2022 22nd International Conference on Control, Automation and Systems (ICCAS)最新文献_第2页

es-DNLC: A Deep Neural Network Control with Exponentially Stabilizing Control Lyapunov Functions for Attitude Stabilization of PAV 基于指数稳定Lyapunov函数的PAV姿态镇定深度神经网络控制

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003776

Minseok Jang, Jeongseok Hyun, Taeho Kwag, Chan Gwak, Chanyoung Jeong, T. Nguyen, Jae-Woo Lee

{"title":"es-DNLC: A Deep Neural Network Control with Exponentially Stabilizing Control Lyapunov Functions for Attitude Stabilization of PAV","authors":"Minseok Jang, Jeongseok Hyun, Taeho Kwag, Chan Gwak, Chanyoung Jeong, T. Nguyen, Jae-Woo Lee","doi":"10.23919/ICCAS55662.2022.10003776","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003776","url":null,"abstract":"Attitude stabilization is of paramount importance in the flight control of personal aerial vehicle (PAV) in the future urban air mobility (UAM). This study proposes to adopt a deep neural network (DNN) with exponentially stabilizing control Lyapunov functions (es-CLF) as a control framework (called, es-DNLC) for the stabilization of a KP-1 eVTOL PAV in multi-copter mode. The es-DNLC uses exponentially stabilizing control Lyapunov Function(es-CLF) as a learning policy in the DNN training to guarantee the robustness against disturbances. The robustness is enhanced and verified by an area increase of region of attraction (ROA) after adopting the trained DNN into the KP-1 control system. We implemented the proposed control framework in an open source autopilot system (PX4) along with software in the loop (SITL) in Gazebo simulator in which a wind gust is injected as a sudden disturbance in the simulation. A wind tunnel test was performed to increase the accuracy of the Gazebo simulation by utilizing high-fidelity propulsion data of the KP-1’s motors. The effectiveness of the adopted control framework is compared with linear quadratic regulator (LQR) which is also the initial control of es-DNLC before training. The finding of this study shows that es-DNLC compared to LQR can guarantee a higher level of robustness of the system against disturbances and aerodynamic uncertainties.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"52 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":"129278835","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

A Maneuver Control Method for Stealthy Engagement in Beyond-visual-range Air Combat Based on Sliding Mode Control 基于滑模控制的超视距空战隐身交战机动控制方法

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003726

Yue Liu, Zhen Yang, Jichuan Huang, Guang Zhan, Xiaoyang Li, Deyun Zhou

引用次数: 0

Resource Allocation for Analog Network Coding Based Bidirectional Relaying 基于模拟网络编码的双向中继资源分配

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003810

Kundan Kandhway

引用次数: 0

A Consideration of Mechanical Kansei: Latent Representation of Topology-Optimized Structures in Variational Autoencoder 机械感性的思考:变分自编码器中拓扑优化结构的潜在表示

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003865

Hirao Toshio, Iida Kenichi

{"title":"A Consideration of Mechanical Kansei: Latent Representation of Topology-Optimized Structures in Variational Autoencoder","authors":"Hirao Toshio, Iida Kenichi","doi":"10.23919/ICCAS55662.2022.10003865","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003865","url":null,"abstract":"It is illustrated in general that the design process at the conceptual stage is highly dependent on individual skills and aesthetic sense. However, even in a subjective phase, objective aspects such as mechanical rationality are implicitly considered, and these two perspectives are inseparable. A concept of Mechanical Kansei defined as “the capability to evaluate and judge impressions in terms of unconscious, intuitive, and integrative information in mechanics,” has been proposed as a clue for interpreting the relationship between such impressions of objects and structural rationality in civil engineering and architecture fields. In this paper, we considered the Mechanical Kansei as the ability to intuitively recall shapes and forms that reflect the flow of forces from the given design domain and boundary conditions. The topology-optimized shape was taken as the structure that visualizes the flow. A Variational Autoencoder (VAE) was used to learn a set of shapes topology-optimized to the randomly located supports of a simple beam. The result shows that a two-dimensional latent variable space can derive the rational structures through the decoder without the mechanical model. This latent representation of topology-optimized shapes can be a clue to understanding the Mechanical Kansei.","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":"129657685","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

