to detect the location of traffic light due to their small size. Moreover, traffic lights’ shapes are also similar to advertisement lights in a city road. Therefore, this paper proposed a new approach to improve the performance of existing traffic light detection systems by using the benefits of hand-crafted features and deep learning techniques. Experimental results show that the proposed system obtained the detection rate of 80% under night conditions, while the color-based density method only got the detection rate of 50.43% under night conditions.
{"title":"Robust Traffic Light Detection and Classification Under Day and Night Conditions","authors":"Phuc Manh Nguyen, V. C. Nguyen, Son Ngoc Nguyen, Linh Dang, Ha Xuan Nguyen, V. D. Nguyen","doi":"10.23919/ICCAS50221.2020.9268343","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268343","url":null,"abstract":"Recently, traffic light detection and classification systems have been studied and developed to build an autonomous car by many research institutes, universities, and companies. However, the results of existing traffic light detection systems are still not stable under day and night conditions. It is difficult to detect the location of traffic light due to their small size. Moreover, traffic lights’ shapes are also similar to advertisement lights in a city road. Therefore, this paper proposed a new approach to improve the performance of existing traffic light detection systems by using the benefits of hand-crafted features and deep learning techniques. Experimental results show that the proposed system obtained the detection rate of 80% under night conditions, while the color-based density method only got the detection rate of 50.43% under night conditions.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"17 1","pages":"565-570"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73595611","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268391
Jae-Hyeon Park, Cho-Yong Jun, Jin-yeong Jeong, D. Chang
Quadrotor, as an unmanned aerial vehicle, has significant potential among military and commercial applications and is utilized in various fields. As the quadrotor usage is more popularized, fault diagnosis becomes important for safe quadrotor flight. In this work, we use data-driven approaches which generally do not require a complex model of quadrotor to detect and to isolate an actuator fault in a quadrotor. We made a circuit that artificially blocks a motor signal to stop the propeller motor and collected real-time sensor measurements in a normal condition and each actuator’s fault condition. Then, we applied various statistical analysis techniques on the collected data to train the diagnosis model and used this model on the new data to test and to compare the performance of the techniques. Those techniques are linear discriminant analysis, principal component analysis, multi-principal component analysis, fisher discriminant analysis, partial least squares regression, and canonical variate analysis. Among the techniques, partial least squares regression shows the best performance for detecting and isolating an actuator fault of a quadrotor.
{"title":"Real-time quadrotor actuator fault detection and isolation using multivariate statistical analysis techniques with sensor measurements","authors":"Jae-Hyeon Park, Cho-Yong Jun, Jin-yeong Jeong, D. Chang","doi":"10.23919/ICCAS50221.2020.9268391","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268391","url":null,"abstract":"Quadrotor, as an unmanned aerial vehicle, has significant potential among military and commercial applications and is utilized in various fields. As the quadrotor usage is more popularized, fault diagnosis becomes important for safe quadrotor flight. In this work, we use data-driven approaches which generally do not require a complex model of quadrotor to detect and to isolate an actuator fault in a quadrotor. We made a circuit that artificially blocks a motor signal to stop the propeller motor and collected real-time sensor measurements in a normal condition and each actuator’s fault condition. Then, we applied various statistical analysis techniques on the collected data to train the diagnosis model and used this model on the new data to test and to compare the performance of the techniques. Those techniques are linear discriminant analysis, principal component analysis, multi-principal component analysis, fisher discriminant analysis, partial least squares regression, and canonical variate analysis. Among the techniques, partial least squares regression shows the best performance for detecting and isolating an actuator fault of a quadrotor.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"76 1","pages":"33-37"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72687257","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268360
Daiki Morikawa, Takuma Nakatani, T. Hirogaki, E. Aoyama
Nowadays, automated guided vehicle (AGV) systems are frequently employed in automated warehouses. Recently, a problem has emerged regarding the movement of AGVs under uncertain transportation conditions necessitated by the novel logistics required for connected industries and societies. In the present study, we attempt to develop a simultaneous planning method to determine the optimal number and dwell point of AGVs in an AGV transfer system, under uncertain transportation conditions, based on a genetic algorithm. We propose an algorithm that can determine the optimal number of AGVs as well as the dwell points for idle AGVs such that the mean response time is minimized and the amount of the work done by the AGVs is maximized, even when the transportation condition is uncertain. Moreover, we investigate the effectiveness of the proposed algorithm using numerical calculations and simulation experiments. The results show that the proposed algorithm performs better than previously used algorithms, in terms of the average matching time of products.
