Pub Date : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268255
Jeonghyeon Kim, Sangwon Choi, Jaekuk Choi, Dongsun Lim, Jong-Hyun Kim
In this paper, we introduce a contact type thread tester which can automatically sort out bad thread holes. The existing non-contact type testers used eddy current, camera, ultrasonic, etc. However, non-contact type testers are vulnerable to noise. In this paper, a contact type inspection method is used to sort out the defects of the thread by measuring the reverse torque that occurs while tightening the bolt and threaded holes. This tester is insensitive to noise, such as vibration. We can inspect a thread hole regardless of the size of the hole. Also, the tester automatically aligns bolt and thread hole positions in order to remove the positional error. The tester checks the size of the thread hole using a camera, and automatically carries out the inspection with the optimum torque associated to the hole size. In addition, we develop a smartphone application to control the tester remotely.
{"title":"Contact Type Thread Tester for Tap Inspection Automation","authors":"Jeonghyeon Kim, Sangwon Choi, Jaekuk Choi, Dongsun Lim, Jong-Hyun Kim","doi":"10.23919/ICCAS50221.2020.9268255","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268255","url":null,"abstract":"In this paper, we introduce a contact type thread tester which can automatically sort out bad thread holes. The existing non-contact type testers used eddy current, camera, ultrasonic, etc. However, non-contact type testers are vulnerable to noise. In this paper, a contact type inspection method is used to sort out the defects of the thread by measuring the reverse torque that occurs while tightening the bolt and threaded holes. This tester is insensitive to noise, such as vibration. We can inspect a thread hole regardless of the size of the hole. Also, the tester automatically aligns bolt and thread hole positions in order to remove the positional error. The tester checks the size of the thread hole using a camera, and automatically carries out the inspection with the optimum torque associated to the hole size. In addition, we develop a smartphone application to control the tester remotely.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"457-462"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91121783","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/ICCAS50221.2020.9268306
P. Hušek, J. Stecha
Kalman filter became a popular tool for state estimation of linear dynamical systems especially due to its simplicity. However in the case of nonlinear systems its realization is more complicated. Commonly used approach called Extended Kalman filter consists in local approximation based on linearization. Another possibility is to approximate the corresponding integrals using some feasible procedures. In this paper we apply Gauss-Hermite Quadrature for state estimation of nonlinear systems and compare its accuracy with Extended Kalman filter.
{"title":"Nonlinear Kalman Filter by Hermite-Gauss Quadrature","authors":"P. Hušek, J. Stecha","doi":"10.23919/ICCAS50221.2020.9268306","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268306","url":null,"abstract":"Kalman filter became a popular tool for state estimation of linear dynamical systems especially due to its simplicity. However in the case of nonlinear systems its realization is more complicated. Commonly used approach called Extended Kalman filter consists in local approximation based on linearization. Another possibility is to approximate the corresponding integrals using some feasible procedures. In this paper we apply Gauss-Hermite Quadrature for state estimation of nonlinear systems and compare its accuracy with Extended Kalman filter.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"47 1","pages":"637-642"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78631022","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/ICCAS50221.2020.9268205
B. Darmawan, Sang Bong Lee, Gwangjun Go, Chang-sei Kim, Doyeon Bang, Jong-Oh Park, Eunpyo Choi
Microrobots have been demonstrated to have the potential in medical approaches, such as for targeted drug delivery. However, real-time tracking and imaging are still one of the major issues faced by microrobots. Here, we fabricated helical microrobots based on self-folding technique, and we performed double coating of gold nanoparticles (AuNPs) to the surface of microrobots to enhance the image quality under X-ray. The result shows that, we successfully coated the AuNPs into the self-rolled microrobots, and it increases the image quality when compared to non-coated microrobots. Despite the fact that there still remain some challenges to achieve successful applications of microrobots, we believe that the potential of this study can contribute to reduce the challenges faces in the medical microrobot fields.
