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2013 CACS International Automatic Control Conference (CACS)最新文献

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Improvement of linear model matching flight control system — Attachment of observer 线性模型匹配飞控系统的改进——观测器的附加
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734154
Yasuhiio Osa, Masaki Kitada, S. Uchikado, Kanya Taiiaka
{"title":"Improvement of linear model matching flight control system — Attachment of observer","authors":"Yasuhiio Osa, Masaki Kitada, S. Uchikado, Kanya Taiiaka","doi":"10.1109/CACS.2013.6734154","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734154","url":null,"abstract":"The Linear Model Matching Flight Control System derived easily from Nonlinear Model Matching Method is able to realize useful aircraft motion such as CCV mode flight. But this system is premised using the state-variable feedback and the known plant parameters and so on. So in this study, as the first step to overcome those problems and improve this system, a Luenberger type of observer is added to the system. Moreover in order to alleviate the influence of error of the initial state values the controller is improved by adding a compensator.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114911806","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 particle filter tracking algorithm in autonomous vehicle navigation 粒子滤波跟踪算法在自动驾驶汽车导航中的应用
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734141
K. Li, G. Lin, L. Lee, J. Juang
{"title":"Application of particle filter tracking algorithm in autonomous vehicle navigation","authors":"K. Li, G. Lin, L. Lee, J. Juang","doi":"10.1109/CACS.2013.6734141","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734141","url":null,"abstract":"The paper describes the design, implementation, and test of an autonomous vehicle navigation system using vehicle model and particle filter tracking algorithm. Typically, a vehicle navigation system comprises of real-time environment perception, vehicle localization, collision avoidance, path planning, and path following. In order to achieve the features for intelligent autonomous vehicle, a sensor suite of integrated inertial measurement unit (IMU), GNSS receiver, and incremental encoder is developed for vehicle position estimation. A map-aided path planning strategy is employed to generate a reference route. To this end, a UMI (User Machine Interface) is developed to facilitate the observation of a goal-oriented path tracking situation. The system utilizes particle filter algorithm to guide the vehicle following the planned path in terms of vehicle estimation control. The recursive particle filter is able to weight the cells and response the angle as well as estimated position information. All the sensors are integrated into an embedded computer platform and able to assess the autonomous driving capability. The test is conducted on campus by installing the sensor suite and embedded computer platform into an electricintegrated inertial measurement unit vehicle.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130810597","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
Real-time SLAM using an RGB-D camera for mobile robots 实时SLAM使用RGB-D相机的移动机器人
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734160
Chung Kuo Hao, N. Mayer
{"title":"Real-time SLAM using an RGB-D camera for mobile robots","authors":"Chung Kuo Hao, N. Mayer","doi":"10.1109/CACS.2013.6734160","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734160","url":null,"abstract":"The ability of the localization and the mapping is the essential for the autonomous mobile robot. This is still a popular topic in the robotics community. However most of the SLAM approaches rely on laser scanners that are expensive. With the release of RGB-D cameras, a new class of Visual SLAM approaches became available. The major advantage of the RGB-D cameras is that they provide not only RGB but also the depth information which can estimate the full 6 degrees of freedom of the position in a low-cost way. In this paper, we propose a real-time system that uses an RGB-D camera as the sole sensor to localize the mobile robot and to build a 3D map simultaneously. We evaluated the performance of the proposed system through the datasets and the mobile robot platform. We also compared the proposed system to the FOVIS system. The results show that the proposed system can process at a rate of 25 fps on a CPU core of the command laptop without GPU support while the accuracy is better then 4 cm.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132972624","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
Hall sensor array for measuring displacement of a 2D magnet array 用于测量二维磁体阵列位移的霍尔传感器阵列
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734170
H. Ahn, Kyoung-Rock Kim
