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1st engineering and Science International Conference 2024, ESIC 2024

作者： Anoraga, Muhammad Imron Catur Ekawati, Estiyanti Mukhlish, Faqihza Instrumentation and Control Master Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Bandung Indonesia

Image-based region mapping requires an image-stitching process to produce a complete map while preserving the details of the mapped objects. Image acquisition can be done using UAVs such as drones, and image stitching can be performed using the Oriented FAST and Rotated BRIEF (ORB) techniques. However, this algorithm has a drawback: There are many mismatches during feature matching. In this study, a maximum pixel displacement constraint between images was applied during the feature-matching process. Applying this constraint improved the feature-matching results due to a significant reduction of the mismatch rate from 84.28% to 25.17%. This reduction positively impacted subsequent stages, including map stitching. The mismatch removal process and the acquisition of transformation models during image registration became faster, reducing the processing time from 17m 36.8s to 1m 17.2s. Additionally, there was an improvement in the SSIM metric score, indicating that the stitched image results had a higher similarity to the reference image captured by a digital camera, increasing from 0.8423 to 0.8489. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Development of electric cart for improving walking ability — application of control theory to assistive technology

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Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： Jinhua SHE Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

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Bidirectional multiport microinverter and grid-multimode-operation control for a non-linear load 3

Bidirectional multiport microinverter and grid-multimode-ope...

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3rd IEEE Workshop on Power Electronics and Power Quality Applications, PEPQA 2017

作者： Vera, Frank A. Moreno Prado, Jhonatan D. Paucara Moriano, Javier J. Sotomayor Gustavo Perez Zuñiga, C. Saly Rosas Celi, Damian E. Master Program in Control and Automation Engineering Pontificia Universidad Católica del Perú Lima Peru

ISBN: (纸本)9781509066780

Micro-inverters usually are used to connect photovoltaic panels (PV) to the electricity grid. If the energy provided by the panel is not enough to satisfy the demands, the system becomes dependent exclusively of the grid. This constraint demands the use of a battery bank, therefore it is necessary to add a third port to the micro-inverter to connect this energy backup. In this paper, a two stage micro-inverter is proposed, the first stage is a DC/DC Triple Active Bridge (TAB) converter that integrates a back-up battery and works in soft switching;and the second stage is a Voltage Source Inverter (VSl) that operates in both grid-connected mode (GCM) and Stand Alone Mode (SAM). The grid-multimode operation controller developed detects the islanding fault and maintains the energy quality for a typical nonlinear load. Reliability and robustness of Uninterrupted Power Supplies (UPS) are increased by the proposed control. © 2017 IEEE.

关键词： DC-DC converters

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A grid-tied power factor corrector microinverter without electrolytic capacitor by the control of voltage in a DC-link for a non-linear load 14

A grid-tied power factor corrector microinverter without ele...

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14th International Conference on Electrical engineering, Computing Science and Automatic control, CCE 2017

作者： Moreno, Frank A. Paucara, Jhonatan D. Prez, C. Gustavo Sotomayor, Javier J. Sal Rosas, Damian E.Y. Master Program on Control and Automation Engineering Pontificia Universidad Católica de Perú Lima Peru

ISBN: (纸本)9781538634059

A novel control strategy is proposed for a bidirectional multiport single phase two stage microinverter without electrolytic capacitor. The application of this converter is for power factor correction under non-linear grid tied load. The converter is composed of a triple active bridge series-resonant DC/DC converter cascaded with a voltage source inverter where a film capacitor is used in the DC-Link. Power decoupling is obtained due to a high ripple low frequency voltage in the DC-Link. The proposed controller has three cascaded loops to control the DC-Link average voltage, the instantaneous grid current and the point of common coupling voltage respectively. This strategy allows having a high speed steady-state response, good stability, low harmonic distortion in the grid, bidirectional power flow and low computational cost unlike other controllers. Two different cases have been tested, the first one when only the grid delivers power to the non-linear load, and the second one when the power flow is shared between the grid and any other DC source (renewable source or battery). Simulation results validate the controller functionality. © 2017 IEEE.

关键词： Electrolytic capacitors

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Comparison between Body Fat Measurements Obtained by Portable Ultrasound and Caliper in Young Adults

Comparison between Body Fat Measurements Obtained by Portabl...

