2021 21st International Conference on Control, Automation and Systems (ICCAS)最新文献_第7页

Goal Assignment in Leader-Following Formation Control of Second-Order Multi-Agent Systems 二阶多智能体系统领导-跟随群体控制中的目标分配

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649765

Yun Ho Choi, Doik Kim

引用次数: 1

Pixel-wise distortion model and its calibration method for AMCW LiDAR AMCW激光雷达逐像素畸变模型及其标定方法

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649989

Junwoo Jason Son, Youngbin Son, Byeongho Song, Soohee Han

引用次数: 0

Robust Person Following Under Severe Indoor Illumination Changes for Mobile Robots: Online Color-Based Identification Update 室内强烈光照变化下移动机器人鲁棒跟踪:基于颜色的在线识别更新

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649857

Redhwan Algabri, Mun-Taek Choi

引用次数: 5

Path Tracking Control for Four-Wheel-Steering Autonomous Vehicles based on Adaptive Sliding Mode Control with Control Allocation 基于控制分配自适应滑模控制的四轮转向自动驾驶汽车路径跟踪控制

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649838

Yonghwan Jeong

{"title":"Path Tracking Control for Four-Wheel-Steering Autonomous Vehicles based on Adaptive Sliding Mode Control with Control Allocation","authors":"Yonghwan Jeong","doi":"10.23919/ICCAS52745.2021.9649838","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649838","url":null,"abstract":"This paper presents a path tracking control algorithm for four-wheel steering autonomous vehicles. The proposed controller utilized the direct yaw moment control approach for path tracking of the autonomous vehicle. The path tracking algorithm consists of three parts, desired yaw-rate decision, adaptive sliding mode control, and control allocation. The desired yaw rate has been determined based on the geometric relationship between a reference path and vehicle position. A required yaw-moment to tracking the desired yaw-rate has been decided by using an adaptive sliding mode control approach to compensate for the linear tire model assumption. Since the four-wheel steering vehicle is an overactuated system, the optimization-based control allocation has been introduced to determine the front and rear-wheel steering inputs, respectively, considering a control effort, actuator limit, ride comfort, and body slip. The simulation study has been conducted to compare the path tracking performance of the base controller using front steering and the proposed algorithm. It has been shown from the simulations that the path tracking performance has been improved in a driving situation with a high curvature and a steep road slope.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"134 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":"121175398","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

Hierarchical Task Planning Considering Communication Status for Multi-Robot System 考虑通信状态的多机器人系统分层任务规划

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649809

Jiyoun Moon, Sung-Hoon Bae

引用次数: 2

Dynamic Obstacle Avoidance of Multi-Rotor UAV using Chance Constrained MPC 基于机会约束MPC的多旋翼无人机动态避障

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649942

Takumi Wakabayashi, Yuma Nunoya, Satoshi Suzuki

{"title":"Dynamic Obstacle Avoidance of Multi-Rotor UAV using Chance Constrained MPC","authors":"Takumi Wakabayashi, Yuma Nunoya, Satoshi Suzuki","doi":"10.23919/ICCAS52745.2021.9649942","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649942","url":null,"abstract":"Recently, in order to carry out tasks efficiently such as infrastructure inspection and goods transportation, operations using multi-rotor Unmanned Aerial Vehicles (UAVs) in formation flight are often considered. One of the main issues in motion planning among multiple UAVs is collision avoidance. Model Predictive Control (MPC) is characterized by its ability to consider collision avoidance in the framework of constrained optimization. For this reason, there have been many studies on collision avoidance using MPC, but few studies take into account the uncertainty that occurs in real environments. On the other hand, Chance constrained MPC (CCMPC) is considered to be more robust in collision avoidance due to the consideration of uncertainty. However, the structure of the collision probability constraint equation to be introduced into the evaluation function of MPC has not been sufficiently studied. In this study, the structure of equations for incorporating probability constraints into the evaluation function is examined. Moreover, by quantitatively comparing the equations with the same structure with deterministic constraints introduced into the evaluation function, the difference in collision avoidance is clarified.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"15 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":"125291759","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

Viewpoint Selection for DermDrone using Deep Reinforcement Learning 基于深度强化学习的DermDrone视点选择

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649799

Mojtaba Ahangar Arzati, S. Arzanpour

引用次数: 2

Applying Digital Application Platform to Optimize Steam Methane Reforming Process 应用数字化应用平台优化蒸汽甲烷重整工艺

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650053

Tae Hoon Oh, Lorena F.S. Souza, J. M. Lee

{"title":"Applying Digital Application Platform to Optimize Steam Methane Reforming Process","authors":"Tae Hoon Oh, Lorena F.S. Souza, J. M. Lee","doi":"10.23919/ICCAS52745.2021.9650053","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9650053","url":null,"abstract":"The recent advance in measurement equipment, data transmission, and computational power enables digitalizing the process operation and constructing the digital twin. This implies that various existing model-based applications such as process monitoring, forecasting, decision support, and control can be applied to chemical processes with the most updated model in real-time. However, the systematic method of integrating the process data, model-based applications, database, and the user interface has not been well addressed. Therefore, this paper aims to fill this gap by proposing the workflow on applying the integrating framework called gPROMS Digital Application Platform that can receive and validate the process data, execute the various model-based applications, and visualizing the data and process results in a customized web-based user interface. For the case study, the integrating framework is constructed to optimize the SMR process in real-time. The gPROMS Process was used to construct the process model and the optimization problem was solved to find the optimal operating conditions that maximize the thermal efficiency of the reactor. The database stores the model inputs and outputs, and sends the signals to execute the model-based applications. Lastly, the web-based user interface was constructed to offer an environment to monitor the process status and execute the process optimization.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"80 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":"131160483","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

Wood Polish Classification for Automated Quality Inspection based on AI Vision 基于人工智能视觉的木材抛光自动质量检测分类

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649910

Hsien-I Lin, S. Sanjaya

{"title":"Wood Polish Classification for Automated Quality Inspection based on AI Vision","authors":"Hsien-I Lin, S. Sanjaya","doi":"10.23919/ICCAS52745.2021.9649910","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649910","url":null,"abstract":"Nowadays, the demand for quality inspection of wood polishing is increasing. Thus, there is a need on industrial level to maintain high quality inspection. The quality inspection on wood polishing is currently done by human labors, which is inefficient, costly, and time-consuming. To reduce the cost of wood quality inspection, we propose an automated quality inspection based on AI vision to distinguish whether the wood is polished or unpolished. This system uses a deep learning method to classify polished or unpolished wood, which is one of the pioneer works using deep learning to examine wood quality. In this paper, we adopt the Efficient Net architecture because of its superior capability of handling the model parameters. The proposed approach combines Adam optimizer and SoftMax classifiers to provide the better performance of the model. This paper presents the binary classification on our dataset that contains 1,920 training and 560 test images. The result showed an average accuracy of 85%. In addition, the Efficient Net indicated the competitive performance metric of 85 % as recall, 85.5 % as precision, and 85 % as f1-score. In conclusion, the proposed architecture is satisfactory for automated quality inspection in the wood polishing process.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"28 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":"127602335","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

A study on test method for evaluation of mobile robot trajectory estimation 移动机器人轨迹估计评估的测试方法研究

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649766

Suhan Lee, Seungsub Oh

引用次数: 3