{"title":"Concept for Improved Automation of Distributed Systems with a Declarative Control based on OPC UA and REST","authors":"Erdal Tantik, R. Anderl","doi":"10.1109/ICCMA46720.2019.8988777","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988777","url":null,"abstract":"The main difference between conventional automation and current approaches of digitized industrial processes is the use of the Internet. The Internet enables the development of distributed systems consisting of loosely coupled and interacting components such as robots, plants and control software. The components are not permanently tied to each other, but rather dynamically combined according to the specific requirements of the target system. This results in highly flexible systems that are distributed globally and across company boundaries. The development, maintenance and modification of various components is decentralized and can therefore lead to incompatibilities that can impair their interoperability. This paper describes an approach for the interaction of control software, which ensures interoperability of components in distributed systems. The underlying principles of REST are used to automatically identify properties in the structural models of OPC UA and use them to determine the required processes for further invocation. This enables extensive modifications of the individual components without creating incompatibilities.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126399316","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}
Foeke Vanbecelaere, S. Derammelaere, J. Knockaert, K. Stockman, M. Monte
{"title":"Identification of Dynamic Systems with Position Dependent Load Parameters","authors":"Foeke Vanbecelaere, S. Derammelaere, J. Knockaert, K. Stockman, M. Monte","doi":"10.1109/ICCMA46720.2019.8988773","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988773","url":null,"abstract":"Cascaded control is still the most common and convenient structure in standard commercial drives. The most convenient tuning method is to apply calculation rules on an offline identified frequency response of the open-loop system. Obviously, this standard approach is only valid for linear time-invariant systems. However, the mechanical dynamics of modern machines very often depend on the angular position of the driven axis. Consequently, the system is time-variant and linearisation is needed to obtain an open-loop frequency response. In this paper, a system identification approach based on this linearisation is presented for dynamic systems with variable load torque and variable load inertia. The feasibility of this approach is validated with measurements on an industrial case.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128765471","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}
{"title":"Variable Stiffness and Damping Impedance Control with Disturbance Observer","authors":"Zhiqiang Ma, Gangqi Dong","doi":"10.1109/ICCMA46720.2019.8988686","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988686","url":null,"abstract":"This paper proposes a variable stiffness and damping impedance controller with a new closed-loop impedance architecture containing the negative power type stiffness and damping parameters. The sliding mode control technique is employed to construct an asymptotically stable reduced order system using PID sliding surface. The external disturbance is well considered, which easily propagate to the preset impedance architecture to degenerate the impedance performance. To address this problem, a disturbance observer is introduced into the control system to reduce the adverse effect by partially eliminating the disturbance. The proposed impedance architecture owns better transient performance compared with the trivial spring-damper impedance architecture, which is well illustrated by numerical results.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"379 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131769058","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}
{"title":"A Line Of Sight approach for Multi-agent SLAM","authors":"A. David, Oded Median, Shlomi Hacohen","doi":"10.1109/ICCMA46720.2019.8988707","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988707","url":null,"abstract":"This paper presents an algorithm for Simultaneous Localization and Mapping (SLAM) by a multi agent system, for the spatial and planar cases. At each time step the agents’ positions are calculated relative to a single or a set of landmarks. Alternatively, positions can be calculated relative to agents with known positions. Each pair of agents which are in a line-of-sight-position helps the mapping task by \"coloring\" a segment in the obstacle-free-workspace in addition to the agents’ trajectories. Here, unlike traditional SLAM, the localization procedure is independent to the mapping. We present simulation results for the SLAM and show the advantage of using multi agent system for such tasks. In addition, we exemplify our approach using low-cost-opticsensors, placed on an omni wheeled platform and show the positioning accuracy.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124309559","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}
{"title":"Improving Ride-Comfort of a Quarter-Car Model using Modal Control","authors":"C. U. Doğruer","doi":"10.1109/ICCMA46720.2019.8988621","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988621","url":null,"abstract":"In this paper, modal control was used to control the active suspension of a quarter-car model. Modal control can be designed to alter the dynamics of any mode of a system without disturbing the remaining modes. Therefore, in this study, modal control was used to alter the complex eigenvalue of the body-bounce mode of a quarter-car suspension model and thereby by optimizing a measure of the frequency response functions from road disturbance to sprung and unsprung mass displacements, the ride-comfort of a vehicle was improved. It has been shown that modal control can be used in a direct manner to change the dynamics of a vehicle suspension i.e. soft suspension, stiff suspension depending on the driver attitude that affects the vehicle stability and road conditions i.e. urban driving, off-road driving.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122914687","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}