{"title":"Gold Nanoparticles Embedded Microrobots for Real-time X-ray Imaging","authors":"B. Darmawan, Sang Bong Lee, Gwangjun Go, Chang-sei Kim, Doyeon Bang, Jong-Oh Park, Eunpyo Choi","doi":"10.23919/ICCAS50221.2020.9268205","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268205","url":null,"abstract":"Microrobots have been demonstrated to have the potential in medical approaches, such as for targeted drug delivery. However, real-time tracking and imaging are still one of the major issues faced by microrobots. Here, we fabricated helical microrobots based on self-folding technique, and we performed double coating of gold nanoparticles (AuNPs) to the surface of microrobots to enhance the image quality under X-ray. The result shows that, we successfully coated the AuNPs into the self-rolled microrobots, and it increases the image quality when compared to non-coated microrobots. Despite the fact that there still remain some challenges to achieve successful applications of microrobots, we believe that the potential of this study can contribute to reduce the challenges faces in the medical microrobot fields.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"63 1","pages":"302-305"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79228433","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/ICCAS50221.2020.9268412
Ruisen Huang, Dalin Yang, Kunqiang Qing, K. Hong
One of the advantages of fNIRS systems is their portability for real-world applications. Therefore, the online rejection of the motion artifacts in functional near-infrared spectroscopy (fNIRS) signals is one of the essential research topics. We proposed a square-root cubature Kalman filter using a weighted moving average model to tract the dynamics of motion artifacts. The rationale and feasibility of the method were discussed using simulated data generated using a Balloon model. The results show that the proposed filter has a good suppression of spike-like motion artifacts. Finally, conclusions and further study are discussed.
{"title":"Online Motion-Artifact Removal in fNIRS Signals: Combined Square-Root Cubature Kalman Filter and Weighted Moving Average Model Approach","authors":"Ruisen Huang, Dalin Yang, Kunqiang Qing, K. Hong","doi":"10.23919/ICCAS50221.2020.9268412","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268412","url":null,"abstract":"One of the advantages of fNIRS systems is their portability for real-world applications. Therefore, the online rejection of the motion artifacts in functional near-infrared spectroscopy (fNIRS) signals is one of the essential research topics. We proposed a square-root cubature Kalman filter using a weighted moving average model to tract the dynamics of motion artifacts. The rationale and feasibility of the method were discussed using simulated data generated using a Balloon model. The results show that the proposed filter has a good suppression of spike-like motion artifacts. Finally, conclusions and further study are discussed.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"211 1","pages":"658-663"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79401780","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/ICCAS50221.2020.9268384
Kangwagye Samuel, Sehoon Oh
This paper presents a novel robotic stage for human balance disorder assessment. The proposed robot is composed of top and bottom plates which move perpendicular to each other in x- and y- directions. Both plates can be driven or controlled simultaneously or one at a time. Each of the drive systems for the plates utilize a BLDC motor, ball-screw, force sensor, and motor encoder, which enable various control strategies. Moreover, the force sensor is located between the ball-screw and the load, hence, the load reaction force can be directly measured. To conduct the balance assessment, a human (patient) stands on the top plate of the stage and the robot is driven by either force or position control, from which the force is measured directly by the force sensor. Then, the balance disorder assessment is done by observing the characteristics of the force measurements. This device provides a wider motion strokes which enable the examiner to obtain detailed balance disorder information as compared to the existing techniques. Experiments on both control and actual human balance test are carriedout to verify the effectiveness of the proposed device.
{"title":"Robotic Stage for Human Balance Disorder Assessment","authors":"Kangwagye Samuel, Sehoon Oh","doi":"10.23919/ICCAS50221.2020.9268384","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268384","url":null,"abstract":"This paper presents a novel robotic stage for human balance disorder assessment. The proposed robot is composed of top and bottom plates which move perpendicular to each other in x- and y- directions. Both plates can be driven or controlled simultaneously or one at a time. Each of the drive systems for the plates utilize a BLDC motor, ball-screw, force sensor, and motor encoder, which enable various control strategies. Moreover, the force sensor is located between the ball-screw and the load, hence, the load reaction force can be directly measured. To conduct the balance assessment, a human (patient) stands on the top plate of the stage and the robot is driven by either force or position control, from which the force is measured directly by the force sensor. Then, the balance disorder assessment is done by observing the characteristics of the force measurements. This device provides a wider motion strokes which enable the examiner to obtain detailed balance disorder information as compared to the existing techniques. Experiments on both control and actual human balance test are carriedout to verify the effectiveness of the proposed device.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"12 1","pages":"447-452"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75192579","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/ICCAS50221.2020.9268216
P. S. JosephNg, Y. F. Loh, H. C. Eaw
Medium Size Enterprise ventures into IT are dragged by financial, expertise, economies of scales plus the unfavourable market uncertainty with unsettling innovation with vanishing competitiveness towards infrastructure optimization. This mixed-method using survey, interview and focus group with dual data test-retest sequential design approach minimises grey perspectives and conclusions. The findings revealed the shocking fact that a third of total investments in IT were categorised as the unproductive ventures, playing catch-up among the industry competitors while leaving most equipment under-utilized and questionable commercial visibilities while the enterprise bleeds. The utilization of BOINC freeware grid computing centralized processing and storage features been used to improve the enterprise's efficiency by enhancing positive financials in the enterprises via enabling better inter-department work coordination hence improving user satisfaction and stronger brand recognition. The contribution of the study proposed a flexible organic IT infrastructure that will upsize or downsize along with the business performance.
