2022 22nd International Conference on Control, Automation and Systems (ICCAS)最新文献_第8页

Study on Cooperative Air-to-Ground Surveillance Planning and Controlling for Unmanned Aerial Vehicles 无人机对地协同监视规划与控制研究

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003894

Shiyuan Chai, Zhen Yang, Jichuan Huang, Xiaoyang Li, Yiyang Zhao, Deyun Zhou

{"title":"Study on Cooperative Air-to-Ground Surveillance Planning and Controlling for Unmanned Aerial Vehicles","authors":"Shiyuan Chai, Zhen Yang, Jichuan Huang, Xiaoyang Li, Yiyang Zhao, Deyun Zhou","doi":"10.23919/ICCAS55662.2022.10003894","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003894","url":null,"abstract":"The use of unmanned aerial vehicles (UAVs) for air-to-ground mission in complex environments has increased considerably in recent years. The numerous studies on UAVs cooperative air-to-ground mission controlling have been reported, but few have considered the impact of the communication instability due to electromagnetic interference (EMI) which is common in many air-to-ground applications. Under the influence of EMI, the air-to-ground mission stages are represented as a dynamic combination of several communication-available and communication-unavailable stages. Traditional cooperative surveillance algorithms cannot handle such situations well. In this study, we presented a method which based on Voronoi diagrams to solve the impact of communication outages, and an attention mechanism ant-colony optimization (AACO) algorithm was proposed for UAV path-planning control in air-to-ground surveillance missions. The controlling strategy is adaptively updated by introducing an attention mechanism for regular instruction information, a priori information, and emergent information of the mission to satisfy the mission target. Simulation results show that the proposed algorithm achieves better search performance than traditional algorithms in scenarios which include communication-available and communication-unavailable situations.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"376 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":"131723869","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

Super Twisting Sliding Mode Control-Based Impedance Control for Teleoperated Virtual Robot Arm End-Effector Force Tracking 基于超扭转滑模控制的遥操作虚拟机械臂末端力跟踪阻抗控制

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003928

H. Khan, S. Abbasi, M. Salman, Min Choel Lee

{"title":"Super Twisting Sliding Mode Control-Based Impedance Control for Teleoperated Virtual Robot Arm End-Effector Force Tracking","authors":"H. Khan, S. Abbasi, M. Salman, Min Choel Lee","doi":"10.23919/ICCAS55662.2022.10003928","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003928","url":null,"abstract":"In this research, a virtual simulator (slave system) of an eight-degrees-of-freedom robot (two-DOF crane, one-DOF prismatic (telescopic mast), and five-DOF robot manipulator) is developed and teleoperated by an external hardware haptic device (master system) for nuclear power plant’s (NPP) reactor vessel internals (RVI) dismantling operations. For operations such as cutting, the robot end-effector with a laser cutter should maintain a constant distance from the physical wall of RVI. So, a virtual wall near the physical wall is assumed. The end-effector should remain on the virtual wall for optimal cutting which is achieved through force tracking impedance control. In this paper, initially sliding mode control (SMC) was implemented but resulted in chattering in force tracking response. Therefore, super twisting sliding mode control (STSMC)-based force tracking impedance control is designed and implemented for enhanced end-effector force tracking. The control input of the STSMC is composed of a continuous and discrete component. Continuous control input regulates control performance against uncertainties, whereas discrete provides a switching algorithm. STSMC then eliminates the chattering effect and reduces the force tracking error. The performance of SMC-based and STSMC-based impedance control is compared, and the comparison shows that the STSMC-based impedance control provides enhanced performance.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"92 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":"134520690","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

