发布求助
文献互助 智能选刊 最新文献

2020 International Automatic Control Conference (CACS)最新文献

筛选
英文 中文
Signal-based and Model-based Wheel Fault Detection of Omni-directional Vehicle with Mecanum Wheel 基于信号和模型的全向机动车轮车轮故障检测
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289703
P. I. Chang, Chih-Cheng Liu, Shih-Chieh Fan Chiang, C. Lan
{"title":"Signal-based and Model-based Wheel Fault Detection of Omni-directional Vehicle with Mecanum Wheel","authors":"P. I. Chang, Chih-Cheng Liu, Shih-Chieh Fan Chiang, C. Lan","doi":"10.1109/CACS50047.2020.9289703","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289703","url":null,"abstract":"This paper uses an omni-directional four-wheel Mecanum vehicle to study the model-based and signal-based wheel fault behavior. In order to identify and detect the actual experiment where a wheel rotation is disabled manually. The two methods discussed approached this detection problem with or without a system model. Both methods use vibrational signal placed at different positions of the vehicle while the signal based identifies frequency shift at fault scenarios and the model-based method estimates the viscous effect coefficient through a simple on-line with the vibrational signals. The feasibility of the two methods through simulation and experiment as well as verify the proposed hypothesis.","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":"131049825","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
Observer-based Approximate Feedback Linearization with Quasi α-degree LQG Controller for Pseudolinear Systems 伪线性系统基于观测器的近似反馈线性化与拟α度LQG控制器
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289742
Bin-Yih Juang
{"title":"Observer-based Approximate Feedback Linearization with Quasi α-degree LQG Controller for Pseudolinear Systems","authors":"Bin-Yih Juang","doi":"10.1109/CACS50047.2020.9289742","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289742","url":null,"abstract":"This paper describes an observer-based approximate feedback linearization (AFL) process with a quasi -degree linear–quadratic–Gaussian (quasi -degree LQG) controller for perturbed pseudolinear systems; the systems can be fully linearized by using feedback. The AFL method is based on an exact feedback linearization (EFL) method. A quasi similarity transformation (QST) relationship exists between the two methods. The present study proposes a quasi -degree LQG controller, which includes a quasi -degree LQR type controller and a -degree LQR type observer. Following the separation principle, we designed a quasi -degree LQG controller with an observer system that responds more quickly than the control system. The quasi -degree LQG controller, which uses observer state feedback and output feedback, was introduced to stabilize the pseudolinear systems. A Luenberger-like nonlinear observer was adopted to estimate state variables. The simulation results demonstrated that this control scheme is feasible. Furthermore, the results of this study corroborate previous research results and confirm the QST relationship between AFL and EFL.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"44 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":"126850570","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
Vehicle Velocity and Road Friction Coefficient Estimation for Anti-lock Braking System 防抱死制动系统的车速和路面摩擦系数估算
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289783
Jia-Le Wei
{"title":"Vehicle Velocity and Road Friction Coefficient Estimation for Anti-lock Braking System","authors":"Jia-Le Wei","doi":"10.1109/CACS50047.2020.9289783","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289783","url":null,"abstract":"Many studies take the slip as the major input for anti-lock braking system (ABS) controller. However, slip can only be calculated by vehicle velocity and wheel speed. The vehicle velocity cannot be measured by low cost sensors. In this paper, a vehicle velocity estimation and a friction coefficient estimation methods are proposed. The vehicle velocity estimation just requires wheel speed, wheel deceleration, brake pedal flag, and ABS enable flag. During the estimation, the friction of the road can also be obtained. The methods have been applied to real car ABS test data. There are four different road surface conditions including uniform low friction ($mu$), high $mu$, and $mu$ jump from both low to high and the opposite. According to the results, the deviation between estimated velocity and the ground truth is at maximum 1.57 m/s on $mu$ jump road surface which is from high $mu$ to low $mu$. As for other road surfaces, it provides more accurate outcome. The corresponding estimation of friction coefficient is close to reality. Moreover, the results show that the transition of road condition can be detected quickly. The proposed methods are proved effective for velocity estimation and friction coefficient estimation, which are beneficial for ABS control.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"40 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":"117257108","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