{"title":"Grid Computing for MSE during Volatile Economy","authors":"P. S. JosephNg, Y. F. Loh, H. C. Eaw","doi":"10.23919/ICCAS50221.2020.9268216","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268216","url":null,"abstract":"Medium Size Enterprise ventures into IT are dragged by financial, expertise, economies of scales plus the unfavourable market uncertainty with unsettling innovation with vanishing competitiveness towards infrastructure optimization. This mixed-method using survey, interview and focus group with dual data test-retest sequential design approach minimises grey perspectives and conclusions. The findings revealed the shocking fact that a third of total investments in IT were categorised as the unproductive ventures, playing catch-up among the industry competitors while leaving most equipment under-utilized and questionable commercial visibilities while the enterprise bleeds. The utilization of BOINC freeware grid computing centralized processing and storage features been used to improve the enterprise's efficiency by enhancing positive financials in the enterprises via enabling better inter-department work coordination hence improving user satisfaction and stronger brand recognition. The contribution of the study proposed a flexible organic IT infrastructure that will upsize or downsize along with the business performance.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"709-714"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83400420","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/ICCAS50221.2020.9268209
Moon-woo Park, Sang-seok Lee, Dae-Chul Jang, Hyeon-seong Kim, Pyeong-Ung Jeong
This paper presents a simulation result of dynamic reaction forces on the slave-arm revolute joint of the mechanical master-slave manipulator for remote handling of radioactive materials and nuclear processing. The dynamic modeling of the manipulator is established in the multi-body dynamics(MBD) simulation S/W of RecurDyn to verify the gear tooth contact force and bearing reaction forces on the revolute joint of its slave-arm on condition of the maximum handling load. For modeling the detailed parts of the revolute joints , two stages gear transmission; one bevel gear-pair and the other spur gear pair, and two support rolling bearings are defined with mechanical properties. As results of the force analysis, the reaction forces on gearing and bearings which are used to address the improvement of the joint design are shown for the manipulator.
{"title":"Dynamic Modeling and Force Analysis on Revolute Joint of Mechanical Master-Slave Manipulator using RecurDyn","authors":"Moon-woo Park, Sang-seok Lee, Dae-Chul Jang, Hyeon-seong Kim, Pyeong-Ung Jeong","doi":"10.23919/ICCAS50221.2020.9268209","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268209","url":null,"abstract":"This paper presents a simulation result of dynamic reaction forces on the slave-arm revolute joint of the mechanical master-slave manipulator for remote handling of radioactive materials and nuclear processing. The dynamic modeling of the manipulator is established in the multi-body dynamics(MBD) simulation S/W of RecurDyn to verify the gear tooth contact force and bearing reaction forces on the revolute joint of its slave-arm on condition of the maximum handling load. For modeling the detailed parts of the revolute joints , two stages gear transmission; one bevel gear-pair and the other spur gear pair, and two support rolling bearings are defined with mechanical properties. As results of the force analysis, the reaction forces on gearing and bearings which are used to address the improvement of the joint design are shown for the manipulator.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"12 1","pages":"111-114"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86548884","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/ICCAS50221.2020.9268380
Pengfei Lin, Woo Young Choi, Seung-Hi Lee, C. Chung
In this paper, we propose a vehicle lane change system using model predictive path planning (MPPP) based on the artificial potential field (APF) for speeding vehicles. It is shown that APF has high performance in real-time obstacle avoidance. However, it remains unpractical for self-driving cars because the point model used for the APF ignores the lateral vehicle dynamics for the lane-keeping system. To resolve the problem, this paper introduces a novel curve-fitting method combined with the APF applied to plan a drivable path for autonomous vehicles in the lane change action. The proposed system was validated through MATLAB/Simulink with the empirical kinematic model. The simulation results indicate that the model predictive path planning algorithm is highly effective in high-speed lane change scenarios to avoid dynamic obstacle vehicles.
