2021 21st International Conference on Control, Automation and Systems (ICCAS)最新文献_第9页

Nonimaging Optical Irradiance Optimization for Enhanced ROI of Mobile Robot LiDAR 提高移动机器人激光雷达ROI的非成像光辐照度优化

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649904

I. Jeong, Youngbin Son, Junwoo Jason Son, Byeongho Song, Soohee Han

引用次数: 0

24/7 Elderly Guard Robot: Emergency Detecting, Reacting, and Reporting 24/7老年警卫机器人:紧急情况探测、反应和报告

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649813

Deok-Won Lee, A. Elsharkawy, Kooksung Jun, Yundong Lee, Seungjun Kim, M. Kim

{"title":"24/7 Elderly Guard Robot: Emergency Detecting, Reacting, and Reporting","authors":"Deok-Won Lee, A. Elsharkawy, Kooksung Jun, Yundong Lee, Seungjun Kim, M. Kim","doi":"10.23919/ICCAS52745.2021.9649813","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649813","url":null,"abstract":"As the number of elderly persons increases, greater attention must be given to how they or their caregivers deal with emergency situations. This paper describes an automated tracking, fall detection, and emergency recovery system for elderly persons, and shows that efficient a Socially Assistive Robot (SAR) can resolve emergency situations and abnormal behaviors for at-risk populations. Our assistant robot uses position data provided by Ultra-WideBand (UWB) wireless network and motion sensor information to detect potentially dangerous situations for elderly persons. In this context, a deep neural network-based double-check method has been developed to detect and confirm fall situation with high accuracy using in-house developed sensory hardware. We then simulated four typical emergency scenarios using SILBOT-3 robot. Interaction scenarios were demonstrated to 28 caregivers, who were then invited to complete a short questionnaire regarding benefits and improvements for our system. Caregivers responded positively to our system's performance and stated that they would accept an assistant robot that could notify them quickly about a dangerous situation or possibly resolve the situation autonomously.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"66 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":"122509657","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

Controller design for a level control system with valve stiction: A data-driven approach 具有阀栓的液位控制系统的控制器设计:数据驱动方法

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649769

Jakkarawut Khamkaew, Krittapas Phannachet, Tanagorn Jennawasin

引用次数: 0

Integration of Path Optimization and Obstacle avoidance for Autonomous Precision Immobilization Technique Maneuver 自主精密固定机动中路径优化与避障的集成

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649972

Rohit Kumar, Rahul Meel, B. Sandeep Reddy

{"title":"Integration of Path Optimization and Obstacle avoidance for Autonomous Precision Immobilization Technique Maneuver","authors":"Rohit Kumar, Rahul Meel, B. Sandeep Reddy","doi":"10.23919/ICCAS52745.2021.9649972","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649972","url":null,"abstract":"The PIT (Precision Immobilization Technique) maneuver is a pursuit tactic used by law-enforcement officials to handle dangerous vehicle pursuit situations, wherein a pursuing car can force a fleeing car to turn sideways abruptly, causing the driver to lose control and stop. Such maneuvers have pitfalls, in that they require sufficient skill on the part of the driver to be carried out. Furthermore, given the utilization of electronic stabilizing control systems in modern vehicles' manual PIT maneuvers require more precision to be carried out. However, the previous decades have also undergone significant changes, in particular the development of autonomous driving technologies, which are now available in commercial vehicles. Autonomous PIT maneuvers could be the next step in handling dangerous vehicle pursuits of fugitives. But for autonomous execution of such maneuvers, accurate path planning and obstacle avoidance must be carried out first. This work presents the implementation of path optimization technique along with obstacle avoidance in simulation environment as well as in physical environment for execution of autonomous PIT maneuvering. Path optimization ensures that the bullet vehicle arrives at the specific point where the PIT maneuver is carried out. An important path optimization method has been utilized to accomplish the goal. Furthermore, obstacle avoidance is integrated with path optimization to avoid mid-way stationary obstacles, thereby adding a more realistic scenario for the same. This paper makes a simplifying assumption that the target vehicle is stationary or moving at a constant velocity, which can be extended by future work to a more realistic scenario involving accelerated target vehicle.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"1 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":"126248451","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 a Human-Like Learning Frame for Data-Driven Adaptive Control Algorithm of Automated Driving 基于数据驱动的自动驾驶自适应控制算法的类人学习框架研究

