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2017 17th International Conference on Control, Automation and Systems (ICCAS)最新文献

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Concept, results and future topics for the Human Robotics Research Center at Kyushu Sangyo University 九州工业大学人类机器人研究中心的概念、结果和未来主题
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204229
T. Sakaki, K. Tsuruta, Yong-Kwun Lee, N. Ushimi, K. Murakami, Yoshimi Matsunoo, Y. Ichinose, Tshihiko Shimokawa, Y. Kamiya, Osamu Kikima, K. Aoki, Shinya Morishita, Takehiro Tashiro, H. Nishizono
{"title":"Concept, results and future topics for the Human Robotics Research Center at Kyushu Sangyo University","authors":"T. Sakaki, K. Tsuruta, Yong-Kwun Lee, N. Ushimi, K. Murakami, Yoshimi Matsunoo, Y. Ichinose, Tshihiko Shimokawa, Y. Kamiya, Osamu Kikima, K. Aoki, Shinya Morishita, Takehiro Tashiro, H. Nishizono","doi":"10.23919/ICCAS.2017.8204229","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204229","url":null,"abstract":"The Human Robotics Research Center at Kyushu Sangyo University was established in 2013 as a practical center for the study of robots designed for rehabilitation and care-support. The HRRC seeks to implement robots intended for the medical and care fields to address problems in those fields. We have focused on the development of rehabilitation robots for spinal cord injury patients. Here, we present three different robots we have developed for standing-motion training, primary-walking-pattern training, and practical-walking training.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116759746","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
Black-box accuracy compensation for a cable-driven parallel robot 缆索驱动并联机器人的黑箱精度补偿
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204477
Valentin Schmidt, Wrer Kraus, C. Martin, XueJun Jin, A. Pott
{"title":"Black-box accuracy compensation for a cable-driven parallel robot","authors":"Valentin Schmidt, Wrer Kraus, C. Martin, XueJun Jin, A. Pott","doi":"10.23919/ICCAS.2017.8204477","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204477","url":null,"abstract":"This paper presents the findings of experiments done to increase the accuracy of a fully constrained cable-driven parallel robot with 8 cables and 6 degrees of freedom. Measurements were conducted using a Laser Tracker in 3 dof and the position accuracy mapped. Measurements were performed in a grid with 1920 points. From the measurement data distortion to the actual desired position is measured and using a linear approximation subsequent trajectories are compensated for any systematic errors. On an example robot, this black box correction brought an average improvement from 10.6 mm distance to the desired point to 2.47 mm distance from the desired point. This is a significant improvement m accuracy.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121611925","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
The disturbance rejection design based on physical feedforward for solid oxide fuel cell 基于物理前馈的固体氧化物燃料电池抗干扰设计
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204245
Zhenlong Wu, Wangying Shi, Donghai Li, T. He, Yali Xue, Minfang Han, Song Zheng
{"title":"The disturbance rejection design based on physical feedforward for solid oxide fuel cell","authors":"Zhenlong Wu, Wangying Shi, Donghai Li, T. He, Yali Xue, Minfang Han, Song Zheng","doi":"10.23919/ICCAS.2017.8204245","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204245","url":null,"abstract":"The output voltage control of the Solid Oxide Fuel Cell (SOFC) is challenging due to the strong nonlinearity, modelling uncertainty, the dramatic change of the external current load and constraints on the amplitudes and change rates of the actuator. Besides, the desired range of the fuel utilization is another difficult for the control strategy. In this paper, Active disturbance rejection control (ADRC) is proposed to handle the nonlinearity, uncertainty and the external disturbance, and physical feedforward is designed to speed up the response of the whole system and keep the fuel utilization in the desired range. Instead of the SOFC model, the design of physical feedforward is based on the definition of fuel utilization which is featured by simplicity, generality and effectiveness. Simulation results show that the proposed control strategy has smaller variation range of the fuel utilization, shorter time of the changing process of the output voltage and better robustness than others control strategies.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129982862","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: 4
Exploiting color spaces for the task of foreground detection 利用色彩空间进行前景检测
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204201
Ajmal Shahbaz, K. Jo
