2021 21st International Conference on Control, Automation and Systems (ICCAS)最新文献_第2页

Mechanical Design of Robot Head with Human-like Emotions 类人情感机器人头部的机械设计

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649916

Nguyen Khac Toan, Le Duc Thuan, Le Bao Long, Nguyen Truong Thinh

{"title":"Mechanical Design of Robot Head with Human-like Emotions","authors":"Nguyen Khac Toan, Le Duc Thuan, Le Bao Long, Nguyen Truong Thinh","doi":"10.23919/ICCAS52745.2021.9649916","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649916","url":null,"abstract":"One of the fields that has detonated lately dependent on the AI platform is humanoid robots. The facial expressions of robots, then again, are getting less and less attention. The design of a robot head that communicates a wide range of human-like expressions is described in this paper. The eye-eyelid, lip-jaw, and neck were the three main parts of the robot head under investigation. Mechanical structure of human head such as number of degrees of freedom, size, ability of joints, and major muscle groups to create movements in each part are determined based on anatomy. Then, facial expressions are analyzed dependent on AUs to find out reasonable control points. The mechanical structures of each part were designed to try to replicate the movement and expression as closely as expected. Additionally, proportions, sizes, distances of the designs, such as CoP-CoP, tr-n, n-sn, and so on, must closely resemble those of a human head. The robot head in this article is designed and modeled on an Asian human head. The result of the design, the head section is made up of three mechanisms connected by a shaft that runs through the entire head. Through the experimental process, the robot head can perform 6 of the basic expressions and movements like a real human head.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115192999","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

Design of MRI compatible biopsy needle capable of force measurement 能够测量力的MRI兼容活检针的设计

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649868

Rongrong Liu, Binxiang Xu, S. Ko

引用次数: 1

A Time-delayed Compensation Technique for Hybrid Force Control of Robot Manipulators 机器人机械臂混合力控制的时滞补偿技术

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649980

Seul Jung

引用次数: 0

Relative Precise Positioning based on Moving Baseline and the Effect of Uncommon Satellite Combination 基于移动基线的相对精确定位及非常见卫星组合效应

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649903

Eunyeong Lee, Hyojung Yoon, Byungwoon Park, Euiho Kim

{"title":"Relative Precise Positioning based on Moving Baseline and the Effect of Uncommon Satellite Combination","authors":"Eunyeong Lee, Hyojung Yoon, Byungwoon Park, Euiho Kim","doi":"10.23919/ICCAS52745.2021.9649903","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649903","url":null,"abstract":"For drone swarm flight, it is important that the drone's position is determined quickly and accurately. Therefore, in general, the single reference RTK(Real Time Kinematics) method using a ground reference station is used. However, in the RTK method using ground reference station, as the distance between the drone and reference station increases, the reception rate of the correction information may decrease or may not be able to receive it at all. It can cause problems in drone operation and control. Therefore, using the principle of single reference RTK, moving baseline RTK is proposed as a method that can do RTK without using a ground reference station. In this method, RTK is performed by designating one antibody participating in the swarm flight as a moving base and the dynamic of the moving base is compensated through its velocity compensation. Also, there is a possibility that an error may occur as a uncommon satellite combination is used in the velocity calculation because there is a difference in the visible satellites between the moving base and other antibodies. However, the change in satellite combination did not significantly affect the results.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116420894","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

Nonlinear Three-Loop Autopilot Design for Spaceplanes 航天飞机非线性三回路自动驾驶仪设计

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649959

Dain Yoon, Chang-Hun Lee

引用次数: 0

Structural Analysis on Frame-Cover of USV Robot USV机器人框架盖结构分析

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649739

Moon-woo Park, Jin-Il Kang

引用次数: 1

Sliding Mode Approach for Partitioned Cost Function-based Fault-Tolerant Control of Automated Driving 基于分割代价函数的自动驾驶容错控制滑模方法

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649830

Sechan Oh, Hakjoo Kim, Munjung Jang, Jongmin Lee, K. Oh, K. Yi

{"title":"Sliding Mode Approach for Partitioned Cost Function-based Fault-Tolerant Control of Automated Driving","authors":"Sechan Oh, Hakjoo Kim, Munjung Jang, Jongmin Lee, K. Oh, K. Yi","doi":"10.23919/ICCAS52745.2021.9649830","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649830","url":null,"abstract":"This paper presents sliding mode and partitioned cost function-based fault-tolerant controller of automated driving. A proper strategy for ensuring functional safety of autonomous vehicles is needed when there exist sensor faults in acceleration information used for longitudinal autonomous driving. The data-driven fault-tolerant control algorithm proposed in this study is based on the upper-level controller decoupled with the lower-level controller. The adaptive sliding mode observer (ASMO) using recursive least squares (RLS) for reconstruction of acceleration sensor fault signal has been designed with gradient descent method. The reconstructed fault signal has been used to compute the desired acceleration for fault-tolerant longitudinal control with the Lyapunov stability condition. In order to compute the lower-level control inputs such as acceleration and brake pedal inputs, the desired and current acceleration values have been used based on the PID control law. It is assumed that the longitudinal acceleration of the preceding vehicle can be obtained using V2V communication. The performance evaluation environment has been constructed using Matlab/Simulink and CarMaker software. The evaluation results shows that the desired acceleration can be tracked reasonably by the proposed fault-tolerant control algorithm despite of existence of fault signal in longitudinal acceleration value.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121853802","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

Development of Autonomous Navigation Performance Criteria and Related Test Methods for Autonomous Mobile Robot in the Outdoor Environment 自主移动机器人在室外环境下自主导航性能标准及相关测试方法的研究

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649978

First A. Jaesub Shin, Second B. HyeonSeok Jang

引用次数: 3

Improved Combined Step-size Normalized Sign Algorithm with Novel Variable Mixing Factors 基于可变混合因子的改进步长归一化符号组合算法

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650017

Minho Lee, Taesung Cho, P. Park

{"title":"Improved Combined Step-size Normalized Sign Algorithm with Novel Variable Mixing Factors","authors":"Minho Lee, Taesung Cho, P. Park","doi":"10.23919/ICCAS52745.2021.9650017","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9650017","url":null,"abstract":"The performance of the convex combination of two adaptive filters is heavily dependent on the mixing factor. This paper proposes novel variable mixing factors to combine two normalized sign algorithms robust against impulsive noises with improving the performance. The variable mixing factors resolve the trade-off problem between the convergence rate and steady-state misalignment by updating the mixing parameters at each iteration. The proposed variable mixing factors use a modified arctangent activation function and a modified rectified linear unit activation function used in various fields. These proposed mixing factors are updated by optimizing the absolute value of the system output error to get the robustness to impulsive noises. The proposed algorithm using a modified arctangent activation function has better performance; otherwise, the proposed algorithm using a modified rectified linear unit activation function has lower computational complexity. Simulations are conducted to verify the proposed algorithms in various system identification scenarios. The simulation results show that the proposed algorithms outperform the traditional algorithms.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123458043","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

Effective Ground Mapping for Autonomous Excavation 自主开挖的有效地面测绘

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650067

Abdullah Rasul, Amir Khaicnour, Jaho Seo

引用次数: 0