{"title":"Simultaneous planning method for number and allocation of AGVs in an AGV control system under uncertain transportation conditions","authors":"Daiki Morikawa, Takuma Nakatani, T. Hirogaki, E. Aoyama","doi":"10.23919/ICCAS50221.2020.9268360","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268360","url":null,"abstract":"Nowadays, automated guided vehicle (AGV) systems are frequently employed in automated warehouses. Recently, a problem has emerged regarding the movement of AGVs under uncertain transportation conditions necessitated by the novel logistics required for connected industries and societies. In the present study, we attempt to develop a simultaneous planning method to determine the optimal number and dwell point of AGVs in an AGV transfer system, under uncertain transportation conditions, based on a genetic algorithm. We propose an algorithm that can determine the optimal number of AGVs as well as the dwell points for idle AGVs such that the mean response time is minimized and the amount of the work done by the AGVs is maximized, even when the transportation condition is uncertain. Moreover, we investigate the effectiveness of the proposed algorithm using numerical calculations and simulation experiments. The results show that the proposed algorithm performs better than previously used algorithms, in terms of the average matching time of products.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"18 1","pages":"41-46"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73953244","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268224
Yongsik Jin, Crino Shin, W. Kwon, Kyuhyung Kim, J. Yun
In this paper, we propose a corrupted data filtering method for MIMIC III dataset based on the convolutional autoencoder. The convolutional autoencoder is employed to restore the corrupted data, and using the restoration error, the degree of data contamination is judged. Based on this function, a corrupted data filtering algorithm is constructed, and arterial blood pressure (ABP) and photoplethysmogram (PPG) signals are filtered. The experimental results show the effectiveness of the proposed method.
{"title":"Data filtering for corrupted MIMIC III dataset with deep learning","authors":"Yongsik Jin, Crino Shin, W. Kwon, Kyuhyung Kim, J. Yun","doi":"10.23919/ICCAS50221.2020.9268224","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268224","url":null,"abstract":"In this paper, we propose a corrupted data filtering method for MIMIC III dataset based on the convolutional autoencoder. The convolutional autoencoder is employed to restore the corrupted data, and using the restoration error, the degree of data contamination is judged. Based on this function, a corrupted data filtering algorithm is constructed, and arterial blood pressure (ABP) and photoplethysmogram (PPG) signals are filtered. The experimental results show the effectiveness of the proposed method.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"49 1","pages":"947-949"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83644853","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268242
J. Nemcik, F. Krupa, Z. Slanina, S. Ozana, J. Koziorek, Daniel Polak
The long-term storage and disposal of radioactive waste is one of the major problems in nuclear energy. Deep geological disposal is widely agreed to be the best solution for storage of the radioactive waste. It is deposited in these repositories by conventional vehicles with human operator, which is exposed to radiation. For this reason, it is appropriate to develop new vehicles for the transport and storage of spent radioactive fuel that operates autonomously without the presence of an operator. Rail vehicles are most fitting type of transportation of the nuclear waste due high load capacity. The autonomous operation of this vehicles requires high demands on the control system, control strategy and safety. This article presents the design and implementation of distributed control system of rail vehicle for transport and storage of the waste. It includes the control system and strategy for coupling/decoupling and movement of connected vehicles. The control system is implemented in a programmable logic controller, which is widely used in industrial application.
