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

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Fault Detection in Inertial Measurement Unit and Global Navigation Satellite System of an Unmanned surface vehicle 无人水面飞行器惯性测量单元与卫星导航系统故障检测
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003835
Gyeongsub Song, N. Ko, Hyun-Taek Choi, J. Sur
{"title":"Fault Detection in Inertial Measurement Unit and Global Navigation Satellite System of an Unmanned surface vehicle","authors":"Gyeongsub Song, N. Ko, Hyun-Taek Choi, J. Sur","doi":"10.23919/ICCAS55662.2022.10003835","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003835","url":null,"abstract":"This paper presents a method which detects faults in the measurement required for navigation of an unmanned surface vehicle. The measurement includes acceleration and angular rate by an inertial measurement unit (IMU), and the location by global navigation satellite system (GNSS). The method uses Kalman filter to estimate the state variables which represent the amount of faulty measurements. The method is tested by the experiment in which a boat equipped by commercial IMU and GNSS navigates in a sea trial. The result verifies that faults in acceleration and angular rate measurements are detected robustly and the GNSS position fault is detected when there is considerable location error.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"10 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":"123934611","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 Multi-Antenna-based Active Tracking System for Localization of Invasive Hornet Vespa velutina 基于多天线的入侵大黄蜂定位主动跟踪系统
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003757
Bosung Kim, J. Pak, Chanyoung Ju, H. Son
{"title":"A Multi-Antenna-based Active Tracking System for Localization of Invasive Hornet Vespa velutina","authors":"Bosung Kim, J. Pak, Chanyoung Ju, H. Son","doi":"10.23919/ICCAS55662.2022.10003757","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003757","url":null,"abstract":"Herein, we design three experiments to prove the traceability of a multi-antenna-based active tracking system by using an unmanned aerial vehicle (UAV) in variable environments and actual Vespa velutina. In the first experiment, the movement of Vespa velutina with an attached sensor is measured, and it is checked whether there is a difference between the measurements obtained with and without the attached sensor. In the second experiment, we track a small drone instead of a Vespa velutina, which cannot provide ground truth data, and compare and analyze the path of the small drone with the tracking path of the UAV. In the third experiment, we track an actual Vespa velutina in various environments, in addition to measuring and evaluating the distance between the UAV and the target at the end of tracking, the localization result, and the tracking path. The experimental results will help to prove that transmitter attachment does not affect the target and traceability of the multi-antenna-based active tracking system when it is attached to real Vespa velutina.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"99 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":"124685865","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
Online Competition of Small Electric Vehicle as an Exercise in Design Education - pico-EV Eco Challenge – 小型电动车在线竞赛作为设计教育的实践-微型电动车生态挑战赛
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003949
Takeharu Hayashi, Yoshihiko Takahashi, Keigo Hara, Y. Takemura, Satoru Yamaguchi
{"title":"Online Competition of Small Electric Vehicle as an Exercise in Design Education - pico-EV Eco Challenge –","authors":"Takeharu Hayashi, Yoshihiko Takahashi, Keigo Hara, Y. Takemura, Satoru Yamaguchi","doi":"10.23919/ICCAS55662.2022.10003949","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003949","url":null,"abstract":"To develop sustainable societies, it is necessary to reduce the use of fossil fuels. Therefore, widespread use of electric vehicles (EVs) is the need. Many subjects such as mathematics-and physics-based-mechanics of machine taught at the universities are useful to meet this problem. However, to design EVs, the ability to unify such knowledge along with the fabrication cost, time management, and teamwork management is necessary. We think that EV competition is a useful exercise in design education that helps develop this ability. Considering the energy problem, we proposed an official competition for small EVs, named “pico-EV Eco Challenge”, as an exercise in engineering design education. In this competition, a small one-person EV using only small rechargeable batteries (7.2 V, 1000 mAh in total) is fabricated and the fabricated EVs run a 60 m circuit. The competition in the years 2021 and 2022 was held on online due to COVID19 pandemic. In this paper, the competition criteria, the flow and the analyses of EVs on 2021 competition are described.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"27 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":"129399788","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
Development of Ethernet/IP Adapter for Explicit Messaging in Cooperative Robot Communication 机器人协作通信中用于显式消息传递的以太网/IP适配器的开发
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003850
Shaily Bajpai, R. Ranjan, Sung-Hak Lee, Kyung Oh Lee, J. Kye