Action Detection and Anomaly Analysis Visual System using Deep Learning for Robots in Pandemic Situation 基于深度学习的大流行机器人动作检测与异常分析视觉系统
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289819
Chia-Ling Chung, Ding-Bang Chen, H. Samani
{"title":"Action Detection and Anomaly Analysis Visual System using Deep Learning for Robots in Pandemic Situation","authors":"Chia-Ling Chung, Ding-Bang Chen, H. Samani","doi":"10.1109/CACS50047.2020.9289819","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289819","url":null,"abstract":"In this paper a visual system equipped with state of the art in Deep Learning is presented which could be employed in the robotics platforms for the pandemic situation where human – human contact needs to be limited in order to perform various detection and anomaly analysis tasks. The developed detection and anomaly analysis system deals with human and environmental hazards and disasters especially for pandemic prevention. The system could detect whether the person of interest is wearing mask or not, social distancing is followed, person or environment are in normal condition for example if a window is open to keep ventilation in a closed environment. This research is a part of our project to develop a specific robot for pandemics to use advanced in artificial intelligence to make systems which could keep us safe and healthy.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"28 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":"114739865","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
Trajectory-Tracking Control Considering Obstacle Avoidance by using Control Barrier Function 基于控制障碍函数的避障轨迹跟踪控制
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289780
Syunsuke Fukuda, Yasuyuki Satoh, O. Sakata
{"title":"Trajectory-Tracking Control Considering Obstacle Avoidance by using Control Barrier Function","authors":"Syunsuke Fukuda, Yasuyuki Satoh, O. Sakata","doi":"10.1109/CACS50047.2020.9289780","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289780","url":null,"abstract":"In recent years, control barrier functions (CBFs) have been used in the investigation of obstacle avoidance control problems for moving objects. Among them, the relaxed control barrier function (relaxed CBF) is easy to design, and has been applied to human assist control problems. In this study, the relaxed CBF was applied to the trajectory tracking control of nonlinear systems. A convex optimization-based controller design method is proposed to achieve both trajectory tracking and obstacle avoidance. The effectiveness of the proposed controller is demonstrated by the results obtained from the computer simulation of a two-wheel mobile robot.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"5 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":"127014042","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
A Vision-Based Pathfinder using MOEA with Low-Cost Gene Encoding for Navigating a Mobile Robot 基于MOEA和低成本基因编码的视觉探路者导航移动机器人
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289707
W. C. Wang, C. Y. Ng, R. Chen
{"title":"A Vision-Based Pathfinder using MOEA with Low-Cost Gene Encoding for Navigating a Mobile Robot","authors":"W. C. Wang, C. Y. Ng, R. Chen","doi":"10.1109/CACS50047.2020.9289707","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289707","url":null,"abstract":"The pathfinding is generally regarded as a multi-objective optimization problem that simultaneously optimizes the shortest path and the least collision-free distance to obstacles. This work develops an MOEA-based algorithm of pathfinding to navigate a mobile robot to avoid the obstacles in a given finite environment. A grid-based method is also introduced for mapping of the environment to efficiently encode the robot’s position to be chromosomes. The hardware architecture is built by a mobile robot and its working environment, as well as the Aruco system and a computer running the algorithms of pathfinding and image processing. Both simulations and experimental results are presented to verify the feasibility of the proposed method. In applications, this work can be employed in a commercial ball collecting or object-carrying robot.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"107 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":"124125221","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
Intelligent Manufacturing Monitoring and Surface Roughness Prediction System – A Case Study of Aluminum Parts Milling 智能制造监测与表面粗糙度预测系统——以铝件铣削加工为例
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289771
Po-Yang Chen, Ya-Wen Hsu, Ming-Chan Lee, J. Perng