{"title":"Model Predictive Path Planning Based on Artificial Potential Field and Its Application to Autonomous Lane Change","authors":"Pengfei Lin, Woo Young Choi, Seung-Hi Lee, C. Chung","doi":"10.23919/ICCAS50221.2020.9268380","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268380","url":null,"abstract":"In this paper, we propose a vehicle lane change system using model predictive path planning (MPPP) based on the artificial potential field (APF) for speeding vehicles. It is shown that APF has high performance in real-time obstacle avoidance. However, it remains unpractical for self-driving cars because the point model used for the APF ignores the lateral vehicle dynamics for the lane-keeping system. To resolve the problem, this paper introduces a novel curve-fitting method combined with the APF applied to plan a drivable path for autonomous vehicles in the lane change action. The proposed system was validated through MATLAB/Simulink with the empirical kinematic model. The simulation results indicate that the model predictive path planning algorithm is highly effective in high-speed lane change scenarios to avoid dynamic obstacle vehicles.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"71 1","pages":"731-736"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90354244","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/ICCAS50221.2020.9268377
Sangyul Park, Hasun Lee, Dongjun Lee
We propose CPG (central pattern generator) based robot control framework constructed based on: 1) the inverse model of the CPG that directly encodes resultant body motion of the robot in CPG parameters; and 2) the CPG parameter adaptation law that enforces robustness of the controller. These two components behaves as feedforward and feedback control for the CPG controlled robot, enabling us to achieve fast and robust generation of a desired body motion for robotic systems operated within complex environmental interaction. The inverse CPG model is constructed based on neural network along with autoencoder to efficiently deal with the dimension decrease from input to output of the model. Also, the CPG parameter adaptation is done with a concept of backpropagation, which is enabled by the adoption of smooth activation function for the inverse CPG model. For the development and verification of the proposed framework, simulation is conducted with two robotic systems, snake-like robot and pivotboard system.
{"title":"Robust Motion Control of Robotic Systems with Environmental Interaction via Data-Driven Inversion of CPG","authors":"Sangyul Park, Hasun Lee, Dongjun Lee","doi":"10.23919/ICCAS50221.2020.9268377","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268377","url":null,"abstract":"We propose CPG (central pattern generator) based robot control framework constructed based on: 1) the inverse model of the CPG that directly encodes resultant body motion of the robot in CPG parameters; and 2) the CPG parameter adaptation law that enforces robustness of the controller. These two components behaves as feedforward and feedback control for the CPG controlled robot, enabling us to achieve fast and robust generation of a desired body motion for robotic systems operated within complex environmental interaction. The inverse CPG model is constructed based on neural network along with autoencoder to efficiently deal with the dimension decrease from input to output of the model. Also, the CPG parameter adaptation is done with a concept of backpropagation, which is enabled by the adoption of smooth activation function for the inverse CPG model. For the development and verification of the proposed framework, simulation is conducted with two robotic systems, snake-like robot and pivotboard system.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"25 1","pages":"692-698"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90416982","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/ICCAS50221.2020.9268424
Jin Ho Yang, Dae Jung Kim, C. Chung
This study aims to propose how autonomous vehicle overtakes an obstacle with model predictive control and makes a lateral ride comfortability by optimizing a jerk in a lateral direction. In this paper, we conducted a case study on collision avoidance in a waypoint tracking situation. To avoid the obstacle, we proposed a desired lateral offset from the global route and used the offset as a reference for avoidance. Then, we defined a quadratic cost function considering the jerk to minimize a motion sickness during the avoidance maneuver. To verify the method, we executed a computational simulation using actual waypoint data. As a result, we observed that the proposed scheme has more comfortability for obstacle avoidance than the method without optimizing the jerk.
{"title":"Predictive Collision Avoidance Control with Optimized Ride Comfort in Vehicle Lateral Motion Control","authors":"Jin Ho Yang, Dae Jung Kim, C. Chung","doi":"10.23919/ICCAS50221.2020.9268424","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268424","url":null,"abstract":"This study aims to propose how autonomous vehicle overtakes an obstacle with model predictive control and makes a lateral ride comfortability by optimizing a jerk in a lateral direction. In this paper, we conducted a case study on collision avoidance in a waypoint tracking situation. To avoid the obstacle, we proposed a desired lateral offset from the global route and used the offset as a reference for avoidance. Then, we defined a quadratic cost function considering the jerk to minimize a motion sickness during the avoidance maneuver. To verify the method, we executed a computational simulation using actual waypoint data. As a result, we observed that the proposed scheme has more comfortability for obstacle avoidance than the method without optimizing the jerk.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"178 1","pages":"737-742"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90441628","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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