{"title":"Exploiting color spaces for the task of foreground detection","authors":"Ajmal Shahbaz, K. Jo","doi":"10.23919/ICCAS.2017.8204201","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204201","url":null,"abstract":"This paper proposes optimal color space based probabilistic foreground detector. The intuition is to employ two most widely used color spaces (RGB and YCbCr) one at a time to model background. A decision criteria to select optimal color space is based on mean squared error (MSE). Initial frames (say 100) without any foreground information are used to compute MSE for both color spaces. Color space with minimum MSE is selected as optimal color space (OCS). Afterwards, OCS is used to model background and detect moving information. Gaussian Mixture Models (GMM) based foreground detector is used for the purpose. Furthermore, foreground mask is cleaned from undesirable noise using morphological operations. The proposed method is tested using change detection dataset. It shows promising results and outperforms conventional GMM.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129991635","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
A cylindrical magnetic levitation stage for high-precision rotations 用于高精度旋转的圆柱形磁悬浮台
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204294
J. Jeon, Jong-Moon Kim
{"title":"A cylindrical magnetic levitation stage for high-precision rotations","authors":"J. Jeon, Jong-Moon Kim","doi":"10.23919/ICCAS.2017.8204294","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204294","url":null,"abstract":"The new cylindrical magnetic levitation stage is presented in this paper. This stage can move the cylinder to rotations and translations as well as magnetic levitations with high precision. This stage can be rotated with 360° and can be moved to translational directions within few millimeters. A Lead-PI control algorithm is used for the position control and a PI control algorithm is used for the current control. A system identification method from input and output experimental data is used for 2nd-order State-space dynamic modeling. Parameters of Lead-PI control is decided properly with this model. The new cylindrical mag-lev stage is experimented with in-positioning and rotations with nano-scale precisions.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130118509","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
Evaluation of explicit model predictive temperature control for on-off air conditioner 开关式空调显式模型预测温度控制的评价
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204304
Abdulhafiz Chesof, S. Panaudomsup, T. Cheypoca
{"title":"Evaluation of explicit model predictive temperature control for on-off air conditioner","authors":"Abdulhafiz Chesof, S. Panaudomsup, T. Cheypoca","doi":"10.23919/ICCAS.2017.8204304","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204304","url":null,"abstract":"The objective is to evaluate the performance of an explicit model predictive control for controlling the room temperature actuated by the on-off air conditioner to minimize the energy usage by reducing the working time of a compressor. There are a lot of on-off air conditioners already installed in the educational building in Thailand. To replace all of those by the inverter air conditioner or HVAC system, the high investment cost is required. Therefore, the on-off air conditioners continue to work in such building. The effective solution may be the low cost control unit which is simple like a remote control. The method is to design the remote control embedded by the temperature sensor and the explicit model predictive control that is based on the off-line optimization. The experiment is performed in the laboratory room with dimension 4×7×3.5 m (WxLxH) actuated by Saijo Denki 18,320 Btu on-off air conditioner. The experimental results reveal that the temperature reaches the desired value 25 degree Celsius within 10 minute and keeps fluctuating between 23 and 26 degree Celsius. The working time of compressor is reduced 33.33 %. The result shows that the explicit model predictive control is effective for the remote control application in terms of the implementation and energy saving.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124625200","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
Learning to grasp objects based on ensemble learning combining simulation data and real data 基于仿真数据与真实数据相结合的集成学习来学习抓取对象
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204368
Yong-Ho Na, Hyun-Jun Jo, Jae-Bok Song
{"title":"Learning to grasp objects based on ensemble learning combining simulation data and real data","authors":"Yong-Ho Na, Hyun-Jun Jo, Jae-Bok Song","doi":"10.23919/ICCAS.2017.8204368","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204368","url":null,"abstract":"In this study, deep learning based grasping using a robot has been discussed. A large amount of training data is required for good performance in deep learning. The training data is usually collected with a real robot. However, it is difficult to collect the data sufficient for training the network in terms of time and cost. Therefore, this study presents a method for collecting the training data based on a robot simulator as well as a real robot. The simulation system is composed of a robot, the work environment, and a 2-finger gripper. The convolutional neural network (CNN) was used for training where its input is the RGB image of the object and its output is the pose of the gripper. Furthermore, the ensemble learning method was used to combine real data and simulation data. It is shown that the ensemble learning method that combines multiple classifiers can lead to a higher grasping success rate than a single classifier.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130549860","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: 3
