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2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献

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Weighted pseudo-inverse based control allocation of heterogeneous redundant operating mechanisms for DPC aircraft 基于加权伪逆的DPC飞机异构冗余操作机构控制分配
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581089
Zhihui Wang, Jing Zhang, Lingyu Yang, Xiaoming Guo
{"title":"Weighted pseudo-inverse based control allocation of heterogeneous redundant operating mechanisms for DPC aircraft","authors":"Zhihui Wang, Jing Zhang, Lingyu Yang, Xiaoming Guo","doi":"10.1109/ICARCV.2018.8581089","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581089","url":null,"abstract":"Distributed propulsion configuration (DPC) usually have heterogeneous redundant operating mechanisms including redundant control surfaces and thrust vector actuators, thus producing strong and complex control coupling between flight and propulsion systems. Then control allocation of heterogeneous redundant actuators is certainly required to realize integrated control. First, the formulation of this specific control allocation problem is given, and then the Moore-Penrose pseudo-inverse method and weighted pseudo-inverse method are introduced to improve control accuracy and coordinate the complex relationship between different types of actuators. Simulation results reveal that the weighted pseudo-inverse method has higher accuracy in allocation result, and it is suitable for the specific control allocation problem for DPC aircraft.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125995571","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
An Approach for Reliable End-to-End Autonomous Driving Based on the Simplex Architecture 基于单纯形结构的可靠端到端自动驾驶方法
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581113
S. Kwon, J. Seo, Jin-Woo Lee, Kyoung-Dae Kim
{"title":"An Approach for Reliable End-to-End Autonomous Driving Based on the Simplex Architecture","authors":"S. Kwon, J. Seo, Jin-Woo Lee, Kyoung-Dae Kim","doi":"10.1109/ICARCV.2018.8581113","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581113","url":null,"abstract":"Over the past decade, autonomous driving has been a subject of continued interest for research. In general, conventional approaches for autonomous driving consists of roughly two parts: perception and motion planning. Recently, an alternative approach based on the deep neural network has been developed, called the end-to-end autonomous driving, that maps raw sensor data directly to driving command without requiring a separate perception process. However, the performance of the end-to-end driving highly depends on the quantity and quality of the datasets used in the learning process and can become unreliable if untrained situation is encountered. To overcome this fundamental drawback of the end-to-end approach, we adopt the simplex architecture for autonomous driving as a mean that combines the end-to-end approach together with the conventional approach to improve the overall driving reliability. The improved driving reliability of the proposed autonomous driving framework is shown through experimentation on a testbed system built on this work.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"291 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115825814","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
Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach 多机器人分布式后退地平线运动规划方法的实验验证
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581365
J. M. Filho, E. Lucet, David Filliat
{"title":"Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach","authors":"J. M. Filho, E. Lucet, David Filliat","doi":"10.1109/ICARCV.2018.8581365","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581365","url":null,"abstract":"This paper addresses the problem of motion planning for a multirobot system in a partially known environment where conditions such as uncertainty about robots' positions and communication delays are real. In particular, we detail the use of a Distributed Receding Horizon Approach that guarantees collision avoidance with static obstacles and between robots communicating with each other. Underlying optimization problems are solved by using a Sequential Least Squares Programming algorithm. Experiments with real nonholonomic mobile platforms are performed. The proposed framework is compared with the Dynamic Window approach to motion planning in a single robot setup. A second experiment shows results for a multirobot case using two robots where collision is avoided even in presence of significant localization uncertainties.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115792457","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
Global Stabilization for Nonminimum Phase Systems by means of Sliding Mode Control and Multiple Observers 基于滑模控制和多观测器的非最小相位系统全局镇定
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581111
R. Santos, T. R. Oliveira