{"title":"Development of Ethernet/IP Adapter for Explicit Messaging in Cooperative Robot Communication","authors":"Shaily Bajpai, R. Ranjan, Sung-Hak Lee, Kyung Oh Lee, J. Kye","doi":"10.23919/ICCAS55662.2022.10003850","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003850","url":null,"abstract":"There are many robot industries in the world, but most of them only support Modbus communication. However, Ethernet/IP (EIP) is only supported by some robotics industries. EIP is more flexible than Modbus due to the amount of information exchanged which is wide in range. This paper is study of development an efficient and highly scalable EIP adapter for cooperative robots for the robotics industry. This module is developed to ensure EIP-based intercommunication for explicit messaging among Industrial Automation Machines. Explicit messaging enables acyclic data transfer for communication, and our architecture works without requiring physical components. Further, Ethernet/IP adapters are implemented and tested using EEIP DLL, EADK EDITT, etc. Thus, the architecture is reliable and flexible. Using our EIP module, the scalability and both cyclic-acyclic data transfer ability of the robot system are enhanced. The development time of the communication system can be shortened based on the reuse of the software module. In the future, through effective EIP communication, robot failure diagnosis will be performed based on AI, enabling effective maintenance.","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":"129467390","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
Range-only Relative Position Estimation for Multi-UAV 基于距离的多无人机相对位置估计
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003929
Junho Choi, E. Lee, Myeongwoo Jeong, Duckyu Choi, H. Myung
{"title":"Range-only Relative Position Estimation for Multi-UAV","authors":"Junho Choi, E. Lee, Myeongwoo Jeong, Duckyu Choi, H. Myung","doi":"10.23919/ICCAS55662.2022.10003929","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003929","url":null,"abstract":"Although a UAV itself is adaptable to variety of tasks, its low payload and short flight time limit its usage. As a way to overcome the limitations of a UAV, a multi-UAV system is being researched. In order to utilize the Multi-UAV system, it is essential to estimate the relative position of each UAV. In this paper, a relative position estimation method is proposed that requires only range measurements from each pair of UAV combinations. The positions of UAVs are estimated by minimizing the difference between the range measurements and the distance values which are calculated from each pair of estimated positions of UAVs. The performance of the proposed method is verified by five UAVs flight simulation. The range data are generated from the ground-truth positions of five UAVs and Gaussian noise added range data are used for the experiments.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"05 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":"127194155","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: 2
Identification for Drinking Spout of Plastic Bottle Using Multi Eff-UNet 利用多effe - unet对塑料瓶饮水口进行识别
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003920
Shunsuke Moritsuka, Tohru Kamiya
{"title":"Identification for Drinking Spout of Plastic Bottle Using Multi Eff-UNet","authors":"Shunsuke Moritsuka, Tohru Kamiya","doi":"10.23919/ICCAS55662.2022.10003920","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003920","url":null,"abstract":"Currently, the increase of general waste is a problem in Japan. It is garbage and human waste. One solution to this problem is to reuse the bodies of used plastic bottles to reduce the amount of plastic waste and the increase in general waste. For this purpose, some municipalities provide bags for disposing of plastic bottle bodies. However, in many cases, the bottles are not only discarded in these bags, but also with their caps attached. In such cases, the caps must be found and removed by hand in the sorting and processing facility at the waste treatment plant. This means that the same work is performed by person for a long time, causing problems such as overlooking caps due to fatigue. To solve these problems, we develop a method for automatic identification of plastic bottle bodies and caps using deep learning technique. In this paper, we propose a model that combines multiple Eff-UNets. Specifically, we combine EfficientNetB4 for local segmentation and EfficientNetB5 for global segmentation. By using our method, we conducted an experiment on images of plastic bottles collected from the internet and other sources. We obtained segmentation results of 97.9% for plastic bottle bodies and 86.0% for plastic bottle caps.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"2 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":"130037750","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
Sliding Mode Control for Nonlinear Characteristic of Hydraulic Manipulators in Teleoperated Control Configuration 遥操作结构中液压机械手非线性特性的滑模控制
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003861
D. Lim, Jaebeom Park, J. Park, Seul Jung
