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检索条件"机构=Control System and Instrumentation Engineering"

共 229 条记录，以下是61-70 订阅

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A real-time automatic inspection system for pattavia pineapples

A real-time automatic inspection system for pattavia pineapp...

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作者： Kaewapichai, Watcharin Kaewtrakulpong, Pakorn Prateepasen, Asa Department of Instrumentation and Control System Engineering King Mongkut's University of Technology Thonburi 91 Prachautid Bangmod Toongkru Bangkok 10140 Thailand Production Engineering Department Faculty of Engineering King Mongkut's University of Technology Thonburi 91 Prachautid Bangmod Toongkru Bangkok 10140 Thailand

This paper presents a machine vision method to inspect the maturity of pineapples that ripe naturally. Unlike previous methods, the proposed technique can be categorized as a real-time non destructive testing (Real-Time NDT) approach. It consists of two phases, learning and recognition phases. In the learning phase, the system constructs a library of reference pineapple-skin-color models. In the recognition phase, the same process is performed to build a pineapple-skin-color model of the testing subject. The model is then compared with each of the reference in the library by a method called region-segmented histogram intersection. The subject is then labeled with the grade of the best match. The system achieved a high performance and speed (3 frames/sec.) in our experiment. The system also includes weighing machine on belt transmission for weight prediction.

关键词： Fruits

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Visual feedback arm robot based on iterative learning control using repetitive control optimization

Visual feedback arm robot based on iterative learning contro...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Siriwat Wenai Benjamas Panomruttanarug Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

This paper introduces a use of iterative learning control to improve a performance of arm robot in repeatable task. Iterative learning control aims to converge the repeating distance error produced from arm robot by adjusting the control input in the current run to feedback control system based on error observed from the previous run. The feedback signal to the system is experimentally obtained from the two hardware devices: encoder and Webcam. Performance of robot using the two types of feedback signal is discussed in detail. Simple learning control law is first applied to the system and a more complicated control law designed from optimization in the similar field is later used.

关键词： control systems Feedback control Error correction Service robots Servosystems Servomechanisms Instruments systems engineering and theory Hardware Design optimization

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FIR optimization control for external vibration in self servo track writer

FIR optimization control for external vibration in self serv...

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SICE Annual Conference

作者： Parnupong Thongsuk Benjamas Panomrattanarug Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

In hard disk drive manufacturing, the servo tracks are written with the equipment of servo track writer. External vibrations during servo track writing process give rise to servo track writing error. The servo track writing error can cause some critical errors during data writing operation. This paper proposes two control schemes using an effective Finite Impulse Response (FIR) compensator to attenuate external vibrations based on optimization technique. The former aims to decrease the error in each frequency by minimizing the sensitivity transfer function from command/disturbance to error. It is constructed in a feedback control loop without any sensor to detect vibrations. The latter is also designed in the frequency domain with a slightly different objective function. Here the designed compensator is constructed in a feedforward scheme with a use of accelerometer to measure vibrations. Without a mathematical model of the system, the FIR compensator from the two structures can be practically designed by using the experimental data of the system. The more number of gains used in the compensator design, the better the performance. Weighting functions are applied to emphasize on the addressed frequencies where the vibrations usually dominate.

关键词： Vibrations Servomotors Feedforward neural networks Finite impulse response filter Feedback control Frequency response Transfer functions

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Filtering of traffic-irrelevant GPS data

Filtering of traffic-irrelevant GPS data

引用

International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Thammapon Raksook Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

We proposed an algorithm for filtering unusual GPS data from multiple GPS-equipped cars. The GPS data was periodically transmitted to a base station via a radio link every 3 minutes and 10 seconds by 3000-4000 taxis around Bangkok and suburb. We manually analyzed the data and mark the data that seems irregular. From our analysis of the data, there are four main problems affect the accuracy of traffic estimation system: (1) Taxi driver drives round one place for a long time, (2) Taxi waiting for passengers, (3) The direction of a car does not flow along the direction of the street, (4) The measurement error of the GPS receivers. If these invalid data is filtered out before using it to estimate traffic congestion, the system will be more consistent and accurate. We used the coefficient of variations (C.V.) as a performance indicator, because invalid data is the cause of data inconsistency. From the experiment, our proposed algorithm could reduce the C.V. from 0.9179 to 0.8184.

关键词： Filtering Global Positioning system Data analysis Base stations Measurement errors Filters Vehicles Roads Velocity measurement Space exploration

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Deep Learning-Driven Navigation for Autonomous Golf Carts: Implementing YOLOP for Roadside Tracking

Deep Learning-Driven Navigation for Autonomous Golf Carts: I...

引用

International Conference on control, Automation and systems ( ICCAS)

作者： Benjamas Panomruttanarug Jirapasson Ponpimonangkul Paiporn Muangthai Natthakan Piyawanich Department of Department of Control System and Instrumentation Engineering King Mongkut University Technology Thonburi Bangkok Thailand

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

This paper presents a vision-based navigation system for an autonomous golf cart, utilizing a custom drive-by-wire system and a single webcam strategically mounted on the left-hand side for real-time roadside tracking. Employing the You Only Look Once for Panoptic Driving Perception (YOLOP) model, optimized with TensorRT and trained on the Berkeley Deep Drive 100K dataset, the system effectively processes images to delineate drivable paths under various lighting conditions. Experiments conducted on both straight and curved paths at King Mongkut’s University of Technology Thonburi demonstrated the system’s capability to accurately track and adjust to lane deviations using a Proportional-Derivative control mechanism, ensuring precise vehicle steering and robust performance. The findings underscore the potential of integrating advanced image processing and deep learning models to enhance autonomous navigation in urban settings, suggesting avenues for further improvements in multi-sensor fusion and algorithm optimization.