{"title":"Intelligent Manufacturing Monitoring and Surface Roughness Prediction System – A Case Study of Aluminum Parts Milling","authors":"Po-Yang Chen, Ya-Wen Hsu, Ming-Chan Lee, J. Perng","doi":"10.1109/CACS50047.2020.9289771","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289771","url":null,"abstract":"The aim of this study is to create an economical automatic machining system to predict surface roughness during processing, which is an important quality criterion. Complex network accelerators and software acceleration are used to achieve real-time calculations. When the expected results are not obtained, the turning tool is changed or processing is halted. The system can maximize the processing efficiency. In this study, a deep neural network is used to predict the roughness of the plane, and sensors are installed at different positions to study the effects of different positions and numbers on accuracy. The accuracy obtained is 92.3%.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"42 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":"123726219","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
Human Interface and Control of a Robotic Endoscope Holder Based on an AR Approach 基于AR技术的机器人内窥镜支架人机界面与控制
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289835
Jyun-Yi Kuo, K. Song
{"title":"Human Interface and Control of a Robotic Endoscope Holder Based on an AR Approach","authors":"Jyun-Yi Kuo, K. Song","doi":"10.1109/CACS50047.2020.9289835","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289835","url":null,"abstract":"This paper proposes an augmented reality (AR) system that facilitates surgeons to operate a robotic endoscope holder more intuitively. Through the use of an AR glasses, a surgeon can observe the endoscope view and at the same time perceive the condition of the operation instead of completely isolating from the real world, and thus also increase safety. Further, in this robotic endoscope control system, a surgeon can directly use his/her head movement to control the endoscopic view. Since the head-control approach cannot directly handle the depth of the endoscope, we propose a depth control scheme based on instrument identification. In order that the automatic depth adjustment will not interfere with the MIS operation, the system will first determine whether the surgeon is performing the operation or not. The depth control of the endoscope is allowed to work only when the surgeon is not performing the surgical instrument movement. Practical experiments using a HIWIN 6DOD robotic arm and Epson BT300 AR glasses show that the user can effectively control the movement of the endoscope to complete a tracking task of the surgical instrument.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"39 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":"116625895","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
Double Fuzzy Pitch Controller of Wind Turbine Designed by Genetic Algorithm 基于遗传算法的风力发电机双模糊俯仰控制器设计
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289749
Shiguang Zheng, Cheng-Kuo Chang, Jeng-Shyang Pan
{"title":"Double Fuzzy Pitch Controller of Wind Turbine Designed by Genetic Algorithm","authors":"Shiguang Zheng, Cheng-Kuo Chang, Jeng-Shyang Pan","doi":"10.1109/CACS50047.2020.9289749","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289749","url":null,"abstract":"This study took the pitch angle in the wind turbine as the control target. The performance of the fuzzy pitch angle controller has a strong correlation with its parameter tuning. The quality of the parameters tuning even determine whether the output converges. Analyzes the effect of parameters tuning on the output of the controller. In order to obtain better performance of the controller, this study introduced genetic algorithm (GA) to optimize the variable pitch system and the parameters of the main fuzzy controller are tuned online using the sub-fuzzy controller. According to the analysis of simulation results, the double fuzzy controller designed could deal with input signals of different pitch angles. Reduced the mechanical losses of blade starts.","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":"114954698","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
Deep-learning-based tracking-error prediction for two-axis machining 基于深度学习的两轴加工跟踪误差预测
2020 International Automatic Control Conference (CACS) Pub Date : 2020-11-04 DOI: 10.1109/CACS50047.2020.9289730
Wan-Ru Wu, Peng Chen
{"title":"Deep-learning-based tracking-error prediction for two-axis machining","authors":"Wan-Ru Wu, Peng Chen","doi":"10.1109/CACS50047.2020.9289730","DOIUrl":"https://doi.org/10.1109/CACS50047.2020.9289730","url":null,"abstract":"Developments in deep learning have led to artificial neural networks being widely used in various fields. This paper develops a deep-learning-based tracking-error predictor for two-axis machining. Randomly generated G-code commands are used for training and testing. The implementation strategies are evaluated to find a suitable configuration with improved prediction accuracy. The inference performance of different end-devices is also evaluated. For the tested trajectories, the experimental results show that the root mean square errors of the predicted tracking errors are 0.143 mm for the x-axis and 0.064 mm for the y-axis.","PeriodicalId":187797,"journal":{"name":"2020 International Automatic Control Conference (CACS)","volume":"57 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":"124578599","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信
小红书