3D pose tracking for GPS-denied terrain rovers by fast state variable extension and enhanced motion model 基于快速状态变量扩展和增强运动模型的gps拒绝地形探测车三维姿态跟踪
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204445
Nilesh Suriyarachchi, P. Jayasekara, T. Kubota
{"title":"3D pose tracking for GPS-denied terrain rovers by fast state variable extension and enhanced motion model","authors":"Nilesh Suriyarachchi, P. Jayasekara, T. Kubota","doi":"10.23919/ICCAS.2017.8204445","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204445","url":null,"abstract":"Pose tracking for outdoor rovers is generally a complex task which is further complicated in conditions where a Global Positioning System (GPS) signal is denied such as in planetary exploration, underground mines and covered areas. In these conditions the rover's pose needs to be calculated purely based on the rover's current environment observations. However, conventional wheel odometry is not reliable on rough terrain where wheels are prone to slip and the wheels do not have a common plane of motion due to suspension systems. This paper proposes a Fast State Variable Extension (Fast-SVE) method in which 2D state variables (x, y, yaw) are extended to the full 3D state (x, y, z, roll, pitch, yaw) to achieve effective real time 3D pose tracking of the rover. A particle filter implementation incorporating the Fast-SVE method is used to track the 3D pose of the rover with roll and pitch values used for weighting. An Enhanced Motion Model (EMM) is also proposed to further improve the accuracy of 2D pose prediction in the particle filter.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130873743","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
Adaptive regulation of sampling rates for power efficient embedded control system design 高效节能嵌入式控制系统的采样率自适应调节设计
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204289
R. Raha
{"title":"Adaptive regulation of sampling rates for power efficient embedded control system design","authors":"R. Raha","doi":"10.23919/ICCAS.2017.8204289","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204289","url":null,"abstract":"In recent times adaptive regulation of sampling rates has gained significant attention in research community and researchers has demonstrated it's effectiveness in embedded control applications from different perspectives. In low power embedded control systems, the sampling rate of the control tasks has a direct relationship with control performance and power consumption. In this paper, we investigate the possibility of improving the power efficiency of low power embedded control systems by regulating the sampling rate of the control tasks. On this regard, we present algorithmic approaches for on-line regulation of sampling rates of the control task under some power-performance trade-off. We present elaborative results which demonstrate the efficacy of our proposed approaches.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130189991","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
Preliminary experimental results for chest compression in mobile robot-human unconstrained-collision 移动机器人-人无约束碰撞胸部压缩的初步实验结果
2017 17th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2017-10-01 DOI: 10.23919/ICCAS.2017.8204352
Ho-Yeon Kim, JongHyeok Park, Sooyong Yun, S. Moon, K. Gwak
{"title":"Preliminary experimental results for chest compression in mobile robot-human unconstrained-collision","authors":"Ho-Yeon Kim, JongHyeok Park, Sooyong Yun, S. Moon, K. Gwak","doi":"10.23919/ICCAS.2017.8204352","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204352","url":null,"abstract":"CC (Compression Criteria), CTI (combined Thoracic Index), and VC (Viscous Criteria) which measure the AIS (Abbreviated Injury Scale) for chest injuries are examined using the human-robot unconstrained collision experimental data. Experimental data were collected from the facility consists of a dummy of ten year old child, a collision cart, a speed measuring sensor, and a heat insulating foam floor. The unconstrained-collision test was carried out with a collision mass of 80 kg and collision speed 1 m/s and AIS was calculated from the test data.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1576 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120878555","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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