关键词： YOLO Navigation Webcams Urban areas Lighting Real-time systems Robustness PD control Vehicle dynamics Optimization

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Two-degree-of-freedom ℋ∞ control design for harmonic current control of shunt active filters

Two-degree-of-freedom ℋ∞ control design for harmonic curre...

引用

International Conference on Harmonics and Quality of Power

作者： Sudchai Boonto Wanchak Lenwari Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

This paper presents a precise harmonic current control for shunt active filters (SAF) based on the robust control design. To ensure robust stability causing by system uncertainties and tracking performance, the robust control employing a two-degree-of-freedom ℋ ∞ control method is designed to accurately track harmonics generated by nonlinear loads in power system. The controller is synthesized by using mixed sensitivity loop shaping. The principle of the proposed control method and the design procedure are described. Robustness to parameter uncertainties can be achieved. The excellent control performance has been carried out by simulations.

关键词： Switches Current measurement

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Portable reckless driving detection system

Portable reckless driving detection system

引用

International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Sakchai Boonmee Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

We present a portable system that detects bad driving behaviors of a bus using a 2-axis accelerometer. The system can identify four driving events: take off, brake, turn left, and turn right using a rule-based method. Then, the system gives scores to the behaviors detected by fuzzy logic rules. The system verification is done by 11 volunteers who keep track of driving events and scores according to their feeling. The scores from three volunteer are averaged and compared with that from the system. The results indicate an accuracy of 88.04% for taking off events, 87.21% for brake, 88.84% for turning right, and 84.36% for turning left.

关键词： Hidden Markov models Accelerometers Fuzzy logic Cities and towns Acceleration Navigation Turning Accidents Humans Event detection

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Robust PID controller design using convex-concave optimization: Application to an unstable system

Robust PID controller design using convex-concave optimizati...

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International Conference on control, Automation and systems ( ICCAS)

作者： Chawalit Thabthimrattana Surachai Saelim Suchol Tiewcharoen Sudchai Boonto Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9781467390583

This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can be solved by frequency gridding on a software package CVX. Experiments on an unstable magnetic levitation system are presented. The proposed controller shows significantly better performance than a robust H ∞ controller designed by a standard method on the same unstable system.

关键词： Optimization Robustness Magnetic levitation Transfer functions Closed loop systems Sensitivity Mathematical model

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Study and Implementation of Microcontroller-based system Dynamics Emulator using Numerical Method and Reduction of Order Technique

Study and Implementation of Microcontroller-based System Dyn...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology

作者： Santi Nuratch Department of Control System and Instrumentation Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9781467397506

This paper presents the study and implementation approaches of microcontroller-based system dynamics emulator for Mechanical system and Electrical system. The main goals of this research are to prove that fixed-point microcontrollers can be used for system dynamics emulator, to study numerical approximation methods for system dynamics modeling and to make a microcontroller working as a system dynamics. Both systems, mechanical and electrical are modeled by Ordinary differential equation method (ODE). The numerical approximation techniques based on Euler's method are studied and used as implementation approaches. The obtained second-order differential equations are then applied by the Reduction of order technique to convert them to first-order differential equations that can be solved by the first-order Euler's methods. The final version of the system equations are finally implemented on a microcontroller and examined thoroughly. The microcontroller that works as a system dynamics connects to a computer through internet network using a standard 802.11b/g Wi-Fi module. Therefore, we can interact with the system running on the microcontroller directly from a web-browser. Web-applications running on a web-browser are used to control and visualize all of system parameters. We closely analyze the experimental results by comparing them with the results obtained by reliable computer software tools, Matlab and Octave. The experimental results show that the proposed approach acquires many desired requirement of system dynamics modeling and it obviously shows that many fixed-point microcontrollers can be properly used for system dynamics emulator.

关键词： system dynamics Differential equation Numerical approximation Reduction of order Microcontroller Mechanical system Electrical system

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Comparing Network RTK and Own RTK Base Station for Lateral Tracking in GNSS-Based Navigation: An Autonomous Golf Cart Study

Comparing Network RTK and Own RTK Base Station for Lateral T...

引用

International Conference on control, Automation and systems ( ICCAS)

作者： Surayuth Duenkwang Chutimon Ketkarn Sorravee Wanichphol Benjamas Panomruttanarug Department of Department of Control System and Instrumentation Engineering King Mongkut university Technology Thonburi Bangkok Thailand

This study investigates the impact of utilizing a network RTK and our own RTK base station on the lateral tracking performance of a GNSS-based navigation system. The experiment employs an adaptive PID controller and compares the performance of both methods on an autonomous golf cart. The tracking path, composed of straight and curve segments, is manually generated based on the network RTK. The adaptive PID controller, with the gains tuned based on the slope of the path, is used to perform the tracking based on the real-time positioning observed from the network RTK as well as our own RTK base station. The results demonstrate that both network RTK and our own RTK base station achieve acceptable tracking performance, with lateral errors remaining within acceptable limits. Our own RTK base station exhibits slightly lower lateral errors compared to the network RTK, indicating improved tracking accuracy. However, setting up and maintaining our own RTK base station requires a more complex process and additional costs for an extra GNSS receiver. Hence, the choice between the two methods involves a trade-off between enhanced performance and the associated complexities.

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