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34th Annual International Conference of the IEEE engineering-in-Medicine-and-Biology-Society (EMBS)

作者： Ulbricht, L. Neves, E. B. Ripka, W. L. Romaneli, E. F. R. Master Program in Biomedical Engineering Federal University of Technology - Paraná. Brazil Federal University of Technology - Paraná. Brazil Electrical Engineering and Industrial Computing Program Federal University of Technology - Paraná Brazil Control and Automation Engineering Federal University of Technology - Paraná Brazil

ISBN: (纸本)9781457717871

The objective of this study was to compare and correlate the Portable Ultra Sound (US) measuring technique to the skinfold measuring technique (SF) to estimate body fat percentage (%F) in young adults. Sixty military were evaluated, all males, divided in two groups: Group 1 (normal) composed by 30 military with Body Mass Index (BMI) until 24.99 kg/m(2) and Group 2 (overweight) composed by 30 military with BMI > 25 kg/m(2). Weight, height, skinfolds and ultrasound were measured in 9 points (triceps, subscapular, biceps, chest, medium axillary, abdominal, suprailiac, thigh and calf). Body fat average values obtained by skinfold thickness and ultrasound measurements were 13.25 +/- 6.32 % and 12.73 +/- 5.95 % respectively. Despite significant differences in measurements of each anatomical site, it was possible to verify that the total final body fat percentage calculated by both techniques did not present significant differences and that overweight group presented greater similarity between the values obtained using caliper and ultrasound equipment.

关键词： Body composition Skinfold thickness Portable Ultrasound Anthropometry Healthcare

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XSpace: Self-learning platform for implementation of digital control algorithms 14

XSpace: Self-learning platform for implementation of digital...

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14th IEEE Global engineering Education Conference, EDUCON 2023

作者： Caceres, Pablo Cardenas Cieza Huane, Leslie Y. Horna Vilcahuaman, Ingrid M. Pauyac Estrada, Claudia R. Casano, Celso De-La-Cruz Tafur Sotelo, Julio C. Pontificia Universidad Catolica Del Peru Department of Engineering Electronics Section Lima Peru Degree Program Pontificia Universidad Catolica Del Peru Department of Engineering Control and Automation Master Engineering Lima Peru

ISBN: (纸本)9798350399431

In the electronic engineering undergraduate program, Peruvian universities offer different theoretical courses of Automatic control that do not present enough practical approach to the algorithms that are studied during the progress of these courses;however, the approach to implementation is very important to achieve good performance in the industry and researching. In this work is presented XSpace, an innovative and friendly platform which consists of a robust hardware that allows the student to take it home;this way, the student is given the opportunity to implement digital control algorithms learned in the theoretical classes. The effectiveness of this platform is shown using a proposed methodology which evidences greater interest, efficiency and efficacy in students at the Automatic control area. This project was implemented in the 'control Systems' course at Pontificia Universidad Catolica del Peru (PUCP) from 2020 to 2022. Results are presented through a student survey and a history of average grades during the academic periods the platform was employed. © 2023 IEEE.

关键词： Students

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Self-Tuning Neural Network controller Based on Fuzzy Logic for Multiple Positions Tracking of a Pneumatic Driven Soft Endoscope Actuator 10

Self-Tuning Neural Network Controller Based on Fuzzy Logic f...

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10th International Conference on automation, Robotics, and Applications, ICARA 2024

作者： Acosta, Renzo Tafur, Julio Canahuire, Ruth Pontificia Universidad Catolica del Peru Control and Automation Engineering Master Degree Program Enginnering Department Lima Peru Universidad de Ingenieria y Tecnologia - UTEC Department of Electrical and Mechatronics Engineering Lima Peru

ISBN: (纸本)9798350394245

This paper presents the dynamic modelling and end effector position control of a soft endoscope. Soft endoscope system under study consists mainly of a pneumatic driven soft actuator (PDSA) with four independently chambers. Recurrent neural network (RNN) and dynamic back propagation (DBP) training algorithm are used to obtain PDSA dynamic model. PDSA position controller is based on a feedforward neural network (FNN) and it is trained using PDSA closed loop system (CLS) and DBP training algorithm. CLS stability analysis concludes that it is not possible control PDSA end effector position using one position controller for different end effector initial and desired positions. Fuzzy logic methodology is used to integrate several positions controllers in a one controller valid for all operation range. The controller implementation and close loop system simulation are performed in MATLAB for different end effector desired position to validate system performance in all range of operation. © 2024 IEEE.

关键词： Pneumatics

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Adversarially Robust Reinforcement Learning for Urban Traffic Signal control 5

Adversarially Robust Reinforcement Learning for Urban Traffi...