{"title":"Hall sensor array for measuring displacement of a 2D magnet array","authors":"H. Ahn, Kyoung-Rock Kim","doi":"10.1109/CACS.2013.6734170","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734170","url":null,"abstract":"There are numerous cases where sensing signal is corrupted by harmonic components or a desired harmonic component is hidden in other harmonic signals. Therefore, various studies have been done in filtering or estimation algorithm to filter or extract harmonic signal. This paper presents sensor array for filtering of harmonic signals. First, 1D sensor array is introduced to filter n harmonic components. Then, 1D array is extended to 2D sensor array to filter out 2D harmonic signals. Finally, hall sensor array is built to measure displacement of a 2D magnet array and its performance is verified with experiments.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129006170","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
Port placement selection in minimally invasive surgery 微创手术中端口位置的选择
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734121
Tsung-Chih Chen, M. Ho, Yung-Yaw Chen
{"title":"Port placement selection in minimally invasive surgery","authors":"Tsung-Chih Chen, M. Ho, Yung-Yaw Chen","doi":"10.1109/CACS.2013.6734121","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734121","url":null,"abstract":"Minimal invasive surgery (MIS) has developed for almost two decades. Due to it causes smaller scaMrs, lower blood loss, shorter hospital stay, and lower morbidity rates. Nowadays, open surgery is gradually replaced by MIS, which is mainly applied to cholecystectomy, splenectomy, nephrectomy, and hepatectomy. The purpose in the research is to arrange the port placement and instruments location by considering the three-dimensional abdominal model, the biomedical limitation, and the fluency of surgery. For instrument operation, two angles is considered in, and “weighting” is taken into consideration. In addition, this research develops an information integration and treatment planning for minimally invasive surgical system, and verifies its accuracy and stability by in-vivo experiments. The achievement of the paper will provide more sufficient information of anatomy in MIS. With enhancing the instruments' degree of freedom and force feedback, MIS will be simpler. Thus the safety and the therapeutic effect in MIS will be enhanced.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116758836","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
GTM with latent variable dependent length-scale and variance 潜在变量依赖长度尺度和方差的GTM
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734192
Nobuhiko Yamaguchi
{"title":"GTM with latent variable dependent length-scale and variance","authors":"Nobuhiko Yamaguchi","doi":"10.1109/CACS.2013.6734192","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734192","url":null,"abstract":"Generative Topographic Mapping (GTM) is a data visualization technique that uses a nonlinear topographically preserving mapping from latent to data space. Conventional GTM models can be interpreted as a probabilistic model using Gaussian process prior, and therefore the choice of covariance function in the Gaussian process prior has an important effect on the performance. However the conventional GTM models use a covariance function with a constant length-scale for the whole latent space, and therefore fail to adapt to variable smoothness in the nonlinear topographically preserving mapping. In this paper, we propose GTM with latent variable dependent length-scale (GTM-LDLV), which can adjust the smoothness in local areas of the latent space individually.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115191233","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
Design of inverse kinematics IP for a six-axis articulated manipulator 六轴关节式机械臂逆运动学IP设计
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734150
Y. Kung, Ming-Kuang Wu, Bui Thi Hai Linh, Tz-Han Jung, S. Lee, Wen-Chuan Chen
{"title":"Design of inverse kinematics IP for a six-axis articulated manipulator","authors":"Y. Kung, Ming-Kuang Wu, Bui Thi Hai Linh, Tz-Han Jung, S. Lee, Wen-Chuan Chen","doi":"10.1109/CACS.2013.6734150","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734150","url":null,"abstract":"An inverse kinematics IP (Intellectual Property) for six-axis articulated manipulator is investigated in this paper. Firstly, the formulation of the inverse kinematics for six-axis articulated manipulator is derived. Secondly, the computation algorithm and its hardware implementation of some key trigonometric functions are described. Thirdly, the IP design of inverse kinematics is illustrated and VHDL (Very high speed IC Hardware Description Language) is used to describe the overall behavior of the proposed IP. Additionally, VHDL code will apply the parameterized function to increase the code flexibility and the FSM (Finite state machine) is used to reduce the hardware resource usage. Finally, to verify the correctness of the proposed inverse kinematics IP, a co-simulation work is constructed by ModelSim and Simulink. The inverse kinematics hardware IP is run by ModelSim and Simulink models is taken as a test bench that generates stimulus to ModelSim and display the output response. Under this design, computing the inverse kinematics algorithm can be completed within several micro-second.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114702235","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
