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2020 International Automatic Control Conference (CACS)最新文献

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Haptic Based Robot Teaching Method for Wooden Furniture Polishing 基于触觉的木制家具抛光机器人教学方法
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289765
Hsien-I Lin, Y. R. Wahyudi
{"title":"Haptic Based Robot Teaching Method for Wooden Furniture Polishing","authors":"Hsien-I Lin, Y. R. Wahyudi","doi":"10.1109/CACS50047.2020.9289765","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289765","url":null,"abstract":"This paper presents a haptic based robot teaching tool for wooden furniture polishing. A haptic device is a manipulator that interacts with a wood master. The haptic senses the master’s skill movements and makes the master feel real to remotely polish wooden furniture. The proposed polishing system involves a haptic device, an interactive teaching software, and a 6-DOF industrial robotic arm. The main significant issue in a polishing task discussed in the paper is how to design a teaching system to generate a skillful trajectory for various wooden workpiece shapes. Thus, we proposed two methods for the teaching process: (1) point-to-point and (2) continuous modes. The workspace mapping is implemented to solve the coordinate transformation between the haptic and the FANUC M20-iA/35M industrial robotic arm. The experimental results show that the proposed method is used by the wood master to successfully perform the wood polishing task.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123136610","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
Quadrotor Attitude Control Using Special Orthogonal Matrix 基于特殊正交矩阵的四旋翼飞行器姿态控制
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289762
Tsung Chen, Jen-te Yu
{"title":"Quadrotor Attitude Control Using Special Orthogonal Matrix","authors":"Tsung Chen, Jen-te Yu","doi":"10.1109/CACS50047.2020.9289762","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289762","url":null,"abstract":"This paper studies the quadrotor attitude control problem. First, the drawbacks of traditional control methods are discussed. Following that is a brief review of SO(3) that is a framework based on which the attitude dynamics and kinematics can be defined globally by a special orthogonal matrix eliminating the drawbacks encountered by traditional methods. A controller based on Lyapunov function is presented whose effectiveness is verified by numerical simulations.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120983266","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
Estimation of Ground Reaction Forces Based on Knee Joint Acceleration of Lower-Limb Exoskeletons 基于下肢外骨骼膝关节加速度的地面反作用力估算
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289732
T. Hsiao, Kinglam Yip, Yun-Jen Chiu
{"title":"Estimation of Ground Reaction Forces Based on Knee Joint Acceleration of Lower-Limb Exoskeletons","authors":"T. Hsiao, Kinglam Yip, Yun-Jen Chiu","doi":"10.1109/CACS50047.2020.9289732","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289732","url":null,"abstract":"The distribution of ground reaction forces (GRFs) on the soles of a legged robot changes the location of center of pressure (CoP) or zero moment point (ZMP) during walking, which is crucial for maintaining dynamic stability of legged locomotion. In addition, many lower-limb exoskeletons use GRF to detect different phases in a gait cycle as well as the walking intention of the wearer. Therefore, many legged robots and exoskeletons install force or pressure sensors on the feet to measure GRF. However, frequent contact with the ground tends to damage the sensors on the feet, reducing reliability and durability of the robot. In this paper, we propose an on-line GRF estimation method based on knee joint acceleration. We analyze the experimental data and identify features in the knee joint acceleration that are highly correlated to GRF. A linear dynamic model is used to fit experimental data and generate GRF estimates. Then by searching for the desired features in the knee joint acceleration and applying the linear dynamic model, we can online estimate GRF with reasonable accuracy. Consequently, force or pressure sensors on the feet of a robot are no longer required, and reliability of the robotic system can be improved.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127249568","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
Decision And Behavior Planning For a Self-driving Vehicle At Unsignalized Intersections 无信号交叉口自动驾驶车辆的决策与行为规划
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289738
Wei-Jen Wang
{"title":"Decision And Behavior Planning For a Self-driving Vehicle At Unsignalized Intersections","authors":"Wei-Jen Wang","doi":"10.1109/CACS50047.2020.9289738","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289738","url":null,"abstract":"When a self-driving vehicle has to pass through complicated unsignalized intersections, it is important to decide whether yield the right-of-way to a target vehicle or not and continuously plan a speed in order to sure everything goes safely and efficiently. This paper proposes a series of formulas to calculate suitable speed to cross an unsignalized intersection. It uses the map library built from the real roads and then creates the same scene in the simulation software. It tests the reaction of the self-driving vehicle in the scenario by driving the target vehicle with human in the simulation software. Decisions at unsignalized intersections need to estimate indicators of safety and efficiency, and how self-driving vehicles interact with human-driven vehicles is worth discussing.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122553405","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 Design for Remote Center of Motion Control Using a Software Computing Approach 基于软件计算方法的远程运动控制中心设计
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289804
Jyun-Yi Kuo, K. Song
{"title":"A Design for Remote Center of Motion Control Using a Software Computing Approach","authors":"Jyun-Yi Kuo, K. Song","doi":"10.1109/CACS50047.2020.9289804","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289804","url":null,"abstract":"The remote center of motion (RCM) control allows the surgical tools to keep rotating around the trocar insertion point of minimally invasive surgery (MIS) during the robot-assisted movement. In this paper, we propose a method to achieve RCM control for a general 6-DOF industrial manipulator to through software programming. This method can be employed by any robotic manipulator to obtain the coordinate transform of the tool center point (TCP) of the manipulator according to a simple RCM formula. The respective inverse kinematics of the manipulator calculate the joint commands of the manipulator to complete the RCM control. The RCM algorithm has been implemented on the 6-DOF HIWIN RA605 robot. The experimental result show that the average error of RCM point is 0. 08mm, and the trajectory tracking error is about 0. 92mm.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114463446","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