{"title":"Autonomous distributed control system strategy of rail vehicle for nuclear waste disposal","authors":"J. Nemcik, F. Krupa, Z. Slanina, S. Ozana, J. Koziorek, Daniel Polak","doi":"10.23919/ICCAS50221.2020.9268242","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268242","url":null,"abstract":"The long-term storage and disposal of radioactive waste is one of the major problems in nuclear energy. Deep geological disposal is widely agreed to be the best solution for storage of the radioactive waste. It is deposited in these repositories by conventional vehicles with human operator, which is exposed to radiation. For this reason, it is appropriate to develop new vehicles for the transport and storage of spent radioactive fuel that operates autonomously without the presence of an operator. Rail vehicles are most fitting type of transportation of the nuclear waste due high load capacity. The autonomous operation of this vehicles requires high demands on the control system, control strategy and safety. This article presents the design and implementation of distributed control system of rail vehicle for transport and storage of the waste. It includes the control system and strategy for coupling/decoupling and movement of connected vehicles. The control system is implemented in a programmable logic controller, which is widely used in industrial application.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"382 1","pages":"906-911"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83138483","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268248
Taesu Park, Minsu Kim, Minseon Gwak, Taesung Cho, P. Park
This paper proposes an algorithm that can effectively remove noise when Gaussian noise is introduced into a reference microphone and impulsive noise is introduced into a target point in an active-noise-cancellation (ANC) system. We applied the normalized-least-mean-square (NLMS) algorithm, the most used in the adaptive filter algorithm, to the ANC environment. In the ANC environment, a compensation vector was calculated to compensate for the bias that occurs when Gaussian noise flows into the NLMS algorithm. In addition, a step-size scaler was proposed to prevent false update of the adaptive filter when impulsive noise occurred at the target point. Simulation results show that the proposed algorithm has better performance in the ANC environment than other algorithms.
{"title":"Active noise control algorithm robust to noisy inputs and measurement impulsive noises","authors":"Taesu Park, Minsu Kim, Minseon Gwak, Taesung Cho, P. Park","doi":"10.23919/ICCAS50221.2020.9268248","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268248","url":null,"abstract":"This paper proposes an algorithm that can effectively remove noise when Gaussian noise is introduced into a reference microphone and impulsive noise is introduced into a target point in an active-noise-cancellation (ANC) system. We applied the normalized-least-mean-square (NLMS) algorithm, the most used in the adaptive filter algorithm, to the ANC environment. In the ANC environment, a compensation vector was calculated to compensate for the bias that occurs when Gaussian noise flows into the NLMS algorithm. In addition, a step-size scaler was proposed to prevent false update of the adaptive filter when impulsive noise occurred at the target point. Simulation results show that the proposed algorithm has better performance in the ANC environment than other algorithms.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"3 1","pages":"622-626"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79757962","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268318
Hosu Lee, Amre Eizad, Geonhyup Lee, Yeongmi Kim, Jungwon Yoon
For stroke survivors, the ultimate goal of rehabilitation training for community life is to increase the dynamic stability, which can be helped by increasing the walking speed or symmetry. Several researches have reported the use of haptic stimulation to increase the dynamic stability of gait. Haptic systems have many advantages such as, portability and low-cost, that make them extremely suited for rehabilitation applications. However, until now the use of these systems has been focused mainly on the lower limbs. Gait is a harmonic motion that includes both the upper and lower limbs. A study with people suffering from Parkinson’s Disease showed that it is possible to bring about spatiotemporal gait changes using an arm swing cueing device. Therefore, in this paper, we present the development and verification of a haptic bracelet designed to deliver arm swing based haptic feedback for the rehabilitation of stroke survivors. The presented system is portable, composed of inexpensive sensors and it can measure the arm swing angle correctly regardless of the location or direction of the sensor. The measurements made using the developed system were compared to those made using a standard motion tracking system and only an acceptable amount of error was found. The developed system may be used to characterize the effect of upper extremity motion modification during gait. It may also be used as a system for improving gait speed and symmetry of stroke patients using haptic vibration feedback.
