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2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)最新文献

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Improved Fault Tolerant Control of a Redundant Actuation System Provided with Dual Stator Six Phases BLDC Motor for Autonomous Driving Applications 基于双定子六相无刷直流电机的自动驾驶冗余驱动系统容错控制
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540751
N. Irimia, F. Lazar, M. Luchian, Alexandru Ipatiov
{"title":"Improved Fault Tolerant Control of a Redundant Actuation System Provided with Dual Stator Six Phases BLDC Motor for Autonomous Driving Applications","authors":"N. Irimia, F. Lazar, M. Luchian, Alexandru Ipatiov","doi":"10.1109/ICSTCC.2018.8540751","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540751","url":null,"abstract":"Current trends in the automotive industry are increasingly focusing on the concept of autonomous/ automated driving. At the heart of this concept is the need to provide new solutions dedicated to increase safety in operation, reduce the risk of accidents and make automotive systems more efficient. To meet these criteria, the new systems need to be as reliable as possible, provide complete full-time assistance and be also able to provide partial assistance in case of fault (1 FIT - Failure in Time). To this is added the requirement for reduced energy consumption, which implies higher efficiency of the considered systems. The paper presents a theoretical study doubled by a simulation analysis of some efficient strategies for controlling a redundant actuation system, which is viable both in normal and fault mode operation. In order to provide a high level of redundancy in both hardware and software, this concept implies the use of two independent control systems that provide command to two B6 bridge inverters and feeds the phases of a dual stator brushless direct current (BLDC) motor. The proposed system can be successfully integrated both in the electric power steering and braking systems of today's modern vehicles, as well as in autonomous driving platforms. To obtain a reliable and realistic BLDC motor model, the mathematical analysis was matched to a specific model design obtained in FEA (Finite Element Analysis). In order to validate the presented theoretical aspects, this study is followed by the implementation of the equivalent mathematical models in MATLAB / Simulink simulation environment.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122826794","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
Programming design and object-oriented development paradigms of an Android-based distributed social game system 基于android的分布式社交游戏系统的编程设计与面向对象开发范例
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540716
S. Sbîrna, L. Sbîrnă
{"title":"Programming design and object-oriented development paradigms of an Android-based distributed social game system","authors":"S. Sbîrna, L. Sbîrnă","doi":"10.1109/ICSTCC.2018.8540716","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540716","url":null,"abstract":"The present work demonstrates the mechanisms, programming design choices and paradigms of developing an Android-backed online turn-based social game application. Each step of theprogramming process is detailed, and the underlying implemented concepts and reasonings for the different modules are explained using the Model – View – Controller architectural pattern. Software engineering design choices are compared and exemplified at each stage of the development phases, givingsuggestions for improving the logic behind such a distributed service. This paper also shortly presents insights on the usage of an online cloud database (Firebase, from Google) in order to handle player data in real-time using JSON format.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"416 1-2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131573543","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 of a CAN-USB Interface for Networked Embedded Systems 网络嵌入式系统CAN-USB接口的设计与实现
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540737
Constantin Abaceoae, M. Postolache
{"title":"Design and Implementation of a CAN-USB Interface for Networked Embedded Systems","authors":"Constantin Abaceoae, M. Postolache","doi":"10.1109/ICSTCC.2018.8540737","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540737","url":null,"abstract":"Controller Area Network (CAN) is the most used protocol for intra-vehicle communication between Electronic Control Units (ECUs) for decades. Moreover, there are several implementations of industrial networks built on top of CAN, (i.e. CANopen and DeviceNet) that expanded even more its area of application to almost any industrial automation field. The growing needs for data in today’s modern and safe applications led to CAN Flexible Data Rate (CAN FD) in order to increase the network throughput and pushed the data field of the CAN frames beyond the 1Mbps limit of the high speed CAN chips. A low cost CAN-USB interface application for dual CAN bus network monitoring, diagnose and maintenance is proposed which can be easily ported on any member of the ARM Cortex-M microcontroller family with built-in CAN or CAN-FD communication.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121783521","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 Active Disturbance Rejection Control for Single-Link Flexible Joint Robot Manipulator 单连杆柔性关节机器人自抗扰控制设计
