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2022 22nd International Conference on Control, Automation and Systems (ICCAS)最新文献

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Improved Robustness of Reinforcement Learning Based on Uncertainty and Disturbance Estimator 基于不确定性和干扰估计的增强学习鲁棒性改进
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003692
Jinsuk Choi, H. Park, Jongchan Baek, Soohee Han
{"title":"Improved Robustness of Reinforcement Learning Based on Uncertainty and Disturbance Estimator","authors":"Jinsuk Choi, H. Park, Jongchan Baek, Soohee Han","doi":"10.23919/ICCAS55662.2022.10003692","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003692","url":null,"abstract":"This paper proposes a method to improve the robustness of RLs based on model-free uncertainty and disturbance estimator (RL-based UDE). In the real environment, instead of using optimal trajectory and control techniques to perform complex tasks, it learns through RL and supplements robustness by using uncertainty and disturbance estimator (UDE). From UDE, the robotics system can be improved the stability by appropriately canceling the uncertainty and disturbance without efforts to obtain model information; hence the UDE can compensate for the performance degradation of RL when system is non-stationary. In addition, the performance can be improved by reducing the sensor noise from low-pass filter of UDE. It is shown through an experiment that the proposed RL-based UDE provides robustness.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115274419","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Pinning synchronization for nonlinear multi-agent system via edge betweenness centrality 基于边间中心性的非线性多智能体系统钉住同步
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003855
Y.G. Lee, Y.J. Kim, M.J. Park, O. Kwon
{"title":"Pinning synchronization for nonlinear multi-agent system via edge betweenness centrality","authors":"Y.G. Lee, Y.J. Kim, M.J. Park, O. Kwon","doi":"10.23919/ICCAS55662.2022.10003855","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003855","url":null,"abstract":"To control the set of agent systems, constructing multi-agent systems (MASs) is one of the well-known methods of past research. By the nearest neighbor rules, graph theory, and other consensus criteria, the MASs have been studied in many engineering fields. On the other hand, not only engineering but also the humanities and social fields have interested in MASs. Especially for expressing the social groups and their connection, the directed or undirected weighted network structures and the graph theories have been selected. In humanities and social fields, the betweenness centrality theory is applied to investigating the ordering of important groups or locals. This theory can affect the MASs in engineering fields. And the global synchronization with low-dimensional pinning criteria with the appropriate feedback gains is considered a goal of MASs control. Thus, this paper presents the comparison of edge betweenness centrality with the low-dimensional pinning synchronization criteria in nonlinear MASs.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116673054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Epersist: A Two-Wheeled Self Balancing Robot Using PID Controller And Deep Reinforcement Learning 基于PID控制器和深度强化学习的两轮自平衡机器人
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003940
G. S. Krishna, D.M Sumith, Garika Akshay
{"title":"Epersist: A Two-Wheeled Self Balancing Robot Using PID Controller And Deep Reinforcement Learning","authors":"G. S. Krishna, D.M Sumith, Garika Akshay","doi":"10.23919/ICCAS55662.2022.10003940","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003940","url":null,"abstract":"A two-wheeled self-balancing robot is an example of an inverse pendulum and is an inherently non-linear, unstable system. The fundamental concept of the proposed framework “Epersist” is to overcome the challenge of counterbalancing an initially unstable system by delivering robust control mechanisms, Proportional Integral Derivative (PID), and Reinforcement Learning (RL). Moreover, the micro-controller NodeMCU ESP32 and inertial sensor in the Epersist employ fewer computational procedures to give accurate instruction regarding the spin of wheels to the motor driver, which helps control the wheels and balance the robot. This framework also consists of the mathematical model of the PID controller and a novel self-trained advantage actor-critic algorithm as the RL agent. After several experiments, control variable calibrations are made as the benchmark values to attain the angle of static equilibrium. This “Epersist” framework proposes PID and RL-assisted functional prototypes and simulations for better utility.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116785149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Prediction of Dangerous Pedestrians using Depth and Stance Estimation 基于深度和姿态估计的危险行人预测
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003829
Stephanie Nix, Kana Koishi, H. Madokoro, T. K. Saito, Kazuhito Sato
