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Lateral control for vehicles' automatic steering with front sensor and GPS 具有前传感器和GPS的车辆自动转向横向控制
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5669791
Jing Yang, T. Chang, E. Hou
{"title":"Lateral control for vehicles' automatic steering with front sensor and GPS","authors":"Jing Yang, T. Chang, E. Hou","doi":"10.1109/ICCAS.2010.5669791","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669791","url":null,"abstract":"This paper proposes an automated steering control system for passenger cars. The control strategy used is a look-down reference system which uses a sensor at the front bumper to measure the lateral displacement and a GPS to measure the heading orientation. Firstly, the road curvature estimator is designed based on the steering angle. Secondly, the steering angles can be estimated by using the sensor and the GPS information. The estimation algorithm employed is an observer for a new extended system model, in which the steering angle and its derivative are viewed as two state variables. Then, the lateral displacements estimation and the control algorithm are investigated. An accurate and real-time estimation of the lateral displacements with respect to the road can be accomplished in such a control system. The closed loop controller is used as a compensator to control the lateral dynamics of the vehicle. The vehicle dynamic and control system are simulated with Matlab Simulink. The proposed estimation and control algorithms are validated by simulation results. The results show that the system provides a good and robust performance for vehicle to follow or track a reference path.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116161269","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
Robust control of a pH neutralization process plant using QFT 应用QFT对pH中和装置的鲁棒控制
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5669969
R. Shabani, A. K. Sedigh, K. Salahshoor
{"title":"Robust control of a pH neutralization process plant using QFT","authors":"R. Shabani, A. K. Sedigh, K. Salahshoor","doi":"10.1109/ICCAS.2010.5669969","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669969","url":null,"abstract":"Inherent pH process nonlinearity and time-varying characteristics impose a highly challenging control problem. This paper presents an incorporation of offline process model identification and a QFT control methodology to develop a robust control scheme for a pH neutralization process plant on the basis of SISO QFT bounds. The obtained simulation results indicate the efficiency of the proposed control scheme to accomplish both the regulatory and servo tracking objectives.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121204410","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: 8
UKF based vision aided navigation system with low grade IMU 基于UKF的低等级IMU视觉辅助导航系统
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5670252
D. Won, S. Sung, Young Jae Lee
{"title":"UKF based vision aided navigation system with low grade IMU","authors":"D. Won, S. Sung, Young Jae Lee","doi":"10.1109/ICCAS.2010.5670252","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670252","url":null,"abstract":"When integrating single vision sensor and low grade IMU for 6-DOP navigation, nonlinearity of observation model makes a problem to estimate position, velocity and attitude. Conventional Kalman Filter could not estimate states correctly because it uses linearized model. Due to these reasons, nonlinear estimation should be used to figure out the nonlinear characteristics. By applying Unscented Kalman Filter, this paper copes with the nonlinearity. The estimation performance is demonstrated by numerical simulation. The RMS error of estimated position is analyzed by comparing Extended Kalman Filter results.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116739107","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
Remote robotic systems for nuclear environment application 核环境用远程机器人系统
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5670160
Kiho Kim, Ho-dong Kim
{"title":"Remote robotic systems for nuclear environment application","authors":"Kiho Kim, Ho-dong Kim","doi":"10.1109/ICCAS.2010.5670160","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670160","url":null,"abstract":"In this paper, we describe the development of remote robotic systems for use in a nuclear environment at Korea Atomic Energy Research Institute. Remote robotic systems were designed and developed to be used in a highly radioactive zone of a hot-cell or a completely sealed argon gas cell because human workers cannot have access to the in-cell during a cell operation. These remote robotic systems are classified into two groups depending on the task environment that they are applied to - remote robotic cleaning systems and tele-manipulator system. Remote robotic cleaning systems are used to clean up the in-cell floor contaminated with radioactive contaminants in a fully remote manner. Tele-manipulator system is an electrically driven master-slave manipulators that are used for remote operation and maintenance of the pyroprocessing equipments installed inside the argon gas-filled cell. We present the design considerations, capabilities and application of the developed remote robotic systems.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121729519","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
