2020 20th International Conference on Control, Automation and Systems (ICCAS)最新文献_第9页

Determining arrangement and cooperative operating control of two industrial robots based on torque margin method 基于转矩裕度法的两台工业机器人布置与协同操作控制

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268409

K. Omoto, T. Hirogaki, E. Aoyama

引用次数: 0

Feature Extraction and Matching Algorithms to Improve Localization Accuracy for Mobile Robots 提高移动机器人定位精度的特征提取与匹配算法

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268393

Sin-Won Kang, Sanghyeon Bae, Tae-Yong Kuc

引用次数: 0

Dynamic 3-D Visualization of the Korea Pathfinder Lunar Orbiter Attitude Control Simulator 韩国探路者月球轨道器姿态控制模拟器的动态三维可视化

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268408

Dawoon Jung, J. Kwon, Kwang-yul Baek, Han Woong Ahn, Jong-Wook Choi

{"title":"Dynamic 3-D Visualization of the Korea Pathfinder Lunar Orbiter Attitude Control Simulator","authors":"Dawoon Jung, J. Kwon, Kwang-yul Baek, Han Woong Ahn, Jong-Wook Choi","doi":"10.23919/ICCAS50221.2020.9268408","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268408","url":null,"abstract":"Visualizing the Korea Pathfinder Lunar Orbiter (KPLO) attitude control behavior is useful for verifying dynamical characteristics unseen in previous Earth-orbiting satellite missions. This paper describes a visualization component of the LUNASIM simulator running unmodified attitude control flight software that is able to communicate with an external program to animate realistically in three dimensions the simulated attitude and orbital state, thruster firings, and solar array rotations of KPLO at faster-than real-time speeds for intuitive design verification. Visualization is also supported when LUNASIM is connected to a processor emulator in a fully end-to-end simulated ETB environment. Results are presented illustrating accurate spacecraft dynamics during special mission scenarios such as roll maneuvering while Sun-pointing near the ecliptic plane, yaw-flipped lunar orbit attitude, and slewing to image the lunar surface while in 45-degree tilted attitude. These results demonstrate the value of visualizing attitude control simulator output for novel spacecraft missions.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"8 1","pages":"788-792"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89698610","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

Dynamic Model For Solar Hydrogen Via Alkaline Water Electrolyzer: A Real-Time Techno-economic Perspective With And Without Energy Storage System 碱性水电解槽太阳能制氢的动态模型:有无储能系统的实时技术经济展望

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268396

Haider Niaz, Jay J. Liu

{"title":"Dynamic Model For Solar Hydrogen Via Alkaline Water Electrolyzer: A Real-Time Techno-economic Perspective With And Without Energy Storage System","authors":"Haider Niaz, Jay J. Liu","doi":"10.23919/ICCAS50221.2020.9268396","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268396","url":null,"abstract":"At current fossil fuels consumption rate, enormous challenges are associated, including global warming, environmental pollution, climate change, and, more importantly, scarcity of these resources shortly. To combat these challenges, renewable energy-based hydrogen production processes can provide substantial support in minimizing the ever-increasing global warming threat. Therefore, the implementation of renewable energy-based processes will significantly help mitigate CO2 emissions. Among various production pathways, alkaline water electrolysis stands out due to its proven commercial importance. In this study, integrated design for 4.5 MW alkaline water electrolyzer (AWE) and battery energy storage system (BESS) is presented to overcome the dynamic and fluctuating nature of renewable energy and thus provide a continuous green hydrogen production system. Furthermore, a cost analysis is performed for systems with and without BESS to explore the real economic potential of the proposed models. Minimum hydrogen selling price (MHSP) for AWE with BESS presents the lowest selling price of 3.97$/kg, whereas the system without BESS reports MHSP as 4.96 $//kg.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"115 1","pages":"814-819"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76709462","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

Development of an integrated path planning algorithm for autonomous driving of unmanned surface vessel 无人水面舰艇自动驾驶综合路径规划算法研究

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268353

Lee Yeong-Ho, Kim Yeong-Jun, Jeong Da-Un, Weon Ihn-Sik

引用次数: 1

Analysis of noise removal speed and accuracy in various color spaces of image 分析了不同颜色空间下图像去噪的速度和精度

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268334

Hyun-Gu Jeon, Ji-il Park, Minyoung Lee, M. Cha, Kyung-Soo Kim

引用次数: 0

Heterogeneous sensor fusion based omnidirectional object detection 基于异构传感器融合的全向目标检测