{"title":"Prediction of Dangerous Pedestrians using Depth and Stance Estimation","authors":"Stephanie Nix, Kana Koishi, H. Madokoro, T. K. Saito, Kazuhito Sato","doi":"10.23919/ICCAS55662.2022.10003829","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003829","url":null,"abstract":"According to the Tokyo Fire Department, from 2015 to 2019, there were 211 people who were taken to the hospital due to accidents involving pedestrians using their smartphones while walking. Around 40% of these accidents were due to pedestrians running into bicycles, people, and other objects. Local ordinances have been passed to reduce the danger posed by pedestrians engaging in this unsafe behavior, but this has not significantly reduced the use of smartphones while walking. In this paper, we propose a metric for evaluating the level of danger posed by pedestrians captured on video. In our proposed method, we extract the skeletons of pedestrians using MediaPipe, then predict the danger level by estimating the pedestrian stance and depth within the image. Then, we evaluate the accuracy of our model by calculating the accuracy of the depth and stance estimators on a video taken by a car-mounted camera. We estimated danger levels on a local road and obtained an accuracy of 0.459.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125896813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Semantic Segmentation with Perceiver IO 基于感知器IO的语义分割
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003862
Keong-Hun Choi, J. Ha
{"title":"Semantic Segmentation with Perceiver IO","authors":"Keong-Hun Choi, J. Ha","doi":"10.23919/ICCAS55662.2022.10003862","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003862","url":null,"abstract":"Recently, in deep learning, the transformer is replacing the convolutional neural network (CNN) due to its performance and simple design. In particular, in recent studies, constructing an encoder of the transformer that effectively extracts features on an image has been widely used. However, even in these cases, models utilizing existing deep neural network structures needed to use a form suitable for each data format according to input modality. Recently, the Perceiver IO [6] has been proposed to overcome this limitation. It can process various data formats through one structure to extract a characteristic value. Also, it uses an output query to output data as we want. In this paper, a semantic segmentation model using the characteristics of the Perceiver IO is presented. Two types of input configuration are suggested, and experimental results show the feasibility of the proposed method.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125332129","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Deorbiting of Satellites by a Free-Flying Space Robot by Combining Positioning Control and Impedance Control 定位控制与阻抗控制相结合的自由飞行空间机器人卫星脱轨
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003688
Kohei Koga, Yoshiro Fukui
{"title":"Deorbiting of Satellites by a Free-Flying Space Robot by Combining Positioning Control and Impedance Control","authors":"Kohei Koga, Yoshiro Fukui","doi":"10.23919/ICCAS55662.2022.10003688","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003688","url":null,"abstract":"This study focused on the deorbiting of floating space debris using a free-flying space chaser robot with a robotic manipulator. Nanos et al. proposed continuous contact control between the manipulator and debris. The conventional method guarantees the required impedance behavior when the manipulator contacts the debris. However, it does not guarantee a safe distance between the robot and debris, and collisions between them may occur. In this paper, we propose continuous contact control between the manipulator and debris by adding positioning control to the conventional method. The proposed method guarantees not only the impedance behavior but also a safe distance between the robot and debris. Simulations in the planar space were used to verify the approach of the contact equipment to the target, and its ability to maintain the relative attitude.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115055242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Inference of Vehicle Lane Change Intention Using Multiple Model Estimator in Automated Highway Driving 基于多模型估计器的高速公路自动驾驶车辆变道意图推断
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003965
Jongyong Do, Kyoungseok Han, Seibum B. Choi
{"title":"Inference of Vehicle Lane Change Intention Using Multiple Model Estimator in Automated Highway Driving","authors":"Jongyong Do, Kyoungseok Han, Seibum B. Choi","doi":"10.23919/ICCAS55662.2022.10003965","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003965","url":null,"abstract":"One of the most critical topics in vehicle active safety control is collision avoidance(CA) maneuver. To ensure the robustness of the CA, it is essential to recognize the behavior of surrounding vehicles accurately. In particular, a safer path can be generated, if the intention of changing lanes of surrounding vehicles can be predicted. Existing studies on lane change intention prediction are primarily based on machine learning, and it is difficult to respond to unexpected situations that have not been learned. In this study, a method for predicting lane change intention in real time based on the trajectory of surrounding vehicles is presented. It is assumed that the location of the lane is known through the map, and the global coordinate system is transformed into the Frenet coordinate system to maintain generality regardless of the curvature of the road. And the paths that the target vehicle can travel are modeled as cubic spline curves on the Frenet coordinate system. Through the multiple model estimator, which operates the path models in parallel, it finds the most probable path and predicts the lane change intention. The performance of the lane change intention prediction algorithm is verified through highD, a German highway vehicle trajectories dataset.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"564 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116527264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