Development of magnetic force modeling equipment for magnetic levitation system 磁悬浮系统磁力建模设备的研制
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.5302/J.ICROS.2011.17.4.321
Ji-Hyuk Yang, Young-Sam Lee, O. Kwon
{"title":"Development of magnetic force modeling equipment for magnetic levitation system","authors":"Ji-Hyuk Yang, Young-Sam Lee, O. Kwon","doi":"10.5302/J.ICROS.2011.17.4.321","DOIUrl":"https://doi.org/10.5302/J.ICROS.2011.17.4.321","url":null,"abstract":"In this paper, we propose a modeling equipment that obtains every equilibrium point of a magnetic levitation system automatically. To obtain every equilibrium point, we develop an automatic modeling equipment that measures the magnetic force exerted on the levitation object, the coil current of electromagnet, and the distance between the levitation object and the electromagnet. The modeling equipment is composed of two parts : the load cell equipment and the control board. The load cell equipment measures the magnetic force by a load cell and maintains certain position between the levitation object and electromagnet. The control board controls the voltage applied to the electromagnet and the position of load cell, and measures magnetic force, distance between the levitation object and electromagnet, and the coil current of electromagnet. An automatic algorithm for making a 2D lookup table from the experimentally measured data is proposed. Because a 2D lookup table reflects every equilibrium point, it is valid for various mass of levitation objects and the controller can be designed using the 2D lookup table without any further experiment.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123856417","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: 14
Quality monitoring of laser welding 激光焊接质量监控
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5670212
Heeshin Kang, J. Suh, Tae-Hyun Kim, Taik-Dong Cho
{"title":"Quality monitoring of laser welding","authors":"Heeshin Kang, J. Suh, Tae-Hyun Kim, Taik-Dong Cho","doi":"10.1109/ICCAS.2010.5670212","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670212","url":null,"abstract":"In this paper, a study of quality monitoring technology for the laser welding was conducted. The laser welding and the industrial robotic systems were used with robot-based laser welding systems. Over the past years, Trumpf's 4kW Nd:YAG laser (HL4006D) and ABB's IRB6400R robot system (payload:120kg) were used. The new laser source, robot and laser scanner system are used to increase the processing speed and to improve the efficiency of processes. The laser system used in this study was IPG's 1.6kW Fiber laser (YLR-1600), while the robot system was Hyundai Heavy Industry's HX130-02 (payload : 130kg). The robot-based laser welding system was equipped with a laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc were butt and lapped joints. The quality testing of the laser welding was conducted by observing the shape of the beads on the plate and the cross-section of the welded parts, analyzing the results of mechanical tension test, and monitoring the plasma intensity by using UV and IR sensor. This paper proposes the quality monitoring method and the robot-based remote laser welding system as a means of resolving the limited welding speed and accuracy of conventional laser welding systems.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130115133","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
Measuring thickness of the copper stave in blast furnace using ultrasonic technique in cooling line 利用超声波技术测量高炉冷却线铜壁厚度
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5670201
Sang-Woo Choi, Jungkun Yoo, T. Choi, Kwan-Tae Kim
{"title":"Measuring thickness of the copper stave in blast furnace using ultrasonic technique in cooling line","authors":"Sang-Woo Choi, Jungkun Yoo, T. Choi, Kwan-Tae Kim","doi":"10.1109/ICCAS.2010.5670201","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670201","url":null,"abstract":"The blast furnace is used to smelt iron in the steel industry. Ore and cokes are input and hot air is blown into the chamber of the blast furnace. In the high temperature environment, the wear between the stave and the materials makes the cooling stave thinning by the downward movement of the materials in the blast furnace. The thickness of the cooling stave should be aware in order to prevent leakage of coolant into the furnace chamber and to make actions before the failure. The unique ultrasonic sensor which can approach the cooling stave through the cooling line was developed to measure thickness of the worn cooling stave. The ultrasonic sensor has cylindrical face to contact inner surface of the cooling line in the stave. The ultrasonic sensor is flexibly bendable to pass the bended pipe of inlet and outlet port of the cooling line in the stave.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122750482","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: 9