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268431

Hyunjee Ryu, Inhwan Wee, Taeyeon Kim, D. Shim

{"title":"Heterogeneous sensor fusion based omnidirectional object detection","authors":"Hyunjee Ryu, Inhwan Wee, Taeyeon Kim, D. Shim","doi":"10.23919/ICCAS50221.2020.9268431","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268431","url":null,"abstract":"Nowadays, the importance of the object recognition of an aerial vehicle has increased, and many studies have been conducted. For Urban Aerial Mobility (UAM), it is important to recognize other vehicles, such as drones and birds, and avoid collisions when flying. In this paper, two sensors are fused to detect objects. It is used by fusing a camera sensor that can be used with light and low power, and a lidar sensor that has high near-field reliability and can know the location information of an object. Typically, Radar is used to recognize objects on airplanes but has been replaced by riders to conduct research on the drone platform. By using the features of the two sensors, the recognition rate of objects at short and long distances is increased, and reliability is increased through sensor redundancy. In addition, it was possible to drive in real-time on the embedded board through system optimization. Existing vehicles recognize other vehicles using Radar and communication. However, through the sensor fusion presented in this paper, it is possible to increase the object recognition rate in stand-alone situations.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"109 1","pages":"924-927"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77061231","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

Hand Detector based on Efficient and Lighweight Convolutional Neural Network 基于高效轻量级卷积神经网络的手部检测器

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268320

Duy-Linh Nguyen, M. D. Putro, K. Jo

{"title":"Hand Detector based on Efficient and Lighweight Convolutional Neural Network","authors":"Duy-Linh Nguyen, M. D. Putro, K. Jo","doi":"10.23919/ICCAS50221.2020.9268320","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268320","url":null,"abstract":"Hand detection and recognition topic has been studied since the last century and is particularly concerned with the development of machine learning today. Inspired by the benefits of a convolution neural network (CNN), this paper proposed an efficient and lightweight architecture to detect the location of hand in the images. This network is deployed with two main blocks which are the feature extraction and the detection block. The feature extraction block starts by convolution layers, CReLU (Concatenated Rectified Linear Unit) module, and max pooling layers alternately. After that, the six inception modules are used and final by four convolution layers. The detection block is constructed by three blocks of two-sibling convolution layers using for classification and regression. The experiment was trained on the combination of EgoHands and Hand dataset. As evaluation, the detector was tested on Egohands test dataset with the results achieved 93.32% of AP (Average Precision). In addition, the speed was tested in real-time by 33.87 fps (frames per second) on Intel Core I7-4770 CPU @ 3.40 GHz.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"28 1","pages":"432-436"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75036948","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

Parameter identification of a flexible cantilever beam with a moving hub 动轮毂柔性悬臂梁的参数辨识

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268395

Nguyen Tri Giang Vu, Q. Nguyen, Van Thuat Nguyen

引用次数: 0

Semi-Proximal ADMM for Model Predictive Control Problem with Application to a UAV System 模型预测控制问题的半近端ADMM及其在无人机系统中的应用

2020 20th International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2020-10-13 DOI: 10.23919/ICCAS50221.2020.9268217

Zilong Cheng, Jun Ma, Xiaoxue Zhang, Tong-heng Lee

{"title":"Semi-Proximal ADMM for Model Predictive Control Problem with Application to a UAV System","authors":"Zilong Cheng, Jun Ma, Xiaoxue Zhang, Tong-heng Lee","doi":"10.23919/ICCAS50221.2020.9268217","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268217","url":null,"abstract":"A lasso model predictive control (MPC) problem solved by the alternative direction method of multipliers (ADMM) is investigated in this work. More specifically, a semi-proximal ADMM algorithm with Gauss-Seidel iterations is proposed to solve the lasso MPC problem with singular weighting matrices. It is well-known that the interior-point algorithm is an effective and efficient algorithm, which is commonly used to obtain the real-time solution to the MPC optimization problem. However, when the weighting matrices of the lasso MPC problem are singular, it is extremely challenging to solve the optimization problem by using the classical interior-point algorithm. In fact, in some special cases, the interior-point algorithm is entirely infeasible for solving the aforementioned problems. In the work here, our developments reveal that the proposed optimization methodology (a semi-proximal ADMM algorithm with Gauss-Seidel iterations) is much more advantageous compared to the interior-point algorithm in some specific cases, especially in the case where singular weighting matrices exist in the cost function. An MPC based tracking problem of an unmanned aerial vehicle (UAV) system is implemented to compare the performance of the proposed algorithm to the performance of the existing solver. The simulation result shows that with the proposed algorithm, higher accuracy and computational efficiency can be realized.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"108 1","pages":"82-87"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80832668","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: 9