{"title":"Development of Haptic Bracelets Based Arm Swing Feedback System for Stroke Survivors","authors":"Hosu Lee, Amre Eizad, Geonhyup Lee, Yeongmi Kim, Jungwon Yoon","doi":"10.23919/ICCAS50221.2020.9268318","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268318","url":null,"abstract":"For stroke survivors, the ultimate goal of rehabilitation training for community life is to increase the dynamic stability, which can be helped by increasing the walking speed or symmetry. Several researches have reported the use of haptic stimulation to increase the dynamic stability of gait. Haptic systems have many advantages such as, portability and low-cost, that make them extremely suited for rehabilitation applications. However, until now the use of these systems has been focused mainly on the lower limbs. Gait is a harmonic motion that includes both the upper and lower limbs. A study with people suffering from Parkinson’s Disease showed that it is possible to bring about spatiotemporal gait changes using an arm swing cueing device. Therefore, in this paper, we present the development and verification of a haptic bracelet designed to deliver arm swing based haptic feedback for the rehabilitation of stroke survivors. The presented system is portable, composed of inexpensive sensors and it can measure the arm swing angle correctly regardless of the location or direction of the sensor. The measurements made using the developed system were compared to those made using a standard motion tracking system and only an acceptable amount of error was found. The developed system may be used to characterize the effect of upper extremity motion modification during gait. It may also be used as a system for improving gait speed and symmetry of stroke patients using haptic vibration feedback.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"79 3 1","pages":"1022-1025"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78144448","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268282
Youngjun Jeon, S. Um, Jae-Myung Yoo, Minseok Seo, Eugene Jeong, W. Seol, Daewon Kang, Hancheul Song, Kyung-Soo Kim, Soohyun Kim
Pollution from discarded plastic has become a serious environmental problem. The Great Pacific garbage patch consisting of abandoned plastics is killing marine life. In addition, micro-plastics decomposed by solar UV radiation and waves can accumulate in the human body. Recycling plastic is accordingly a critical element of waste management. As part of the solution to this problem, factory automation in recycling plants to handle more waste faster is essential. The amount of reproduced raw plastics is proportional to the inlet speed of the plastics waste stream into a recycling process line. Furthermore, the quality of recycled products with reproduced raw plastics depends on the sorting purity through the line. Thus, an automated system should be capable of real-time classification of the plastics category and rapid manipulation for removing selected plastics. We propose a real-time sorting system for mixed color plastics by applying a machine learning algorithm and a parallel manipulator with a vacuum suction pad. The learning data and picking test samples were collected from a municipal waste disposal site at RM corporation factory. This work shows the feasibility of real-time plastics recycling automation and a future development direction.
{"title":"Development of real-time automatic sorting system for color PET recycling process","authors":"Youngjun Jeon, S. Um, Jae-Myung Yoo, Minseok Seo, Eugene Jeong, W. Seol, Daewon Kang, Hancheul Song, Kyung-Soo Kim, Soohyun Kim","doi":"10.23919/ICCAS50221.2020.9268282","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268282","url":null,"abstract":"Pollution from discarded plastic has become a serious environmental problem. The Great Pacific garbage patch consisting of abandoned plastics is killing marine life. In addition, micro-plastics decomposed by solar UV radiation and waves can accumulate in the human body. Recycling plastic is accordingly a critical element of waste management. As part of the solution to this problem, factory automation in recycling plants to handle more waste faster is essential. The amount of reproduced raw plastics is proportional to the inlet speed of the plastics waste stream into a recycling process line. Furthermore, the quality of recycled products with reproduced raw plastics depends on the sorting purity through the line. Thus, an automated system should be capable of real-time classification of the plastics category and rapid manipulation for removing selected plastics. We propose a real-time sorting system for mixed color plastics by applying a machine learning algorithm and a parallel manipulator with a vacuum suction pad. The learning data and picking test samples were collected from a municipal waste disposal site at RM corporation factory. This work shows the feasibility of real-time plastics recycling automation and a future development direction.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"10 1","pages":"995-998"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91285208","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268196
Tae-Wook Kim, Won-Seok Jang, Jaesung Jang, Jong-Chan Kim
Truck platooning is a driving method with multiple trucks maintaining a very close gap between them, e.g., under 10 m at 90 km/h. The close longitudinal distance imposes a challenge for its perception system since a major portion of the front direction is occluded by the trailer in front. With this challenge, we present a radar and camera-based perception system for truck platooning. First, to improve the lane detection accuracy even with the serious occlusion problem, the distance to the front vehicle obtained by a radar is exploited to set a precise region of interest (ROI). Second, a state-of-the-art camera-based object detector is employed with our vehicle tracking mechanism. Third, the vehicle tracking information from the radar is fused to provide more reliable longitudinal information which is not available in the camera. Above methods are actually implemented in an embedded computer and evaluated in a highway driving scenario with prototype trucks.