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649954

K. Oh, Sechan Oh, Jongmin Lee, K. Yi

{"title":"Development of a Human-Like Learning Frame for Data-Driven Adaptive Control Algorithm of Automated Driving","authors":"K. Oh, Sechan Oh, Jongmin Lee, K. Yi","doi":"10.23919/ICCAS52745.2021.9649954","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649954","url":null,"abstract":"This paper proposes a human-like learning frame for data-driven adaptive control algorithm of automated driving. Generally, driving control algorithms for automated vehicles need environment information and relatively accurate system information like mathematical model and system parameters. Because there are unexpected uncertainties and changes in environment and system dynamic, derivation of relatively accurate mathematical model or dynamic parameters information is not easy in real world and it can have a negative impact on driving control performance. Therefore, this study proposes data-driven feedback control method for automated driving based on human-like learning frame in order to address the aforementioned limitation. The human-like learning frame is based on finite-memory like human and is divided into two parts such as control and decision parts. In the control part, it is designed that feedback gains are derived based on least squares method using saved error states and gains in finite-memory. And the control input has been computed using the derived feedback gains. After control input is used for driving control, it is designed that current error states and the used feedback gains are saved in the finite-memory real-time in the decision part if the time-derivative of cost function has a negative value. If the time-derivative of the cost function has greater than or equal to zero, it is designed that the feedback gains are updated using gradient descent method with sensitivity estimation and the used error states and gains are saved in the memory as a new data. The performance evaluation has been conducted using the Matlab/Simulink and CarMaker software for reasonable evaluation.","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":"129792945","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

Neuro-evolutionary based controller design for linear and non-linear systems 基于神经进化的线性和非线性系统控制器设计

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649985

Samarth Singh, K. Kishore, S. A. Akbar

引用次数: 2

Design of Supervisory Model Predictive Control for Building HVAC System with Time-Varying Coefficient of Performance 时变性能系数建筑暖通空调系统监控模型预测控制设计

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649947

Chanthawit Anuntasethakul, Kantapong Leungrungwason, D. Banjerdpongchai

{"title":"Design of Supervisory Model Predictive Control for Building HVAC System with Time-Varying Coefficient of Performance","authors":"Chanthawit Anuntasethakul, Kantapong Leungrungwason, D. Banjerdpongchai","doi":"10.23919/ICCAS52745.2021.9649947","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649947","url":null,"abstract":"This paper presents a design of supervisory model predictive control (SMPC) for a building heating-ventilation-air-conditioning (HVAC) system. The control objectives are to minimize the total operating cost (TOC) and the thermal comfort cost (TCC). According to practical realization, a coefficient of performance (COP) is a time-varying parameter of HVAC system and depends on environment conditions. Therefore, we employ an artificial neural network (ANN) with k-means clustering to predict the COP. We design the SMPC to determine the optimal set-point temperature for the HVAC system which serves our control objectives. We utilize the predicted mean vote (PMV) to handle thermal comfort of occupants and to indicate an acceptable bound of the optimal set-point temperature. We formulate the SMPC with the predicted COP integration as two quadratic programs. The first quadratic program is a supervisory control problem for optimal set-point searching problem and the other is an MPC problem for optimal control input searching problem. Our results reveal that the root-mean-square error (RMSE) of the predicted COP is reduced by 34% using the clustered-ANN. When the SMPC is applied to the time-varying HVAC system, the TOC decreases by 14.53% compared to that of the nominal operation. Moreover, the maximum electrical power of the HVAC system is reduced by 15.66% resulting from smoothly shaved electrical power profile.","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":"130879399","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

ROSSi A Graphical Programming Interface for ROS 2 ros2的图形化编程界面

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649736

Constantin Wanninger, Sebastian Rossi, Martin Schörner, A. Hoffmann, Alexander Poeppel, Christian Eymueller, W. Reif

引用次数: 0

Optimal Design Parameters of Exhaust Valve Spring in IC Engines Using Metaheuristic Algorithms 基于元启发式算法的内燃机排气门弹簧参数优化设计

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649977

A. Arabí, H. Osman

引用次数: 0

Control of ankle joint motion change induced by vibration stimulation on the Gastrocnemius muscle during continuous joint motion 连续关节运动中腓肠肌振动刺激引起的踝关节运动变化的控制

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649798

Danwen Li, Satoshi Nishikawa, K. Kiguchi

{"title":"Control of ankle joint motion change induced by vibration stimulation on the Gastrocnemius muscle during continuous joint motion","authors":"Danwen Li, Satoshi Nishikawa, K. Kiguchi","doi":"10.23919/ICCAS52745.2021.9649798","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649798","url":null,"abstract":"It has been shown that changes in movement caused by reflex phenomena and kinesthetic illusion can be induced by giving vibratory stimulation on specific muscles during limb movements. By using this phenomenon, there is a possibility that the lower-limb perception-assist, in which inappropriate motion is automatically modified, is realized. In this study, change of ankle joint motion by giving the vibration stimulation on the gastrocnemius muscle in the lower-limb is studied by performing the experiment of adding vibration stimulation to the gastrocnemius muscle during the movement of ankle joint dorsiflexion and plantar flexion under several frequency ranges. The results indicate that the amount of motion change varies depending on the frequency of the vibration stimulation. Based on the characteristics of motion change with respect to vibration stimulation, a method to control the change of the user's ankle joint dorsiflexion motion by adjusting the frequency of the vibration stimulation to achieve the target motion, which is different from the user's intended motion, is evaluated. It is confirmed that there is a possibility that the vibration stimulation can be applicable to modify the human ankle joint motion for the perception-assist using frequency change.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"48 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":"122446086","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