A new type reduction method for type-2 fuzzy logic controller 二类模糊控制器的一种新型约简方法
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734156
Tzyy-Chyang Lu, Shyh‐Leh Chen
{"title":"A new type reduction method for type-2 fuzzy logic controller","authors":"Tzyy-Chyang Lu, Shyh‐Leh Chen","doi":"10.1109/CACS.2013.6734156","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734156","url":null,"abstract":"In interval type-2 fuzzy logic systems (IT2-FLSs), the inference engine outputs are type-2 fuzzy sets, and type reduction (TR) is needed to convert them into a type reduced set. Recently, researchers have proposed many efficient TR algorithms to find the boundary of the type reduced set, but they don't have an effective scheme to obtain the defuzzified crisp output. In this paper, we propose an optimal TR method, which searches the optimal point from the type reduced set as a defuzzified output. In order to demonstrate the effectiveness and superiority of the proposed method, simulations and comparisons are given. Simulation results show that the designed interval type-2 fuzzy logic controller (IT2-FLC) can smoothly achieve backing up control of the mobile robot from all initial positions.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126922074","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
Design and implementation for USV based on fuzzy control 基于模糊控制的无人潜航器设计与实现
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734158
Chiung-Hsing Chen, Guan-Yu Chen, Jwu-Jenq Chen
{"title":"Design and implementation for USV based on fuzzy control","authors":"Chiung-Hsing Chen, Guan-Yu Chen, Jwu-Jenq Chen","doi":"10.1109/CACS.2013.6734158","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734158","url":null,"abstract":"In recent years, based on the rising of global personal safety demand and human resource cost considerations, development of unmanned vehicles to replace manpower requirement to perform high-risk operations are increasing. In order to acquire useful resources under the marine environment, a large boat as an unmanned surface vehicle (USV) was implemented. The USV is equipped with automatic navigation features and a complete substitute artificial manipulation. This USV system for exploring the marine environment has more carrying capacity and that measurement system can also be self-designed through a modular approach in accordance with the needs for various types of environmental conditions. The investigation work becomes more flexible. A catamaran hull is adopted as automatic navigation test with CompactRIO embedded system. Through GPS and direction sensor not only can know the current location of the boat, but also can calculate the distance with a predetermined position and the angle difference immediately. In this paper, the design of automatic navigation is calculated in accordance with fuzzy algorithms. Fuzzy control is applied to adjust required power and steering, which allows the hull can move straight forward to a predetermined target position. The route will be free from outside influence and realize automatic navigation purpose.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121344684","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: 6
Buck DC-DC converter design and experimental validation by time delay control Buck DC-DC变换器的设计及延时控制实验验证
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734190
Ya-Xiong Wang, D. Xuan, Duck-Hyun Yu, Young‐Bae Kim
{"title":"Buck DC-DC converter design and experimental validation by time delay control","authors":"Ya-Xiong Wang, D. Xuan, Duck-Hyun Yu, Young‐Bae Kim","doi":"10.1109/CACS.2013.6734190","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734190","url":null,"abstract":"This paper presents a novel control approach based on time delay concept for buck DC-DC converter control and implementation. Time delay control is effective and useful for the voltage tracking of the buck DC-DC converter that exhibits inherent state variable variations under disturbance. To prove the voltage tracking performance improvement of the proposed method, a conventional model predictive control (MPC) is used and compared. MATLAB/Simulink models are constructed to simulate the efficiency of the controllers by comparing the system performance criteria under different operating points. Finally, experimental validations are performed and compared on the same platforms and working conditions.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121966897","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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