2016 Indian Control Conference (ICC)最新文献

Towards teleoperation-based interactive learning of robot kinematics using a mobile augmented reality interface on a tablet 利用平板电脑上的移动增强现实界面实现基于远程操作的机器人运动学交互学习

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441163

J. Frank, V. Kapila

{"title":"Towards teleoperation-based interactive learning of robot kinematics using a mobile augmented reality interface on a tablet","authors":"J. Frank, V. Kapila","doi":"10.1109/INDIANCC.2016.7441163","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441163","url":null,"abstract":"The integration of augmented reality (AR) techniques in user interface design has enhanced interactive experiences in teleoperation of robots, hands-on learning in classrooms, laboratory, and special education, and user training in an array of fields, e.g., aerospace, automotive, construction, manufacturing, medical, etc. However, AR-based user interfaces that command machines and tools have not been fully explored for their potential to enhance interactive learning of engineering concepts in the laboratory. This paper outlines the development of a mobile application executing on a tablet device, which renders an immersive AR-based graphical user interface to enable users to monitor, interact with, and control a four-link underactuated planar robot. Computer vision routines are used to extract real-time, vision-based measurements of the robot's joint angles and end effector location from the live video captured by the rear-facing camera on the tablet. The obtained measurements are used to render AR content to offer users with additional visual feedback. Touch gesture recognition is implemented to allow users to naturally and intuitively command the robot by tapping and dragging their fingers at desired locations on the tablet screen. Experimental results show the performance and efficacy of the proposed system as it is operated in two different modes: one in which the user has direct control over the angles of the actuated links of the robot and one in which the user has direct control over the end effector location.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132204243","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: 10

Disturbance observer for multivariate speed-dependent disturbance in DC motors 直流电动机多变量转速相关扰动观测器

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441113

Neeraj Matiyali, R. Potluri

引用次数: 2

Nonparametric analysis of the short-term electrical response of Li-ion battery cells 锂离子电池短期电响应的非参数分析

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441097

R. Relan, Y. Firouz, L. Vanbeylen, J. Timmermans, J. Schoukens

引用次数: 4

Sliding mode control of coupled tanks using conditional integrators 基于条件积分器的耦合油箱滑模控制

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441120

S. B. Prusty, S. Seshagiri, U. C. Pati, K. Mahapatra

{"title":"Sliding mode control of coupled tanks using conditional integrators","authors":"S. B. Prusty, S. Seshagiri, U. C. Pati, K. Mahapatra","doi":"10.1109/INDIANCC.2016.7441120","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441120","url":null,"abstract":"This paper is on set point regulation of the liquid level in coupled tanks, using continuous sliding mode control (SMC) with integral action. The integrator action occurs only conditionally inside the boundary layer. This \"conditional integrator\" (CI) design results in improved transient performance over conventional SMC with integral action. It also retains the robustness to uncertain system parameters and disturbances that ideal SMC exhibits, but without control chattering, which is important, because chattering can cause valve wear and tear. We consider two cases: (i) a SISO system with 2 tanks, and (ii) a MIMO system of quadruple tanks. Our controller happens to be a saturated PID controller with anti-windup structure in the SISO case, and 2 decentralized PI controllers in the MIMO case. This is of particular significance because while the application of nonlinear control strategies such as feedback linearization, adaptive/neural control and nonlinear model predictive control has reached considerable maturity for process systems, industrial practice has traditionally relied on PI/PID controllers. Simulation results show that good tracking performance is achieved, in spite of disturbances and unmodeled dynamics.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"593 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133134309","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: 11

Synchronization of nonlinear systems with dissipative nonlinearity over large-scale stochastic networks 大规模随机网络上具有耗散非线性的非线性系统的同步

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441128

Amit Diwadkar, U. Vaidya

引用次数: 1

Evaluation of control strategies for a semi batch copolymerization reactor 半间歇共聚反应器控制策略评价

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441177

R. Kamesh, P. Anand, K. Rani

{"title":"Evaluation of control strategies for a semi batch copolymerization reactor","authors":"R. Kamesh, P. Anand, K. Rani","doi":"10.1109/INDIANCC.2016.7441177","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441177","url":null,"abstract":"Polymerization processes are characterized by exothermic reactions with complicated nonlinear dynamics, especially in batch / semi-batch mode. The complexities of the polymerization kinetics and reactor behaviour pose difficult quality control problems. Therefore a control strategy that ensures an optimal as well as robust operation of polymerization reactors, under the influence of various disturbances control, is required to achieve the desired product specifications. It is extremely important to develop efficient methods for the synthesis of polymerization control strategies. In this work, the optimal target values of molecular weight and copolymer composition for a semi-batch styrene-acrylonitrile (SAN) copolymerization reactor are set as set point trajectories and are tracked by PI controllers. Two versions of PI control, namely two independent SISO controllers and multivariable PI controller are attempted in this study for control of molecular weight and copolymer composition using coolant temperature and inlet feeding flow rate as manipulated inputs. This approach overcomes the drawbacks of open loop optimal control implementation though handling of the effects of load disturbances as well as set point changes. The simulation results demonstrate the usability of this approach for online optimization and control.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124347733","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

Dimensionality reduction based IMC-PI tuning for DC servomotor 基于降维的直流伺服电机IMC-PI整定

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441175

Sahaj Saxena, Y. V. Hote

引用次数: 7

A linear discrete time controller for spacecraft attitude dynamics on Lie group 李群上航天器姿态动力学的线性离散时间控制器

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441123

K. Karthikeyan, H. Simha, H. Priyadarshan

引用次数: 2

Single-sample classification of breast cancer tumors using data-driven reference genes 利用数据驱动的参考基因对乳腺癌肿瘤进行单样本分类

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441098

Burook Misganaw, M. Vidyasagar

{"title":"Single-sample classification of breast cancer tumors using data-driven reference genes","authors":"Burook Misganaw, M. Vidyasagar","doi":"10.1109/INDIANCC.2016.7441098","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441098","url":null,"abstract":"Breast cancer is the most prevalent form of cancer to strike women. There are four major subtypes of breast cancer, and therapies are different for each of these subtypes. In particular, two of the four subtypes are grouped into so-called ER-positive (ER+) subtype and are treated with tamoxifen. Therefore an important first step in personalizing breast cancer therapy is to classify a patient into ER+ or ER- on the basis of the tumor. Due to so-called \"batch effect,\" measurements of gene expression levels of tumors vary from one instrument to the next, or even the same instrument from one day to another. In the present paper, we propose that reference genes should be chosen in a data-driven manner, to consist of those genes that show very little variation across tumors. Our choice of reference genes shows far less variation compared to genes proposed in the literature, known as \"housekeeping\" genes. Using our reference genes to normalize measurements, we trained a binary classifier to discriminate between ER+ and ER- patients using the TCGA Agilent database of 519 samples. This classifier was then tested, one sample at a time, on 759 other tumors and also on the original 519 samples but using a different platform (Affymetrix). The results are extremely satisfactory. Thus our paper is the first to present a method for classifying breast cancer tumors into ER+ and ER-, one tumor at a time, in the presence of the batch effect and platform variation.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130974631","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

Achieving a desired collective centroid by a formation of agents moving in a controllable force field 通过在可控力场中运动的代理形成所需的集体质心

2016 Indian Control Conference (ICC) Pub Date : 2016-03-28 DOI: 10.1109/INDIANCC.2016.7441126

Anoop Jain, Debasish Ghose, P. Menon

引用次数: 7