2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)最新文献_第2页

Shunt active power filter based on a novel sliding mode backstepping control for three-phase three-wire system 基于新型滑模反步控制的三相三线制并联有源电力滤波器

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987552

Lihua Deng, J. Fei, Changchun Cai

{"title":"Shunt active power filter based on a novel sliding mode backstepping control for three-phase three-wire system","authors":"Lihua Deng, J. Fei, Changchun Cai","doi":"10.1109/ICCAS.2014.6987552","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987552","url":null,"abstract":"This paper presents a global fast terminal sliding mode (GFTSM) control based on backstepping design for active power filter(APF). Power system is a typical nonlinear system. Its mathematic model can be reduced order by backstepping method. Power system is decomposed into low-level subsystems until finalizing the design of the control law. The System's stability is ensured by Lyapunov framework. The sliding mode control is added into backstepping control to expand the application scope of control. The sliding mode control doesn't need accurate model of system. Therefore robustness of APF control is improved. Global fast terminal control is added into sliding mode control. The nonlinear term of GFTSM control makes the system converge quickly when far from equilibrium point, and the linear term do when near equilibrium point. It makes the system's state tracking error reach zero in finite time. The control speed of system is enhanced. An experiment based on MATLAB/SIMULINK is designed to compare GFTSM backstepping control with pure backstepping control, and experimental results confirm the validity of proposed APF controller for a three-phase three-wire system.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"31 1","pages":"1146-1151"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78072818","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

Leader-following formation and heading control of networked quadcopters 网络化四轴飞行器的leader -follow编队与航向控制

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987915

A. Mahmood, Yoonsoo Kim

{"title":"Leader-following formation and heading control of networked quadcopters","authors":"A. Mahmood, Yoonsoo Kim","doi":"10.1109/ICCAS.2014.6987915","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987915","url":null,"abstract":"This paper deals with leader-following formation control and heading synchronization for a group of quadcopters. Unlike most of the existing works that involve a complex design of nonlinear formation and heading control laws for quadcopters, this work proposes a simple linear law especially for quadcopters in leader-following formation. In fact, the quadcopter dynamics involves state variables being coupled nonlinearly. However, it is shown that the dynamics can be treated as a linear system via a feedback linearization scheme. Consequently, a linear formation and heading control law can be designed for the linear system such that (1) the group of quadcopters achieves a desired formation (desired relative altitude and hovering) through local information exchange; (2) follower quadcopters synchronize their heading angles with the leader's; and (3) the leader quadcopter moves along a prescribed path to guide the formation. Although the present work considers quadcopter dynamics only, the proposed methodology can also be applied to various attitude synchronization problems arising in space and robotic applications.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"5 1","pages":"919-921"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87699625","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: 6

Robust localization using RGB-D images 使用RGB-D图像的鲁棒定位

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987940

Yoonseon Oh, Songhwai Oh

引用次数: 0

A quadrocopter automatic control contest as an example of interdisciplinary design education 四旋翼飞行器自动控制竞赛作为跨学科设计教育的一个例子

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987866

C. Nitschke, Y. Minami, Masayuki Hiromoto, Hiroaki Ohshima, Takashi Sato

{"title":"A quadrocopter automatic control contest as an example of interdisciplinary design education","authors":"C. Nitschke, Y. Minami, Masayuki Hiromoto, Hiroaki Ohshima, Takashi Sato","doi":"10.1109/ICCAS.2014.6987866","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987866","url":null,"abstract":"Unmanned aerial vehicles (UAVs) have many applications and quickly gain popularity with the availability of low-cost micro aerial vehicles (MAVs). Robotics is a popular interdisciplinary education target as it involves understanding and collaboration of several disciplines. Thus, UAVs can serve as an ideal study platform. However, as robotics requires technical background, skills and initial efforts, it is commonly applied in long-term courses. In this paper we successfully exploit the opposite case of robotics in short-term education for students without background, in form of a one-day contest on automatic visual UAV navigation. We provide an extensive survey, and show that existing material and tools do not fit the task and lack in technical aspects. We introduce a novel open-source programming library that comprises programs to guide learning by experience and allow rapid development. It makes contributions to marker-based tracking, with a novel nested-marker design and accurate calibration parameters estimated from 14 Parrot AR.Drone 2.0 front cameras. We show a detailed discussion of the contest results, which represents an extensive user study regarding robotics in education and the effectiveness of the library. The achievement of a steep learning curve for a complex subject has important implications in interdisciplinary design education, as it allows deep understanding of potentials and limitations to facilitate decision-making, unconventional problem solutions and novel applications.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"28 1","pages":"678-685"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86891059","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: 21

Spoofing detection module test of GPS Jamming monitoring system GPS干扰监测系统欺骗检测模块测试