Monitoring of small wind turbine blade using FBG sensors 利用光纤光栅传感器监测小型风力发电机叶片
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5669682
Chang-Hwan Kim, I. Paek, N. Yoo
{"title":"Monitoring of small wind turbine blade using FBG sensors","authors":"Chang-Hwan Kim, I. Paek, N. Yoo","doi":"10.1109/ICCAS.2010.5669682","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669682","url":null,"abstract":"Dynamic behavior of a small wind turbine blade has been analyzed experimentally. Arrays of Fiber Bragg Grating (FBG) sensors and strain gauges were used to extract mode shapes of a small wind turbine blade made of fiber reinforced plastic (FRP). The root of the blade was fixed by a cantilever system developed for this study and dynamic strains from the sensors attached from the top and bottom surfaces of the blade were measured. The fundamental frequencies and higher modes of the blade cantilever system obtained from both sensors were almost identical. The mode shapes were also close but slightly different from each other. The differences are considered due to the fact that the top and bottom sections are non-symmetric.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122844015","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: 12
A Vertically Intersected Dual Axes Modularized Actuator System (DAMA) 垂直相交双轴模块化作动器系统
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5669635
Ren-Jeng Wang, Han-Pang Hung, Tz-How Huang, His-Fan Liao
{"title":"A Vertically Intersected Dual Axes Modularized Actuator System (DAMA)","authors":"Ren-Jeng Wang, Han-Pang Hung, Tz-How Huang, His-Fan Liao","doi":"10.1109/ICCAS.2010.5669635","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669635","url":null,"abstract":"A Vertically Intersected Dual Axes Modularized Actuator System (DAMA) designed for humanoid robots is developed in this paper. The DAMA consists of two independent joint systems, joint 01 and joint02. Joint 01 uses a harmonic drive while joint02 uses a cable arrangement. Based on the simulations of ADMAS and MATLAB software packages, the system dynamic properties can be observed. The system structure is further refined using finite element analysis. In addition, the hardware and software control systems of DAMA are developed. The architecture of hardware is composed of notebook computer, a USB to RS-232 module, an RS-232 to CAN Bus Module and two independent-joint controller modules. The software control system (user interface) is written by Visual C++ 2005 to enable users to manipulate a two-axial robot easily. The system employs a simple, but effective, PID scheme to independently control the DAMA's two joints. The experimental result shows that, for an S curve input position command, the DAMA's two independent joints rotate and track the command well. Hence, DAMA can be used as a generic module for a multiple degree-of-freedom system.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122902760","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
Fuzzy clustering of temporal parameters of gait during stance phase for walking speed estimation 基于站立阶段步态时间参数模糊聚类的步行速度估计
ICCAS 2010 Pub Date : 2010-12-17 DOI: 10.1109/ICCAS.2010.5669795
A. Manurung, Jungwon Yoon
{"title":"Fuzzy clustering of temporal parameters of gait during stance phase for walking speed estimation","authors":"A. Manurung, Jungwon Yoon","doi":"10.1109/ICCAS.2010.5669795","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669795","url":null,"abstract":"In this study we describe walking speed estimation method using only temporal parameters of gait. Further, this method can be adopted for automatic speed adaptation during walking on treadmill which is useful for gait rehabilitation process and also for navigation in virtual reality environment. The proposed speed estimation method is based on two temporal parameters during stance phase: time duration from heel contact (HC) to heel off (HO) and from heel contact (HC) to toe off (TO). To estimate walking speed, first, data for previously mentioned gait parameters are taken for several walking speed. After that, fuzzy clustering approach is used to identify how those two gait parameters affect walking speed. By using result from fuzzy clustering, subject's walking speed at any speed can be estimated by computing its membership. This method is inexpensive and easy to implement since it only uses simple foot switch.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131396709","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
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