{"title":"Mango Sorting Mechanical System Combines Image Processing","authors":"Nguyen Duc Thong, Nguyen Truong Thinh, Huynh Thanh Cong","doi":"10.1109/ICCMA46720.2019.8988714","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988714","url":null,"abstract":"The work of sorting and packing commercial mangoes requires a lot of labor and the methods used by farmers and distributors to classify commercial mangoes are through traditional quality inspection using the eye. Time-consuming and less efficient or some non-specialized machines and results in low productivity, high costs, sorting out different types of mangoes is relatively costly. The use of a smart mango classification system requires high response speed and equipment stability to reduce production costs, reduce labor costs, and increase the automation level of production lines. Mango with the advantage of high stability and unlimited working time. Researching techniques of image processing, collecting and building a database of images of a number of mango fruits in Vietnam; studying the approaches and techniques for assessing the quality of mango fruit, checking the surface of mango fruit with deep, wilted, spongy, deformed mangoes, ripening on mango fruit. Mango classification system using image processing combined with artificial intelligence including using CCD camera, C programming language, computer vision and artificial neural network in the problem of classifying mango fruit or not qualified.And above all, the main goal is to design and manufacture the control system of mango classification system based on image processing technology, computer vision combined with artificial intelligence with high productivity, compact, easy to use, easy to classify mangoes and can classify other agricultural products in Vietnam and the world.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124507215","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}
{"title":"Prediction of Bottleneck Points for Manipulation Planning in Cluttered Environment using a 3D Convolutional Neural Network","authors":"Indraneel Patil, B. Rout, V. Kalaichelvi","doi":"10.1109/ICCMA46720.2019.8988766","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988766","url":null,"abstract":"Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of perception driven motion planning plays a vital role. Sampling based motion planners are proven to be the most effective for such high dimensional planning problems with real time constraints. Unluckily random stochastic samplers suffer from the phenomenon of ‘narrow passages’ or bottleneck regions which need targeted sampling to improve their convergence rate. Also identifying these bottleneck regions in a diverse set of planning problems is a challenge. In this paper an attempt has been made to address these two problems by designing an intelligent ‘bottleneck guided’ heuristic for a Rapidly Exploring Random Tree Star (RRT*) planner which is based on relevant context extracted from the planning scenario using a 3D Convolutional Neural Network and it is also proven that the proposed technique generalizes to unseen problem instances. This paper benchmarks the technique (bottleneck guided RRT*) against a 10% Goal biased RRT* planner, shows significant improvement in planning time and memory requirement and uses ABB 1410 industrial manipulator as a platform for implantation and validation of the results.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129005361","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}
{"title":"Applications of Artificial Intelligence in Vehicular Networks: Review","authors":"Dharmik Donga, S. Bharti","doi":"10.1109/ICCMA46720.2019.8988658","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988658","url":null,"abstract":"It was the year 1952 when we saw the first breakthrough in artificial intelligence when Arthur Samuel developed a checkers playing computer. Since then, the advancement of artificial intelligence has been significant. From employing neural networks to play chess to detecting cancer using artificial intelligence, the advancement is indeed a quantum leap. The emerging application of artificial intelligence is in vehicular networks. This review paper discusses the various challenges in vehicular networks and how artificial intelligence can be used to overcome these challenges. The paper also outlines how artificial intelligence can assist vehicular networks to increase efficiency.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"6 3 Suppl 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114595082","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}
Shahid Aziz Khan, H. Abbasi, Muwahida Liaquat, Asim Ismail, Aqib Pervaiz
{"title":"Microcontroller based acoustic signal processing","authors":"Shahid Aziz Khan, H. Abbasi, Muwahida Liaquat, Asim Ismail, Aqib Pervaiz","doi":"10.1109/ICCMA46720.2019.8988612","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988612","url":null,"abstract":"This paper aim to propose an alternative, cost efficient and innovative method for the processing of underwater acoustic signals. The proposed solution is based purely on a single microcontroller instead of data acquisition cards to carry out all the operations of the depth sounding system including the processing of the acoustic signal. This approach is more mature, cost efficient, reliable, and accurate requiring less space footprint than the other available methods.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115196789","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}
{"title":"Force Characteristics of Rotating Air Film and Flow Closed-Loop for Noncontact Adsorption","authors":"Xubo Yu, Xin Li","doi":"10.1109/ICCMA46720.2019.8988721","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988721","url":null,"abstract":"A rotating air film is used in a wide range of applications, such as rotating machines, filtering systems, and computer storage devices. In this study, the pressure distribution and force characteristic curve of a rotating air film was both theoretically and experimentally analyzed. First, based on von Kármán’s similarity transformation, a theoretical model of the pressure distribution and generation mechanism of suction force of a finite disk was developed by considering the distance of two disks and the edge conditions of the disk. The experimental results showed good agreement with theoretical results. This paper also proposes a new application for the rotating air film, i.e., a noncontact adsorption device, based on the negative feedback closed-loop of force and distance between two disks. The method was investigated and verified theoretically and experimentally, and a force characteristic curve with positive stiffness could be formed. Finally, based on the proposed method, we designed and manufactured an apparatus that can exert suction force on a flat workpiece without contact.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116115418","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}