PFDL: A Production Flow Description Language for an Order-Controlled Production PFDL:用于订单控制生产的生产流程描述语言
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003953
Peter Detzner, A. Ebner, Maximilian Hörstrup, Sören Kerner
{"title":"PFDL: A Production Flow Description Language for an Order-Controlled Production","authors":"Peter Detzner, A. Ebner, Maximilian Hörstrup, Sören Kerner","doi":"10.23919/ICCAS55662.2022.10003953","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003953","url":null,"abstract":"In Industry 4.0, the order-controlled production (OCP) is an order-centric manufacturing approach. Among others, OCP favors a dynamic (re-)assignment of production resources that are required to execute the order. In this paper, we propose a uniform description format of production processes - the Production Flow Description Language (PFDL) - a fully automated processable input for OCP environments. The PFDL enables flexible use of existing production resources by taking advantage of the increased factory floor connectivity. Compared to existing solutions, the PFDL supports concurrency, data handling between processes, synchronization, and flow control.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"105 1-3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114034274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Closed-loop Stator Flux Control Method for Soft Starters to Prevent Rotor Speed oscillations in Induction Motors Drive 防止异步电动机驱动转子转速振荡的软起动器定子磁链闭环控制方法
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003799
Tae-hoon Kim, Dae-Young Yang, Tae-Ho Oh, Young-Seok Kim, Sang-Hoon Lee, D. Cho
{"title":"Closed-loop Stator Flux Control Method for Soft Starters to Prevent Rotor Speed oscillations in Induction Motors Drive","authors":"Tae-hoon Kim, Dae-Young Yang, Tae-Ho Oh, Young-Seok Kim, Sang-Hoon Lee, D. Cho","doi":"10.23919/ICCAS55662.2022.10003799","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003799","url":null,"abstract":"This paper presents a closed-loop stator flux control method for a soft starter to prevent speed oscillations. A soft starter controls starting current of an induction motor by gradually decreasing the firing angle. However, when the conventional firing angle control method is applied to the induction motor with a low inertia rotor and load, the stator flux magnitude rapidly increases as the rotor speed reaches the rated speed. This rapid increase in stator flux magnitude results in speed oscillations. To overcome the issues, in this paper, a stator flux magnitude closed-loop control method is proposed to prevent the rapid increases of the stator flux. First, the situation where speed oscillations can occur with low inertia is analyzed, using the torque-speed curve and the equations of the stator flux and rotor current in the transient state. Then, the closed-loop controller is designed by considering the relationship between the stator flux magnitude and the input voltage. The proposed stator flux control method allows the stator flux magnitude to increase at a moderate speed and prevents speed oscillation at start-up. The MATLAB/SIMULINK simulations using the model of a lightly loaded induction motor are performed and show the effectiveness of the proposed method.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"1690 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114057999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Speed Bump Estimation on the Road Using Vehicle Motion Sensors 基于车辆运动传感器的道路减速带估计
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003781
J. K. Kim, Seul Jung
{"title":"Speed Bump Estimation on the Road Using Vehicle Motion Sensors","authors":"J. K. Kim, Seul Jung","doi":"10.23919/ICCAS55662.2022.10003781","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003781","url":null,"abstract":"This paper presents the experimental studies on speed bump estimation on the road by a vehicle motion simulator equipped with motion sensors. Since the camera and the Lidar sensors are expensive and have limitation on certain weather conditions, the vehicle motion is indirectly used to estimate the height of a speed bump. The vehicle motion data are captured by sensors such as a gyro sensor and a height sensor of car and the speed bump is estimated. Experimental studies of speed bump estimation with a motion simulator are performed to demonstrate the feasibility of the proposed method.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122205354","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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