A New Stability Index for Industrial Servo Systems Using Frequency Response Function Considering Measurement Delay and Noise 一种考虑测量延迟和噪声的工业伺服系统频响函数稳定性指标

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003773

Tae-Ho Oh, Young-Seok Kim, Dae-Young Yang, Tae-Hoon Kim, Sang-Hoon Lee, D. Cho

{"title":"A New Stability Index for Industrial Servo Systems Using Frequency Response Function Considering Measurement Delay and Noise","authors":"Tae-Ho Oh, Young-Seok Kim, Dae-Young Yang, Tae-Hoon Kim, Sang-Hoon Lee, D. Cho","doi":"10.23919/ICCAS55662.2022.10003773","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003773","url":null,"abstract":"Designing a controller which achieves a high bandwidth with good stability is an important requirement in industrial servo systems. The frequency response function (FRF) is one of the widely utilized tools, but FRF results are sensitive to measurement delays and measurement noise. This hinders the tuned controller to achieve predicted performance levels. The measurement noise can distort the FRF in whole frequency ranges and has been considered in many previous research efforts; however, the measurement delay has seldomly been considered in the design process. When the measurement delay is not considered, the information in the high-frequency range which is typically related to system resonances can be inaccurate. This paper proposes a new stability index for the FRF which considers the uncertainties from both measurement delay and noise. In the proposed method, the uncertainty bounds of measurement delay and noise are defined and the maximum moving area of FRF data for each frequency is calculated based on these uncertainty bounds. The stability index is defined to check possible encirclements on the Nyquist plot based on the maximum moving area. The proposed stability index is used to tune notch filters in industrial belt-drive systems with wide resonance frequency variations. The experimental results show that the proposed stability index achieves stable tuning performance even in the presence of delay and noise in FRF data.","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":"129913640","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

Selective Data Augmentation for Improving the Performance of Offline Reinforcement Learning 用于提高离线强化学习性能的选择性数据增强

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003747

Jungwook Han, Jinwhan Kim

引用次数: 1

Environment Recognition from Spherical Camera Images Based on Multi-Attention DeepLab 基于多注意DeepLab的球面相机图像环境识别

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003689

Yuta Nishida, Li Guangxu, Huimin Lu, Tohru Kamiya

{"title":"Environment Recognition from Spherical Camera Images Based on Multi-Attention DeepLab","authors":"Yuta Nishida, Li Guangxu, Huimin Lu, Tohru Kamiya","doi":"10.23919/ICCAS55662.2022.10003689","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003689","url":null,"abstract":"Electric wheelchair is an easy-to-operate means of transportation that does not require physical strength. With the number of electric wheelchair users increasing in recent years, the increase in traffic accidents becomes a problem. Therefore, by developing an autonomous electric wheelchair, it is expected that the risk of accidents will be reduced and the convenience of the electric wheelchair will be improved. Environment recognition is indispensable for the development of autonomous electric wheelchairs. We propose a semantic segmentation method for recognizing 16 objects in traffic environment. This paper examines the improvement of problems such as the high price of autonomous electric wheelchairs due to the increase in the number of sensors used, which has been a concern in related research. Therefore, we use panoramic images acquired by a spherical camera as input data, and extern the Multi-Attention Deep Lab algorithms fitting for the recognition of distorted images. A new CNN model is constructed using Deep Lab v3+, scSE Block, Pairwise Self-Attention, and Joint Pyramid Up-sampling. We conducted a recognition experiment using images taken on campus and verified its effectiveness. (Comparing to DeepLab v3+, IoU and Dice showed a 3.5% and 3.6% improvement in accuracy, respectively.)","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":"126988715","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

Multi-sensor-based Target Pose Estimation for Autonomous Precision Perching of Nano Aerial Vehicles 基于多传感器的纳米飞行器自主精确着陆目标姿态估计

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003944

Truong-Dong Do, Nguyen Xuan-Mung, N. Nguyen, Ji-Won Lee, Yong-Seok Lee, S. Lee, S. Hong