{"title":"Global Stabilization for Nonminimum Phase Systems by means of Sliding Mode Control and Multiple Observers","authors":"R. Santos, T. R. Oliveira","doi":"10.1109/ICARCV.2018.8581111","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581111","url":null,"abstract":"A new control strategy using only output feedback for the stabilization of uncertain nonminimum phase systems is presented in this paper. Multiple observers for the unmeasured states of the plant, the output signal and unknown disturbances have served as the basis for the design of a sliding mode control law robust to parametric uncertainties and exogenous perturbations. Global asymptotic stability is demonstrated for the closed-loop system. Simulation results illustrate the performance of the proposed control algorithm.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134061809","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
Moving Horizon Estimation for Linear Cascade Systems 线性级联系统的移动水平估计
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581272
Meichen Guo, Adair Lang, M. Cantoni
{"title":"Moving Horizon Estimation for Linear Cascade Systems","authors":"Meichen Guo, Adair Lang, M. Cantoni","doi":"10.1109/ICARCV.2018.8581272","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581272","url":null,"abstract":"A structured approach to the problem of state estimation for cascaded linear sub-systems is studied in terms of minimizing a measure of the error relative to a model over a moving horizon of past system input and output observations. A quadratic programming formulation of this optimization problem is considered and two approaches are explored. One approach involves solving the Karush-Kuhn-Tucker conditions directly, and the other is based on the alternating direction method of multipliers. In both cases, the problem structure can be exploited to yield distributed computations in the following sense: Construction of the estimate for each sub-system component of the state involves information pertaining to the two immediate neighbours only. Numerical simulations based on model data from an automated irrigation channel are used to investigate and compare the computational burden of the two approaches.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131794535","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
Study about variable adjustment rule of AC Servo Motor using Simple Adaptive Control 基于简单自适应控制的交流伺服电机变量调节规律研究
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581382
Yuichiro Obana, Qingjiu Huang
{"title":"Study about variable adjustment rule of AC Servo Motor using Simple Adaptive Control","authors":"Yuichiro Obana, Qingjiu Huang","doi":"10.1109/ICARCV.2018.8581382","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581382","url":null,"abstract":"In servo motor positioning control, when the load changes, readjustment of the control gain must be performed. In this paper, with stabilization of servo adjustment due to load fluctuation in mind as well as convenience, based on simple adaptive control which is relatively simple structure and easy to realize even in adaptive control, while saving the trouble of adaptive gain adjustment we study a control method. In this study, simulation analysis was performed using MATLAB / Simulink to control the position of the Servo Motor. First, using the integral adaptive adjustment rule which is the most basic adaptive adjustment rule among Simple Adaptive Control, simulation was carried out next using integral + proportional type adaptive adjustment rule.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131157313","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
Spatial-Temporal Fusion Convolutional Neural Network for Simulated Driving Behavior Recognition 基于时空融合卷积神经网络的模拟驾驶行为识别
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581201
Yaocong Hu, MingQi Lu, Xiaobo Lu
{"title":"Spatial-Temporal Fusion Convolutional Neural Network for Simulated Driving Behavior Recognition","authors":"Yaocong Hu, MingQi Lu, Xiaobo Lu","doi":"10.1109/ICARCV.2018.8581201","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581201","url":null,"abstract":"Abnormal driving behaviour is one of the leading cause of terrible traffic accidents endangering human life. Therefore, study on driving behaviour surveillance has become essential to traffic security and public management. In this paper, we conduct this promising research and employ a two stream CNN framework for video-based driving behaviour recognition, in which spatial stream CNN captures appearance information from still frames, whilst temporal stream CNN captures motion information with pre-computed optical flow displacement between a few adjacent video frames. We investigate different spatial-temporal fusion strategies to combine the intra frame static clues and inter frame dynamic clues for final behaviour recognition. So as to validate the effectiveness of the designed spatial-temporal deep learning based model, we create a simulated driving behaviour dataset, containing 1237 videos with 6 different driving behavior for recognition. Experiment result shows that our proposed method obtains noticeable performance improvements compared to the existing methods.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131213757","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
