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2019 4th International Conference on Control, Robotics and Cybernetics (CRC)最新文献

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Perturbation Rejection Controller Design for UAV's Control Surfaces 无人机控制面的抗扰控制器设计
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00011
Z. A. Rashid, S. F. S. Dardin, A. A. Azid, Khairol Amali Bin Ahmad
{"title":"Perturbation Rejection Controller Design for UAV's Control Surfaces","authors":"Z. A. Rashid, S. F. S. Dardin, A. A. Azid, Khairol Amali Bin Ahmad","doi":"10.1109/CRC.2019.00011","DOIUrl":"https://doi.org/10.1109/CRC.2019.00011","url":null,"abstract":"This paper will discuss on strategies in designing a perturbation rejection controller for UAV control surfaces. It begins with identifying the natural characteristic of the control surfaces, then the design of the controller and finally the implementation of the controller. The control surfaces were modeled with a first order transfer function with the fitting percentage over 88% and the controller was designed using suitable pole placement with integrator and feedback gain method. The results show that the controller was successfully implemented into a microcontroller while maintaining the settling time characteristic of the open loop model and with a damping ratio of 0.707. The implemented controller was tested and proven the ability to reject perturbation by evaluating the force acting on the control surface.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122079111","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
Vision-Based Ground Moving Object Tracking for Micro Air Vehicles 基于视觉的微型飞行器地面运动目标跟踪
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00048
D. Xiong, Zhijie Jiang, Wei Han, Hongwei Liu, Jiuren Li, Yiyong Huang
{"title":"Vision-Based Ground Moving Object Tracking for Micro Air Vehicles","authors":"D. Xiong, Zhijie Jiang, Wei Han, Hongwei Liu, Jiuren Li, Yiyong Huang","doi":"10.1109/CRC.2019.00048","DOIUrl":"https://doi.org/10.1109/CRC.2019.00048","url":null,"abstract":"In recent years, vision-based ground moving object tracking has become a very active field of research for macro aerial vehicles (MAVs), which contains two main problems: pose estimation for MAVs and robust object tracking. A tightly-coupled visual-inertial odometry based on the sliding window is proposed. In practical applications, the sliding window of the most recent visual and inertial measurements are used, thus good real-time performance can be achieved. Simultaneously, historical measurements in the sliding window can improve the accuracy of pose estimation and make the estimated trajectory more smoothly. The object tracking can be used to estimate the location of the object in continuous frames. Finally, the position of the ground moving object in three-dimensional (3D) space can be solved. The experiments are performed on the MAV platform, and the experimental results validate the effectiveness of the proposed algorithms.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117016496","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
Research on Plug-in Electric Vehicles Dispatch Strategy Considering Battery Life 考虑电池寿命的插电式电动汽车调度策略研究
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00015
Yinuo Huang, Xiao Wang, Hao Sun, Xing Huang
{"title":"Research on Plug-in Electric Vehicles Dispatch Strategy Considering Battery Life","authors":"Yinuo Huang, Xiao Wang, Hao Sun, Xing Huang","doi":"10.1109/CRC.2019.00015","DOIUrl":"https://doi.org/10.1109/CRC.2019.00015","url":null,"abstract":"The orderly charging and discharging management of plug-in electric vehicles (PEV) can enrich the control means of power system. However, frequent state transformation of charging and discharging may affect the battery life. This paper proposes two PEV dispatch methods taking battery life into consideration. The first is to cluster and classify PEVs based on their charging urgency, and arrange their charging and discharging behaviors accordingly. Under the premise of meeting the travel demand of each PEV user, the second method continuously charges/discharges the PEVs until the required power of PEV charging stations is satisfied. Finally, numerical studies demonstrate the effectiveness of the presented methods.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123623345","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
A Literature Review on Path Planning of Polyhedrons with Rolling Contact 具有滚动接触的多面体路径规划的文献综述
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00038
Ngoc Tam Lam, I. Howard, Lei Cui
{"title":"A Literature Review on Path Planning of Polyhedrons with Rolling Contact","authors":"Ngoc Tam Lam, I. Howard, Lei Cui","doi":"10.1109/CRC.2019.00038","DOIUrl":"https://doi.org/10.1109/CRC.2019.00038","url":null,"abstract":"Path planning of polyhedrons by rolling on edges includes arbitrary relocation, obstacle avoidance and goal achievement. These tasks have various applications in robotics fields such as autonomous vehicles, navigation and robotic surgery. This paper reviewed path planning approaches applied to rolling contact with different types of polyhedral parts. The advantages and disadvantages of some mainstream algorithms were analyzed and compared. We further pointed out the directions of future research on rolling polyhedron path planning in discrete space.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128342402","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
Triboelectric Nanogenerator: A Hope to Collect Blue Energy 摩擦电纳米发电机:收集蓝色能量的希望
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00040
Wanli Wang, Xiao Feng, Kai Wang, Liwei Li
{"title":"Triboelectric Nanogenerator: A Hope to Collect Blue Energy","authors":"Wanli Wang, Xiao Feng, Kai Wang, Liwei Li","doi":"10.1109/CRC.2019.00040","DOIUrl":"https://doi.org/10.1109/CRC.2019.00040","url":null,"abstract":"Water wave energy has the advantages of high energy density and wide distribution. There is tremendous energy in the waves of the earth. Nowadays, wave energy is mainly collected by electromagnetic generators. It needs a stable and high working frequency to obtain efficient output, and electromagnetic generators collect energy in a single direction, which greatly restricts its practical application value. In contrast, the Triboelectric nanogenerator (TENG) can work in a wide frequency range. For low frequency fluctuations, the output efficiency of the TENG is much higher than that of the electromagnetic generator, and it can stabilize the output power under the condition of slow flow and random direction wave current. It is very suitable for collecting blue energy. This paper reviews the progress of TENG in collecting blue energy in recent years. Firstly, starting from the working principle of TENG. Then, several basic TENG structures for collecting blue energy are summarized, and the application of hybrid nanogenerators in collecting blue energy is briefly mentioned. Finally, the prospects and challenges of TENG technology in developing blue energy in the future are briefly discussed.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122299208","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