Performance Analysis for Secure Communication Based on CMAC 基于CMAC的安全通信性能分析

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003867

KyungSu Lee

{"title":"Performance Analysis for Secure Communication Based on CMAC","authors":"KyungSu Lee","doi":"10.23919/ICCAS55662.2022.10003867","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003867","url":null,"abstract":"The most vehicle manufacturers have been using the CAN (Controller Area Network) in order to communicate among ECUs in vehicle systems for a long time. However, CAN has a disadvantage in that it cannot send and receive large amounts of data quickly due to its limited speed and short data transmission size. The CAN FD (Controller Area Network with Flexible Data rate) was developed to compensate for this disadvantage, and it has the advantage of being able to communicate at more fast speed and eight times the data transmission size compared to CAN. These CAN and CAN FD are vulnerable to message replay attacks because they do not provide data authentication. In this paper, secure communication is implemented by applying CMAC (Cipher based Message Authentication Code) based on CAN and CAN FD. Also, the performance of the two secure communications is compared and analyzed. To implement CMAC, HW-based AES-128 (Advanced Encryption Standard) CBC (Cipher Block Chaining) algorithm is used. This paper compares the performance of Secure CAN and CAN FD communication based on CMAC and can help to check communication traffic of ECU (Electronic Control Unit) in advance when applying the function in the real vehicle system.","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":"133046132","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

Data-Driven Intelligent Feeding System for Pet Care 数据驱动的宠物智能喂养系统

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003775

Ghimire Ravi, J. Choi

{"title":"Data-Driven Intelligent Feeding System for Pet Care","authors":"Ghimire Ravi, J. Choi","doi":"10.23919/ICCAS55662.2022.10003775","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003775","url":null,"abstract":"The rapid development of artificial intelligence, the internet of things, and digital information processing technology has a huge impact on our daily lives with smart devices and wearables. The well-being of companion animals such as dogs and cats has become a large challenge. An increasing number of pet owners, their emotional attachment with their pets, and the 21st-century’s lifestyle importantly need the safety and welfare of pets by harnessing a smart technological approach. This paper analyzes and compares different machine learning algorithms for data-driven intelligent feeding system for pet care application. Different parameters such as body weight growth, body temperature, heart rate, eating habits, activity, sleep, and urine pH have been considered with other correlated sub-variables in creating virtual datasets. The supervised machine learning models: linear regression, gaussian process regression, narrow neural network, linear support vector machine, and fine tree are evaluated and discussed for estimating feed quantity. The machine learning model was verified by training, validation, and testing datasets. The developed model will be an innovative breakthrough for pet care applications. Feed estimation can be automated using the pet’s health parameters, this will help the pet to prevent obesity and related disorders.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"22 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":"131811897","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

Design of Supervisory Model Predictive Control for Building HVAC System Subject to Time-Varying Operating Points 时变工作点下建筑暖通空调系统监控模型预测控制设计

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003843

Sitthiphat Promchaiwattana, D. Banjerdpongchai

{"title":"Design of Supervisory Model Predictive Control for Building HVAC System Subject to Time-Varying Operating Points","authors":"Sitthiphat Promchaiwattana, D. Banjerdpongchai","doi":"10.23919/ICCAS55662.2022.10003843","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003843","url":null,"abstract":"This paper presents the design of supervisory model predictive control for HVAC systems with consideration of peak demand shaving and thermal comfort. In this work, we analyze the operating points with the thermal comfort requirement. Afterwards, we linearize the nonlinear dynamic model to a linear time-varying model. In particular, we specify that the operating point of the open-loop HVAC system satisfies the thermal comfort condition. This makes the predicted mean vote (PMV) equal to zero or nearly to zero. Subsequently, we calculate the zone temperature, the zone humidity ratio, and the volumetric flow rate. When considering the time-varying disturbance profiles, it appears that the operating points are time-varying. We observe that the coefficient of performance (COP) and the operating points are time-varying which lead to time-varying model. Moreover, we design supervisory control (SC) and model predictive control (MPC) for linear time-varying model. In the SC design, we aim to find the optimal reference zone temperature which is used as the reference signal for MPC. In the MPC design, the objectives are twofold. First, the zone temperature tracks the reference signal. Second, both electrical energy cost and deviation of desired thermal comfort are minimized. The computer simulation shows that MPC of time-varying HVAC system yields the best reference tracking. In addition, it reduces total electrical energy cost the most. We conclude that the optimal temperature reference can be effectively applied to the building HVAC systems while the occupants feel comfortable and the total electrical energy cost is the lowest.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"2015 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":"127670688","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