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540652
Amjad J. Humaidi, H. M. Badr, A. Ajil
{"title":"Design of Active Disturbance Rejection Control for Single-Link Flexible Joint Robot Manipulator","authors":"Amjad J. Humaidi, H. M. Badr, A. Ajil","doi":"10.1109/ICSTCC.2018.8540652","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540652","url":null,"abstract":"This work presents the design of active disturbance rejection control (ADRC) strategy to position control of a single-Iink flexible joint robot manipulator. Two schemes of ADRC are presented, Linear Active Disturbance Rejection Controller (LADRC) and Nonlinear Active Disturbance Rejection Controller (NADRC). A comparison study in terms of transient performances, robustness characteristics and disturbance rejection capabilities has been made based on LADRC and NADRC. The robustness of both controllers is evaluated by measuring the amount of deviation in system performance due to uncertainty in system parameters, One issue with NADRC and LADRC is they include various parameters and unless they are properly tuned, will have an adverse effect on the estimation process and in turn, on the system performance. The particle swarm technique (PSO) has been selected as an optimal tuner to improve the estimation process and thereby, to enhance the system performance.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116508034","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: 22
Model-Based Optimization of an Anaerobic Digestion Process 厌氧消化过程的模型优化
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540673
Larisa Condrachi, E. Ceanga, L. Georgescu, G. Murariu, R. Vilanova, M. Barbu
{"title":"Model-Based Optimization of an Anaerobic Digestion Process","authors":"Larisa Condrachi, E. Ceanga, L. Georgescu, G. Murariu, R. Vilanova, M. Barbu","doi":"10.1109/ICSTCC.2018.8540673","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540673","url":null,"abstract":"This paper deals with the optimization of an anaerobic digestion process considering aspects regarding both the economic benefit, expressed through the biogas production, as well as environmental issues, expressed through the quality of the discharged water. The adopted method involves determining the optimal regimes characteristics obtained based on a mathematical model. The optimal set point of the water quality loop, expressed by the Chemical Oxygen Demand, is computed as a function of the influent substrate concentration. The water quality loop includes a robust control solution based on the Quantitative Feedback Theory, thus incorporating the parametric uncertainties that affects this type of processes.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133234250","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
Cascade Control Solutions for Maglev Systems 磁悬浮系统的级联控制解决方案
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540726
Elena-Lorena Hedrea, R. Precup, Claudia-Adina Bojan-Dragos, Raul-Cristian Roman, Oana Tanasoiu, Marius Marinescu
{"title":"Cascade Control Solutions for Maglev Systems","authors":"Elena-Lorena Hedrea, R. Precup, Claudia-Adina Bojan-Dragos, Raul-Cristian Roman, Oana Tanasoiu, Marius Marinescu","doi":"10.1109/ICSTCC.2018.8540726","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540726","url":null,"abstract":"In this paper a cascade control system (CCS) structure made of a combination of tensor product (TP)-based model transformation and of fuzzy control is designed for the position control of the magnetic Ievitation (Maglev) laboratory equipment. The linearized Maglev system model was first stabilized using two control method: a state-feedback control structure (SF-CS) and a Proportional-Integral-state feedback control structure (PISF-CS). A comparative study of these state-feedback CSs is also included. A parallel distributed compensation technique (PDC) is used in the TP-based design of the inner state feedback control loops which was next simplified by simple least squares identification algorithms. In the next step the Takagi-Sugeno (TS) fuzzy controller is designed in the outer control loops using the modulus optimum method and the modal equivalence principle. A comparative analysis and experimental results are given to validate the efficiency of the proposed CCS structure.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133290327","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
Comparison between different control strategies for estimation purposes using Control-based Observer paradigm 基于控制的观测器模型用于估计的不同控制策略的比较