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5th IEEE International Conference on Technology, Informatics, Management, engineering and Environment, TIME-E 2024

作者： Hamzah, Muhammad Shafly Joelianto, Endra Sutarto, Herman Yoseph Putri, Adiyana Institut Teknologi Bandung Instrumentation and Control Master Program Bandung Indonesia Institut Teknologi Bandung Instrumentation Control and Automation Research Group Bandung Indonesia PT. Pusat Riset Energi Department of Intelligent System Bandung Indonesia Institut Teknologi Bandung Doctoral Program of Engineering Physics Bandung Indonesia

ISBN: (纸本)9798350364743

Urban traffic congestion presents critical challenges, resulting in delays, environmental pollution, and significant economic costs. While traditional traffic control methods, such as fixed-time and adaptive systems, have been widely implemented, they often fail in unpredictable conditions, particularly when confronted with noisy or inaccurate data. This research proposes a robust reinforcement learning (RL) solution for traffic signal control using the RADIAL-DQN (Robust Adversarial Loss DQN) algorithm. Integrating adversarial training enhances the system's robustness to real-world uncertainties. Evaluations conducted using a SUMO traffic simulation show that the robust agent produced an increase of only 60.71% in queue length under a projected gradient descent (PGD) adversarial attack, outperforming standard RL agents, which experienced an 89% increase. These results demonstrate the potential of robust RL to improve both the reliability and scalability of urban traffic control systems. © 2024 IEEE.

关键词： Traffic signals

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Design of Image-Based Autonomous Landing Instrumentation and control System for Unmanned Quadrotor Vehicles 10

Design of Image-Based Autonomous Landing Instrumentation and...

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10th IEEE Information Technology International Seminar, ITIS 2024

作者： Fauzan, Ihsan M. Mukhlish, Faqihza Prayoga, Aditya Ahmad, Robby Azhari Institut Teknologi Bandung Instrumentation and Control Master Program Faculty of Industrial Technology Indonesia Institut Teknologi Bandung Engineering Physics Research Group Center for Instrumentation Technology and Automation Indonesia PT. Sas Aero Sishan Engineering Department Indonesia

ISBN: (纸本)9798331521295

The study designs an instrumentation and control system for autonomous quadrotor landing using a visual marker as the landing target. For landing process, the marker used as a landing target is an embedded ArUco marker, capable for detection for both long range and close-range detection. Position of the quadrotor relative from the ArUco marker is estimated using Perspective-N-Point pose estimation. The estimation errors compared to actual measurements are under 20 cm, which is less than the distance between ArUco border and its center. To keep camera for facing downward during the flight, the 2 axis inertially stabilization platform (ISP). The designed ISP can maintain the camera orientation even when quadrotor angle has changed. The landing control system is made for two different scenarios. First scenario is for landing with Global Positioning System (GPS) support, and the second scenario is without GPS support. The landing control system in GPS support scenario uses velocity setpoint to control the quadrotor while in without GPS support scenario, control system uses angle-thrust setpoint to control quadrotor. Quadrotor landing control system can attempt landing on top of the ArUco marker in both scenarios. The trajectory Mean Average Error (MAE) of x and y coordinates and radius of the landing process is (0.108, 0.326, 0.359) m for GPS support scenario and (0.301, 0.251, 0.436) m for without GPS support scenario. © 2024 IEEE.

关键词： Global positioning system

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Biophotogrammetry Model of Respiratory Motion Analysis Applied to Children

Biophotogrammetry Model of Respiratory Motion Analysis Appli...

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34th Annual International Conference of the IEEE engineering-in-Medicine-and-Biology-Society (EMBS)

作者： Ripka, W. L. Ricieri, D. da V. Ulbricht, L. Neves, E. B. Stadnik, A. M. W. Romaneli, E. F. R. Electrical Engineering and Industrial Computing Program Federal University of Technology - Paraná Brazil Physical Education Department Federal University of Paraná Brazil Master Program in Biomedical Engineering Federal University of Technology - Paraná Brazil Federal University of Technology - Paraná. Brazil Physical Education Federal University of Technology - Paraná Brazil Control and Automation Engineering Federal University of Technology - Paraná Brazil

ISBN: (纸本)9781457717871

This study aimed to test a protocol of measurements based on Biophotogrammetry to Analysis of Respiratory Mechanics (BARM) in healthy children. Seventeen normal spirometric children (six male and 11 female) were tested. Their performed maneuvers of forced inspiratory vital capacity were recorded in the supine position. The images were acquired by a digital camera, laterally placed to the trunk. Surface markers allowed that the files, exported to CorelDraw (R) software, were processed by irregular trapezoids paths. Compartments were defined in the thoracic (TX), abdominal (AB) and the chest wall (CW). They were defined at the end of an inspiration and expiration, both maximum, controlled by a digital spirometer. The result showed that the measured areas at the inspiratory and expiratory periods were statistically different (p<0.05). It reflects the mobility of CW and compartments. In conclusion, the proposed method can identify the breathing pattern of the measured subject using images in two dimensions (2D).

关键词： respiratory mechanics chest wall respiratory movements photogrammetry children

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