{"title":"Sliding Mode Control for Nonlinear Characteristic of Hydraulic Manipulators in Teleoperated Control Configuration","authors":"D. Lim, Jaebeom Park, J. Park, Seul Jung","doi":"10.23919/ICCAS55662.2022.10003861","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003861","url":null,"abstract":"This paper presents sliding mode control for hydraulic manipulators. In the teleoperated configuration, the slave robot is actuated by hydraulic systems, which suffer from nonlinearity. When the master moves by an operator, the slave robot is required to move after the master. The slave robot is regulated by a sliding mode controller to minimize the tracking errors caused by nonlinearities in hydraulic actuators. Experimental studies of position tracking control by PID and sliding mode controllers are conducted to demonstrate the performances in the teleoperated configuration.","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":"130713962","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
Monocular Supervised Metric Distance Estimation for Autonomous Driving Applications 自动驾驶应用的单目监督度量距离估计
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003962
Yury Davydov, Wen-Hui Chen, Yu-Chen Lin
{"title":"Monocular Supervised Metric Distance Estimation for Autonomous Driving Applications","authors":"Yury Davydov, Wen-Hui Chen, Yu-Chen Lin","doi":"10.23919/ICCAS55662.2022.10003962","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003962","url":null,"abstract":"The task of monocular distance estimation is a major area of research in the computer vision field. Especially relevant this task is to the autonomous driving applications, where robustness and accuracy of the distance estimation significantly affect driving safety. In this paper we propose a simple, fast and efficient deep learning model capable of extracting distance information for a detected object from monocular images. The model is trained and tested on the KITTI benchmark and compared to the Monodepth2 model. The conducted experiments show that the proposed convolutional neural network architecture outperforms Monodepth2 by 11% on average according to the weighted average mean absolute error.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"41 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":"130283525","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
Improving Naive Bayes by Reducing the Importance of Low-Frequency Words Based on Entropy of Words for Spam Email Classification 基于词熵降低低频词重要性改进朴素贝叶斯垃圾邮件分类
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003787
Phaiboon Trikanjananun, A. Numsomran, V. Tipsuwannaporn
{"title":"Improving Naive Bayes by Reducing the Importance of Low-Frequency Words Based on Entropy of Words for Spam Email Classification","authors":"Phaiboon Trikanjananun, A. Numsomran, V. Tipsuwannaporn","doi":"10.23919/ICCAS55662.2022.10003787","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003787","url":null,"abstract":"The Naive Bayes algorithm (NB algorithm) is a popular one for spam email classification due to fast training, using simple techniques and high accuracy. One of many research improving NB algorithms are the AWF-NB algorithm. In this paper, we call the research an AWF-algorithm for convenient mention. The AWF-NB algorithm focuses on solving the equally important word in each class because it is not always the case. Another problem of the NB algorithm to solve this problem, the AWF-NB extremely reduces the importance of words in the class that has lower importance. However, this action will lead to reducing the accuracy in cases that slightly differ among the importance of words in each class. Therefore, the goal of the research is to improve the AWF-NB algorithm by reducing the importance of words based on entropy of words. We compute the entropy of a word to decide if it should be reduced in importance. The experimental results on ten spam email datasets from Kaggle website indicated that the RIWE-NB algorithm can remarkably increase the classification accuracy of the NB algorithm and the AWF-NB algorithm in majority datasets while the execution time is still conserved.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"89 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":"129307593","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
Dead Reckoning of a Mobile Robot in 2-Dimensional Special Euclidean Group 二维特殊欧几里得群中移动机器人的航位推算
2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003795
D. Jeong, N. Ko
{"title":"Dead Reckoning of a Mobile Robot in 2-Dimensional Special Euclidean Group","authors":"D. Jeong, N. Ko","doi":"10.23919/ICCAS55662.2022.10003795","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003795","url":null,"abstract":"This paper describes a Lie group approach to dead reckoning of a mobile robot. Navigation algorithms do not use dead reckoning alone for estimation of location and attitude of a mobile robot. Dead reckoning is used for prediction or rough guess of robot location for a short time. It is combined with other information to find the best possible estimation of the robot location and attitude. More precise dead reckoning improves the localization performance. Moreover, proper formulation of dead reckoning makes the location estimation problem more consistent and robust. This paper formulates dead reckoning of a mobile robot in Lie group. For dead reckoning in 2-dimensional space, 2-dimensional special Euclidean group is used. Simulation results show that the proposed method provides exact prediction of robot location and attitude regardless of the sampling period.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"4 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":"126737484","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
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