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540727
A. Popescu, G. Besançon, A. Voda
{"title":"Comparison between different control strategies for estimation purposes using Control-based Observer paradigm","authors":"A. Popescu, G. Besançon, A. Voda","doi":"10.1109/ICSTCC.2018.8540727","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540727","url":null,"abstract":"This paper presents a comparison between different control strategies used for estimation purposes for systems with unknown inputs in the recently proposed Control-based Observer approach. In particular, several robust state and unknown inputs observers are derived using classical controllers such as Proportional or Proportional Integral, Linear Quadratic Regulator or Linear Quadratic Integrator and H∞ Full information. They are also compared with criteria such as the quality of the estimation, the speed of the observers, the robustness against the noise and the complexity of the observers. Simulation results are provided to better highlight the comparison.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"210 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133941323","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
Numerically Robust SVD-based Kalman Filter Implementations 基于svd的数值鲁棒卡尔曼滤波实现
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540648
M. V. Kulikova
{"title":"Numerically Robust SVD-based Kalman Filter Implementations","authors":"M. V. Kulikova","doi":"10.1109/ICSTCC.2018.8540648","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540648","url":null,"abstract":"The so-called factored-form Kalman filter (KF) implementations are designed to deal with the problem of numerical instability of the conventional KF. They include Cholesky factorization-based, UD-based and singular value decomposition (SVD) algorithms. The SVD-based estimators are the most recent developments in this realm. They were shown to be more robust with respect to roundoff than the classical KF implementation and the previously derived factored-form methods. This paper discusses further improvements in estimation accuracy and numerical robustness of the recently proposed SVD-based estimators.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121882242","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
Stable hovering architecture for nanoquadcopter applications in indoor environments 纳米四轴飞行器在室内环境中的稳定悬停结构
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540759
Sofia Hustiu, M. Lupascu, S. Popescu, A. Burlacu, M. Kloetzer
{"title":"Stable hovering architecture for nanoquadcopter applications in indoor environments","authors":"Sofia Hustiu, M. Lupascu, S. Popescu, A. Burlacu, M. Kloetzer","doi":"10.1109/ICSTCC.2018.8540759","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540759","url":null,"abstract":"This research aims at designing a stable hovering architecture for small size quadcopters in indoor environments. The chosen system is a Crazyflie 2.0 nanoquadcopter. First, using the Newton-Euler equations, the dynamic nonlinear model is built. This model allows for simulations and feedback controller design. Second, a 3D indoor environment was created for real-time applications. A Kinect Sensor is considered for real time position measurements, at the same time with obtaining orientations from the gyroscope of the Crazyflie. For practical implementation, a combination between Python and Matlab facilities was considered. The first prototype of the proposed architecture was evaluated for different scenarios and the experimental results are detailed and commented.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124266272","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
Advanced Processing Techniques for Detection and Classification of Skin Lesions 皮肤病变检测与分类的先进处理技术
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540732
Şerban-Radu-Ştefan Jianu, L. Ichim, D. Popescu, Oana Chenaru
{"title":"Advanced Processing Techniques for Detection and Classification of Skin Lesions","authors":"Şerban-Radu-Ştefan Jianu, L. Ichim, D. Popescu, Oana Chenaru","doi":"10.1109/ICSTCC.2018.8540732","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540732","url":null,"abstract":"The paper presents how the skin cancer in forms of melanoma can be identified based on the digital image processing of the Iesion. The solution is based on the extraction of seven features (deterministic and statistic type) from the image of a skin lesion: perimeter, area, diameter, fractal dimension, lacunarity, histogram of oriented gradients, and local binary patterns. Each feature has attached a specific classifier and the diagnosis is obtained by using a voting scheme in the final classifier. The experimental results on a free database demonstrate that the method provides a high accuracy.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125445230","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
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