{"title":"Multi-sensor-based Target Pose Estimation for Autonomous Precision Perching of Nano Aerial Vehicles","authors":"Truong-Dong Do, Nguyen Xuan-Mung, N. Nguyen, Ji-Won Lee, Yong-Seok Lee, S. Lee, S. Hong","doi":"10.23919/ICCAS55662.2022.10003944","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003944","url":null,"abstract":"Nano Aerial Vehicles have become widely used for a variety of complex missions due to their mobility and the ability to access hard-to-reach areas. In most cases, these tasks require the vehicles to land on ground targets or perch on platforms mounted on diverse surfaces. Considering the surface the vehicle will reach, controlling perching is obviously a challenging task. Besides, the reliability of target position and direction estimation has a significant impact on perching performance. In this paper, a multi-sensor-based target pose estimation for autonomous precision perching of nano drones is proposed. First, the perching target, a cube cage containing a small marker inside a larger one, is designed to enhance pose estimation capability at a wide range of distances. Second, we constructed a nano drone with an upward monocular camera and a 5-direction multi-ranger deck. Next, the flying vehicle’s pose toward the perching target is calculated, followed by a Kalman filter for filtering and estimating the missing data. Finally, we introduced an algorithm to merge the pose data from multiple sensors when drones approach close to the target. Real measurements are conducted on the testbed. The experimental results demonstrated the utility and potential of the adopted approach with millimeter-level precision.","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":"127754376","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

Implementation of 100CMM Thermal Storage Combustion Oxidizer for VOCs Reduction 100CMM蓄热式燃烧氧化剂在VOCs减排中的应用

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003966

Dal-Hwan Yoon, B. Han, Tae-Yeung Lim, Eun-Chan Yang, Yeong-Woong Keon, Hyeon-Woo An, Chan-Ho Kim, Sung-Chan Kang, Min-Ki Jung, Jong-Geun Kim, Hwi-Chan Oh, Chan-Hyouk Jeon, Min-Su Jeon, A-Yeon Jeon, H. Park, Young-Hoon Jung, Hyunkyun Jung, Henry Y Hwang, H. Jeong, H. Min, D. Jeon

{"title":"Implementation of 100CMM Thermal Storage Combustion Oxidizer for VOCs Reduction","authors":"Dal-Hwan Yoon, B. Han, Tae-Yeung Lim, Eun-Chan Yang, Yeong-Woong Keon, Hyeon-Woo An, Chan-Ho Kim, Sung-Chan Kang, Min-Ki Jung, Jong-Geun Kim, Hwi-Chan Oh, Chan-Hyouk Jeon, Min-Su Jeon, A-Yeon Jeon, H. Park, Young-Hoon Jung, Hyunkyun Jung, Henry Y Hwang, H. Jeong, H. Min, D. Jeon","doi":"10.23919/ICCAS55662.2022.10003966","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003966","url":null,"abstract":"The heat storage type combustion oxidation device is a system capable of treating VOCs (Volatile Organic Compounds) discharged to the atmosphere at 95% or more. Aromatic hydrocarbons such as benzene are strong carcinogenic substances that cause leukemia, central nervous disorder, and chromosomal abnormalities, and hydrochloride causes destruction of the ozone layer and global warming. This VOCs reduction technology is expected to reduce the number of harmful substances generated for many operating and working conditions. This paper implements a 100CMM Regenerative Thermal Oxidation (RTO) device to reduce air pollution in VOCs generating sites. The carbon-free system is evaluated by measuring the concentration of the VOCs emission gas according to the operating conditions of the production process, analyzing and measuring the THC (Total Hydro-carbons) concentration change. As a result, through the 100CMM RTO experiment, stable RTO driving, renewable energy measurement, and hydrocarbons and nitrogen oxides can be reduced.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"60 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":"125637376","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

UWB/GPS Sensor Fusion Using Kalman Filter for Outdoor Autonomous Robot 基于卡尔曼滤波的UWB/GPS传感器融合户外自主机器人

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003948

Junhyeok Shin, Hoeryoung Jung

引用次数: 0