Multiobjective Optimal Control: Algorithms, Approaches and Advice for the Application 多目标最优控制:算法、方法和应用建议
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289751
A. Gambier
{"title":"Multiobjective Optimal Control: Algorithms, Approaches and Advice for the Application","authors":"A. Gambier","doi":"10.1109/CACS50047.2020.9289751","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289751","url":null,"abstract":"The advanced control system design is turning more and more complex and, sophisticated optimization techniques become essential in order to satisfy such high requirements. In particular, multi-objective optimal (MOO) control is nowadays a way to reach a control system that conciliates at the same time several design objectives that sometimes could be contradictories. In the past ten years, numerous advances can be observed in the field of multi-objective optimization. Many optimization algorithms with high complexity are now available in order to solve different kind of optimization problems. The use of such approaches is not simple. Thus, the main contribution of this work is study of old and new MOO algorithms from the control point of view providing practical experience and design hints. A numerical study by using the pitch control system design of a wind turbine is included.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122125012","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
The benefit of Simulation Test Application on the Development of Autonomous Driving System 仿真测试应用对自动驾驶系统开发的益处
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289717
Chien-Hung Yu, Yi-Zhao Chen, I-chun Kuo
{"title":"The benefit of Simulation Test Application on the Development of Autonomous Driving System","authors":"Chien-Hung Yu, Yi-Zhao Chen, I-chun Kuo","doi":"10.1109/CACS50047.2020.9289717","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289717","url":null,"abstract":"Advanced Driving Assistance System (ADAS) & Autonomous Driving System (ADS) are promptly developed as the demands on intelligent & secure transportation rise. For the mentioned system to get complex, the way to verify the function and evaluate the performance of it requires rigorous and comprehensive arrangement on test scenario settings. Meanwhile, the cost to build up the mentioned tests and the risks that the test personnel take may reach a new level if applying real car tests.To deal with these mentioned issues, the X-in-the-Loop(XiL) simulation test is adopted. In this paper, the benefit to apply simulation tests for ADS development will be introduced through the discussion about driving simulator appliance and test scenario construction. An ADS equipped with path following system and Automated Emergency Braking (AEB) system is set as a sample to be tested in the settled XiL to determine its efficacy of driving safety. According to the results, the requirements of ADS Development are met quite well - The system functionality is determined through each proposed tests. The cost of test equipment and hazards during the tests can thus be reduced.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129491853","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
Philosophy of FIRST® FIRST®理念
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289739
Kevin Kim, Shannon Cheng, Adam Rohrer, Nik Kohil, Arun Kamath, Krishna Suresh, Chi-Hao Cheng
{"title":"Philosophy of FIRST®","authors":"Kevin Kim, Shannon Cheng, Adam Rohrer, Nik Kohil, Arun Kamath, Krishna Suresh, Chi-Hao Cheng","doi":"10.1109/CACS50047.2020.9289739","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289739","url":null,"abstract":"FIRST® is an international organization hosting robotics competitions globally. Introducing the core philosophy of FIRST, Sycamore High School Students utilize their own experiences as an example to demonstrate how students benefit from participation within the program.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114552906","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 Novel Biometric Method for Blurred Palm Vein Images 一种新的手掌静脉模糊图像生物识别方法
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289734
X. Tao, Bo Sun, Ji Li, Xiaonan Luo
{"title":"A Novel Biometric Method for Blurred Palm Vein Images","authors":"X. Tao, Bo Sun, Ji Li, Xiaonan Luo","doi":"10.1109/CACS50047.2020.9289734","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289734","url":null,"abstract":"This paper proposes a palm vein recognition system based on compressed sensing theory to solve the problem of blurred vein image recognition, and establishes a more accurate palm vein recognition system. This method is mainly composed of two parts: First, the compressed sensing is utilized to reconstruct the palm vein image extracted by the infrared sensor to obtain a clearer image than the original blurred image. Second, geometry-based method for processing palm vein images to extract image feature information easier. This paper solve the problems of blurred veins, difficult segmentation and feature information extraction in palm vein images. The accurate recognition experiment of palm vein images is conducted on the polyu database which processed by gaussian noise show that our method has advantages in accuracy compared to traditional palm vein recognition systems.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114855476","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 and Implementation of a Machine Visionbased Spraying Technique for Smart Farming 基于机器视觉的智能农业喷洒技术的设计与实现
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289789
Bo-Xuan Xie, Chia-Hui Wang, Jing-Yun Ke, Chung-Liang Chang
{"title":"Design and Implementation of a Machine Visionbased Spraying Technique for Smart Farming","authors":"Bo-Xuan Xie, Chia-Hui Wang, Jing-Yun Ke, Chung-Liang Chang","doi":"10.1109/CACS50047.2020.9289789","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289789","url":null,"abstract":"Unmanned and precise practice of field spraying is the future trend of crop cultivation and management. This research proposes a smart spraying system based on machine vision that can be used as a field spraying operation to reduce the amount of spraying. The system uses real-time image and feature recognition technology, which can detect plant leaves and surrounding areas eaten by insect pests for pesticide spraying operations. First, the camera is used to obtain the appearance image of the plant, and then the plant image is divided into three areas: upper, middle, and lower. The method of typology can be used to detect the area where the hole of the leaf is bitten by the pest. Once the system detects the hole, the spray device in the area will start spraying to achieve pest prevention. The system has been implemented on a mobile vehicle in the field. Experimental results show that this spray system can be used for crops with a growth height of less than 150 cm, and can independently spray crops of different heights, saving up to 66% of the pesticide.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"160 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132030062","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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