Minimalistic in-flight odometry based on two optic flow sensors along a bouncing trajectory 基于沿弹跳轨迹的两个光流传感器的极简飞行里程计

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003956

Lucia Bergantin, C. Coquet, Amaury Nègre, T. Raharijaona, N. Marchand, F. Ruffier

{"title":"Minimalistic in-flight odometry based on two optic flow sensors along a bouncing trajectory","authors":"Lucia Bergantin, C. Coquet, Amaury Nègre, T. Raharijaona, N. Marchand, F. Ruffier","doi":"10.23919/ICCAS55662.2022.10003956","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003956","url":null,"abstract":"Estimating the distance traveled while navigating in a GPS-deprived environment is key for aerial robotic applications. For drones, this issue is often coupled with weight and computational power constraints, from which stems the importance of minimalistic equipment. In this study, we present a visual odometry strategy based solely on two optic flow magnitudes perceived by two optic flow sensors oriented at ±30° on either side of a drone’s vertical axis. As results, (i) we measured the local optic flow divergence and the local translational optic flow respectively as the subtraction and the sum of the two optic flow magnitudes perceived (ii) we validated experimentally the visual odometer on a hexarotor oscillating up-and-down while following a 50m-long circular trajectory under three illuminance conditions (117lux, 814lux and 1518lux). The measured optic flow divergence was used to estimate the flight height by means of an Extended Kalman Filter. The estimated flight height scaled the measured translational optic flow, which was integrated to perform minimalistic visual odometry.","PeriodicalId":129856,"journal":{"name":"2022 22nd International Conference on Control, Automation and Systems (ICCAS)","volume":"33 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":"127700045","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

Multi-Functional Brain Computer Interface Using Convolutional Neural Networks 基于卷积神经网络的多功能脑机接口

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003911

Woosung Choi, H. Yeom, Nakyong Ko

{"title":"Multi-Functional Brain Computer Interface Using Convolutional Neural Networks","authors":"Woosung Choi, H. Yeom, Nakyong Ko","doi":"10.23919/ICCAS55662.2022.10003911","DOIUrl":"https://doi.org/10.23919/ICCAS55662.2022.10003911","url":null,"abstract":"Brain-computer interface (BCI) is a promising technology that controls computers or machines using brain signals. With this technology, people with various disabilities, such as neural paralysis, and spinal cord injury can control electric devices or express their intention by thinking. However, previous BCI studies have a limitation that they can predict only one type of intention. To use the BCI system in daily life, the BCI user should be able to achieve various tasks such as moving, text typing, and arm movements. In this paper, we propose a multi-functional BCI method that can predict various intentions simultaneously. To classify multiple intentions, we proposed two prediction models using Neural Networks (NN) and Convolutional Neural Networks (CNN) models. To evaluate the proposed BCI system, the classification accuracy of the model was measured and compared using steady state visually evoked potential (SSVEP), sensory motor rhythm (SMR), and both of them (Multiple Intention). The average prediction accuracies were 22.46% in NN, 55.86% in CNN. These results indicate that the proposed multi-functional BCI can predict multiple intentions. It also means that users of the proposed BCI system can control various electric devices simultaneously.","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":"116342751","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

Application of Visual Inertial Odometry for Pose Estimation of a Mobile Robot 视觉惯性里程计在移动机器人姿态估计中的应用

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003706

Boeun Lee, N. Ko, H. Yeom

引用次数: 0

Effect of adjusting the height of an LED light source on plant yields in cultivation systems 调节LED光源高度对栽培系统中植物产量的影响

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003755

Yoshihiko Takahashi, Kotarou Aihara, Ryota Tomioka

引用次数: 0

Body Part Detection in Smoky Environments with Thermal Camera Using Deep Learning 基于深度学习的热像仪在烟雾环境中的身体部位检测

2022 22nd International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2022-11-27 DOI: 10.23919/ICCAS55662.2022.10003742

S. Gelfert

引用次数: 0