{"title":"Camera and Radar-based Perception System for Truck Platooning","authors":"Tae-Wook Kim, Won-Seok Jang, Jaesung Jang, Jong-Chan Kim","doi":"10.23919/ICCAS50221.2020.9268196","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268196","url":null,"abstract":"Truck platooning is a driving method with multiple trucks maintaining a very close gap between them, e.g., under 10 m at 90 km/h. The close longitudinal distance imposes a challenge for its perception system since a major portion of the front direction is occluded by the trailer in front. With this challenge, we present a radar and camera-based perception system for truck platooning. First, to improve the lane detection accuracy even with the serious occlusion problem, the distance to the front vehicle obtained by a radar is exploited to set a precise region of interest (ROI). Second, a state-of-the-art camera-based object detector is employed with our vehicle tracking mechanism. Third, the vehicle tracking information from the radar is fused to provide more reliable longitudinal information which is not available in the camera. Above methods are actually implemented in an embedded computer and evaluated in a highway driving scenario with prototype trucks.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"23 1","pages":"950-955"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89941419","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268357
Samyeul Noh, Junhee Park
This paper proposes a system design for automation in multi-agent-based manufacturing systems to conduct a given complex task automatically by controlling multiple robotic manipulators in a systematic manner. To this end, the proposed system is designed with three-module configurations: environmental perception, task planning, and motion planning. The environmental perception module utilizes a vision sensor to recognize all objects placed on the workspace and extract their unique ID, size, and pose. The task planning module divides a given task into primitive skill levels and distributes each primitive skill to the associated robotic manipulator with the relevant object information in a systematic manner for robotic manipulators not to collide with each other. The motion planning module determines the motion of a robotic arm and a robotic hand by solving inverse kinematics for the robotic arm and by opening or closing two fingers. The proposed system has been tested and verified in real robot environments through a complex task "peg in hole" that requires at least two robotic manipulators.
{"title":"System Design for Automation in Multi-Agent-Based Manufacturing Systems","authors":"Samyeul Noh, Junhee Park","doi":"10.23919/ICCAS50221.2020.9268357","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268357","url":null,"abstract":"This paper proposes a system design for automation in multi-agent-based manufacturing systems to conduct a given complex task automatically by controlling multiple robotic manipulators in a systematic manner. To this end, the proposed system is designed with three-module configurations: environmental perception, task planning, and motion planning. The environmental perception module utilizes a vision sensor to recognize all objects placed on the workspace and extract their unique ID, size, and pose. The task planning module divides a given task into primitive skill levels and distributes each primitive skill to the associated robotic manipulator with the relevant object information in a systematic manner for robotic manipulators not to collide with each other. The motion planning module determines the motion of a robotic arm and a robotic hand by solving inverse kinematics for the robotic arm and by opening or closing two fingers. The proposed system has been tested and verified in real robot environments through a complex task \"peg in hole\" that requires at least two robotic manipulators.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"20 1","pages":"986-990"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90312609","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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