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987922

Seongkyun Jeong, Sanguk Lee, Jaehoon Kim

{"title":"Spoofing detection module test of GPS Jamming monitoring system","authors":"Seongkyun Jeong, Sanguk Lee, Jaehoon Kim","doi":"10.1109/ICCAS.2014.6987922","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987922","url":null,"abstract":"The GNSS(Global Navigation Satellite System) is used widely and generally these days. The satellite navigation system provides navigation service globally and doesn't need an extra cost to use. Thus this system is portrayed as public service. But this system has a weak point. The satellite signal strength is very weak on the ground so this system is vulnerable against interference signal. When the GNSS interference signal is induced, the receiver cannot operate normally. The interference is presented by jamming or spoofing about GNSS signal. The effect of the interference can be done in various field from car navigation to national infrastructure like mobile communication, power plant, etc. ETRI(Electronics and Telecommunications Research Institute) developed GPS Jamming monitoring system for monitoring interference of GNSS signal. The developed GPS Jamming monitoring system has the functions which are jamming & spoofing detection and jamming location with direction finders. Among the technologies of GPS Jamming monitoring system, this paper describes spoofing detection module. This module monitors GPS signal and detects the spoofing signal with measurement and message of receiver. ETRI performed the functional test of developed spoofing detection module through the spoofing signal generation equipment. In this test, we confirm that the spoofing signal is induced in GPS receiver and verify the performance of spoofing detection.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"57 1","pages":"1010-1013"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86894092","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

A study on gripping control of robotic hand with ten joints for cooperative working 十关节机械手协同工作抓取控制研究

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6988009

Moon-Youl Park, Jun-seok Yang, Y. Koo, B. Shim, Y. Jeong, E. Kang, Sung-Hyun Han

引用次数: 2

Trot gait simulation of four legged robot based on a sprawled gait 基于伸展步态的四足机器人小跑步态仿真

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987942

Chang-Hoi Kim, Hocheol Shin, Kyungmin Jeong

引用次数: 3

Controlling an overactuated vehicle with application to an autonomous surface vehicle utilizing azimuth thrusters 利用方位推进器控制超驱动车辆并应用于自主水面车辆

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987878

Darsan R. Patel, D. Frank, C. Crane

引用次数: 5

Adaptive quantization with Fuzzy C-mean clustering for liver ultrasound compression 肝脏超声压缩的模糊c均值聚类自适应量化

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987834

Rattikorn Sombutkaew, Y. Kumsang, Orachat Chitsobuk

{"title":"Adaptive quantization with Fuzzy C-mean clustering for liver ultrasound compression","authors":"Rattikorn Sombutkaew, Y. Kumsang, Orachat Chitsobuk","doi":"10.1109/ICCAS.2014.6987834","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987834","url":null,"abstract":"With the massive increment of patients' medical information and images also limitation in transmission bandwidth, it is a challenging task for developing efficient medical information and image encoding techniques for digital picture archiving and communications (PACS). In order to achieve higher encoding efficiency, this research proposes adaptive quantization via fuzzy classified priority mapping. Image statistical characteristics are used as key features for Fuzzy C-mean clustering. The derived priority map is used to identify levels of importance for each image area. The significant candidates of irregular liver tissues, which need special doctor's attention, will be assigned with higher priority than those from the regular ones. The higher the priority, the greater the number of bits assigned for encoding. An analysis of suitable quantization step size has been conducted. With the selection of appropriate quantization parameters for each priority level, the blocking artifacts can be greatly reduced. This results in quality improvement of the reconstructed images while the compression ratio remains reasonably high.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"95 1","pages":"521-524"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83951572","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

Robust learning from demonstrations using multidimensional SAX 从使用多维SAX的演示中健壮地学习

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI: 10.1109/ICCAS.2014.6987960

Yasser F. O. Mohammad, T. Nishida

{"title":"Robust learning from demonstrations using multidimensional SAX","authors":"Yasser F. O. Mohammad, T. Nishida","doi":"10.1109/ICCAS.2014.6987960","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987960","url":null,"abstract":"Learning from demonstrations (LfD) is gaining more popularity in robotics due to its promise of providing a human-friendly technique for teaching robots new skills by robotics-naive users. The two main approaches to LfD are dynamic motor primitives (DMP) which models demonstrated motions as dynamical systems with the advantage flexibility in changing the motion's starting position, goal or speed and Gaussian Mixture Modelling/ Gaussian Mixture Regression (GMM/GMR) which represents demonstrated motions as mixtures of Gaussians with the advantage of keeping track of the correlations between different dimensions of learned motions and automatic extraction of motion variability along these dimensions. This paper introduces a third approach that relies on symbolization of demonstrated motions by extending the Symbolic Aggregate approXimation (SAX) to handle multiple dimensions of data. The proposed approach is shown through several real-world evaluations to be more resistant to confusing demonstrations that usually arise when action segmentation is automated. The paper also discusses a possible way to combine SAX based LfD withGMM/GMR in order to preserve the advantages of these two approaches while providing superior confusion resistance.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"172 1","pages":"64-71"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82938605","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: 19