Green Vehicle Routing Problem: The Tradeoff between Travel Distance and Carbon Emissions 绿色车辆路线问题:出行距离与碳排放的权衡
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581240
Cheng-Yuan Wu, Thammarsat Visutarrom, T. Chiang
{"title":"Green Vehicle Routing Problem: The Tradeoff between Travel Distance and Carbon Emissions","authors":"Cheng-Yuan Wu, Thammarsat Visutarrom, T. Chiang","doi":"10.1109/ICARCV.2018.8581240","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581240","url":null,"abstract":"Recently, the green vehicle routing problem (GVRP) starts to attract the attention of researchers due to the awareness of the environmental impact of transportation. The GRVP is an extension of the classical VRP by taking minimization of travel distance as well as carbon emissions as the objectives. In this paper, we solved the GVRP by a multiobjective evolutionary algorithm to find the set of Pareto optimal solutions. We found that the tradeoff between travel distance and carbon emissions is small with a load-distance emission model and a parameter setting in the literature. The tradeoff becomes significant only when the emissions of an empty vehicle and of a full-load vehicle differ a lot. Whether the GVRP should be treated as a multiobjective optimization problem (MOP) or not needs more investigation in the future.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132927828","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: 7
Modeling and Identification of Electrically Stimulated Muscles for Wrist Movement 手腕运动电刺激肌肉的建模和识别
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581166
Zan Zhang, Yanhong Liu, B. Chu
{"title":"Modeling and Identification of Electrically Stimulated Muscles for Wrist Movement","authors":"Zan Zhang, Yanhong Liu, B. Chu","doi":"10.1109/ICARCV.2018.8581166","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581166","url":null,"abstract":"The modeling of electrically stimulated muscles is of great importance for the tremor suppression via functional electrical stimulation (FES) approach. In this paper, with fully consideration of the characteristics of wrist muscles, a four input two output wrist muscle model with Hammerstein structure is proposed, by which the four-channel functional electrical stimulation signals can simultaneously stimulate the wrist muscles of flexor carpi radialis (FCR), extensor carpi radialis (ECR), flexor carpi ulnaris (FCU) and extensor carpi ulnaris (ECU) to realize 2 degrees of freedom (DOF) wrist movements. Then, we use the recursive least squares identification algorithm to identify the parameters of the pre-existing four input and one output system. Simulation results show that the least recursive squares identification algorithm of two-step method is advantageous in convergence and identification accuracy.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132594492","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
Impact of Harmonic Distortion on the Energization of Energy Distribution Transformers Integrated in Virtual Power Plants 谐波畸变对虚拟电厂集成配电变压器通电的影响
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581063
Vicente Tiburcio Dos Santos Junior, B. Bonatto, C. Ferreira, A. C. Z. Souza
{"title":"Impact of Harmonic Distortion on the Energization of Energy Distribution Transformers Integrated in Virtual Power Plants","authors":"Vicente Tiburcio Dos Santos Junior, B. Bonatto, C. Ferreira, A. C. Z. Souza","doi":"10.1109/ICARCV.2018.8581063","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581063","url":null,"abstract":"The virtual power plants have the characteristic of forming a conglomerate of electrical energy generating sources, among which the renewable energy ones stand out, where the energy supply performance is higher due to the management systems based on editable algorithms, in optimization of the distribution system with energizing of transformers minimizing the harmonic distortion of the supplied energy. The magnetizing current produced by an uncharged power transformer at the time of connection has extremely high values. These inrush currents generate a significant electrodynamic and thermal influence on the transformer windings and can determine the faulty operation of the protective equipment devices. In addition, since most power distribution systems are affected by harmonic distortion, the supply voltage applied at the energizing time has a non-sinusoidal waveform. In this way, the power management presented stands out for the quality of power supplied even in conditions of power generation with distortion imposed by inverters and potentially disturbing loads, with a predetermination of the peak value of the peak current and its harmonic spectrum under a distorted power supply voltage waveform. Starting from the transient state equations, along with a particular description of the value of the non-linear transformer core H-B and the core stacking factor value, the evolution of the burst current time is predicted accurately.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131432861","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
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