Designed Fuzzy PD with Automatic Gain Adjustment for Intelligent Vehicle 设计了智能汽车增益自动调节模糊PD
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00016
Sunphong Thanok, S. Howimanporn
{"title":"Designed Fuzzy PD with Automatic Gain Adjustment for Intelligent Vehicle","authors":"Sunphong Thanok, S. Howimanporn","doi":"10.1109/CRC.2019.00016","DOIUrl":"https://doi.org/10.1109/CRC.2019.00016","url":null,"abstract":"This paper is focused on the design of steering, brake and throttle value system of an intelligent vehicle which is built by AIT. Heading direction is controlled to evaluate the efficiency of the proposed tuning gain PD with fuzzy algorithm. The heading controlled algorithm is based on the conventional PD control with fuzzy gain tuning rule. The result shows that the conventional PD controller compared with tuning gain PD with fuzzy algorithm has superior performance than the conventional PD controller.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"460 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124349203","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
CU Partition Prediction Scheme for X265 Intra Coding Using Neural Networks 基于神经网络的X265内编码CU分区预测方案
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00049
Y. C. Lin, J. J. Wu, K. H. Chen
{"title":"CU Partition Prediction Scheme for X265 Intra Coding Using Neural Networks","authors":"Y. C. Lin, J. J. Wu, K. H. Chen","doi":"10.1109/CRC.2019.00049","DOIUrl":"https://doi.org/10.1109/CRC.2019.00049","url":null,"abstract":"This paper proposes an early termination algorithm that relies on a backpropagation neural network (BPNN) for predicting the decision of coding unit (CU) partition to avoid unnecessary computation and thus to accelerate HEVC intra coding process. One of the most important things for using BPNN is to discover suitable features that are profoundly correspondent to the way of making decision of CU partition and be helpful for training a model with high prediction accuracy. Block texture of CU is adopted as the input features for training data to model the HEVC behavior on CU partition. Experiment results show that it can decrease 40.78% average encoding time and increase only a little output encoded bitrate for most benchmark videos.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123696100","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: 5
[Title page iii] [标题页iii]
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/crc.2019.00002
{"title":"[Title page iii]","authors":"","doi":"10.1109/crc.2019.00002","DOIUrl":"https://doi.org/10.1109/crc.2019.00002","url":null,"abstract":"","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127198687","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
Security-Aware GA Based Practical Byzantine Fault Tolerance for Permissioned Blockchain 基于安全感知遗传算法的实际拜占庭容错许可区块链
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00041
R. Kashyap, K. Arora, M. Sharma, A. Aazam
{"title":"Security-Aware GA Based Practical Byzantine Fault Tolerance for Permissioned Blockchain","authors":"R. Kashyap, K. Arora, M. Sharma, A. Aazam","doi":"10.1109/CRC.2019.00041","DOIUrl":"https://doi.org/10.1109/CRC.2019.00041","url":null,"abstract":"Achieving good performance in terms of throughput and scalability, with high quality of security has always been a challenging problem in all sorts of scheduling. Permissioned blockchain allows multiple contracts of non-trusting peer organization to be deployed for working in consortium. It is the responsibility of the scheduler often called as an ordering service to form block of transactions to get committed through consensus. Practical Byzantine Fault Tolerance (PBFT) is one of the most popular consensus algorithm used in current implementations of blockchain. Most consensus algorithms including PBFT follow FIFO scheduling strategy to create the block of transactions. With block chain being supported for multi-contract environment, scheduling should consider difference in service requirements specifically security requirement for heterogeneous contracts. The current work proposes SAGA-PBFT (Security-Aware Genetic Algorithm based Practical Byzantine fault Tolerance) scheduler, which uses multi objective genetic algorithm for balancing the security requirement and security overhead at the time of block creations. The algorithm assigns the security level to each transaction as per its security requirement but in an unpredictable manner making security attack difficult. It further uses security aware PBFT for consensus. Experimental simulation proves that SAGA-PBFT when compared with PBFT, achieves better commit time and scalability with best possible security.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129935948","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: 4
Trajectory-Based Air-Writing Character Recognition Using Convolutional Neural Network 基于轨迹的卷积神经网络空写字符识别
2019 4th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2019-09-01 DOI: 10.1109/CRC.2019.00026
M. Alam, Ki-Chul Kwon, Nam Kim
{"title":"Trajectory-Based Air-Writing Character Recognition Using Convolutional Neural Network","authors":"M. Alam, Ki-Chul Kwon, Nam Kim","doi":"10.1109/CRC.2019.00026","DOIUrl":"https://doi.org/10.1109/CRC.2019.00026","url":null,"abstract":"Writing in the air can be defined as to write digit or character in a 3D space by using a finger or marker movement. It is different from the traditional writing style. However, it has become easier to track finger and joint precisely due to the extensive improvement of sensor technologies. In this research, we proposed a trajectory-based air-writing character recognition system using a convolutional neural network (CNN). The trajectories were collected using a depth camera as a three-dimensional (3D) sequence. We used 10-fold cross-validation to validate the model. The accuracy of the proposed model was 97.29%. Also, we have collected an air-writing dataset containing 26,000 characters for training and validation, and another 4,000 for testing the model. The recognition time was 14ms per character which is fast enough to implement in a real-time system.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114823902","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
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