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A new linear matrix inequality condition for robust D-stabilizing proportional-derivative state-feedback controller design of polynomial matrix polytopes

A new linear matrix inequality condition for robust D-stabil...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Dong-Hwan Lee Jin-Bae Park Young-Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control Robot and Systems Engineering Kunsan National University Kunsan South Korea

This paper investigates the problem of robust D-stabilization for polynomial matrix polytopes. By employing proportional-derivative (PD) state-feedback controllers, a new sufficient condition is formulated in terms of a linear matrix inequality (LMI) feasibility problem. Example is given to demonstrate the validity and efficiency of the proposed approach.

关键词： Polynomials Linear matrix inequalities Robustness Symmetric matrices Bismuth PD control

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A less conservative LMI condition for stability analysis of continuous-time Takagi-Sugeno fuzzy systems via a new fuzzy Lyapunov function

A less conservative LMI condition for stability analysis of ...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Dong Hwan Lee Jin Bae Park Young Hoon Joo Hyun Suk Jeong Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control Robot and Systems Engineering Kunsan National University Kunsan South Korea

In this paper, stability of continuous-time Takagi-Sugeno (T-S) fuzzy systems is investigated by means of a new fuzzy Lyapunov function which depends on the first-order time-derivative of the fuzzy weighting functions (TDFWF). As a result, both the first and second-order TDFWF appear in the Lyapunov inequality and the stability condition. The additional dependence on the second-order TDFWF makes it possible to reduce the conservativeness of the previous result. The stability condition is formulated in terms of linear matrix inequalities (LMIs). The effectiveness of the proposed analysis approach is demonstrated by numerical examples.

关键词： Lyapunov method Stability analysis Fuzzy systems Numerical stability Solids Upper bound Trajectory

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Secure and Energy-Efficient Image Transmission for Wireless Sensor Networks

Secure and Energy-Efficient Image Transmission for Wireless ...

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IEEE International Symposium on Parallel and Distributed Processing with Applications Workshops (ISPAW)

作者： Sungju Lee Seohyun Jeong Yongwha Chung Hyeonjoong Cho Sung Bum Pan Department of Computer and Information Science Korea University South Korea Department of Control Instrumentation and Robot Engineering Chosun University South Korea

Compared to full encryption approaches, selective encryption approaches are known to protect JPEG images from attacks with minimum overhead for Wireless Sensor Networks (WSNs). Since data resulting from DCT transform is correlated with each other, however, the unencrypted data in selective encryption approaches can give attackers some hint for guessing the encrypted data. In this paper, we propose away to apply full encryption to image transmission over WSNs by offloading the computational workload of sensors to a server. Based on the experimental results, we show that the proposed approach can ensure both the higher security level and the energy-efficiency at a sensor with acceptable image quality.

关键词： Encryption Image coding Sensors Image quality Transform coding Wireless sensor networks Interpolation

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Point Density-aware Channel-wise Transformer for LiDAR 3D Object Detection 20

Point Density-aware Channel-wise Transformer for LiDAR 3D Ob...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Fanhang Dong, Enzeng Tong, Jigang Yang, Sen Du, Shengzhi Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory 391 Binshui West Road Xiqing District Tianjin China Tshwane University of Technology Department of Electrical Engineering Pretoria0001 South Africa

ISBN: (纸本)9798350320831

We present a two-stage 3D object detection framework from point clouds, named Point Density-aware Channel-wise Transformer (PD-CT3D), which investigate the property of point density. This architecture uses 3D sparse CNN to effectively generate high-quality proposals at the first stage, then integrates the inherent property of point density and 3D CNN-based voxel features by density-aware proposal grid pooling. Specifically, each generated proposal from the first stage is divided into grids to aggregate corresponding voxel-wise features and raw point-based features for encoding the representative features from the whole scene. Subsequently, a channel-wise encoder-decoder transformer is adopted to extract the encoded density-aware features and decode them into a global representation for final refinement. Experiments on the widely used KITTI dataset show that the PD-CT3D achieves competitive performance among state-of-the-art methods. © 2023 IEEE.

关键词： Object detection

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Nondestructive evaluation of austenitic stainless steel using CIC-MFL and LIHaS

Nondestructive evaluation of austenitic stainless steel usin...

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作者： Jun, Jongwoo Choi, Myungki Lee, Jinyi Research Center for Real Time NDT Chosun University Gwangju 501-759 Korea Republic of Department of Information and Communication Engineering Graduate School of Chosun University Gwangju 501-759 Korea Republic of Department of Control Instrumentation and Robot Engineering Chosun University Gwangju 501-759 Korea Republic of

Austenitic stainless steels (A-SS) are extensively used in widespread industrial and technological applications due to their good corrosion resistance combined with their relatively high strength, toughness, and stiffness. However, sometimes a small amount of partial magnetization is generated in A-SS due to imperfect final heat treatments and mechanical processing, such as rolling and welding. These partially magnetized regions may be misidentified as a crack when tested using conventional nondestructive methods. This paper presents a nondestructive evaluation approach using a linearly integrated Hall sensor array (LIHaS) and a combined induced current and magnetic flux leakage (CIC-MFL) method in order to ensure reliable crack inspections for A-SS. © 2011 IEEE.

关键词： Austenitic stainless steel

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Volume measurement method for 2D connector inspection machine

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Journal of Institute of control, robotics and Systems 2017年第9期23卷 780-785页

作者： Kwon, Soon-Sub Park, Tae-Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering and Research Institute for Computer and Information Communication Chungbuk National University Korea Republic of

The connector inspection machine is the AOI equipment used to detect defective connectors. We developed the 4-side connector inspection machine that can acquire images from four sides simultaneously using a single camera and four mirrors. The volume size should be measured to detect the abnormal molding defect. However, the inspection machine can acquire only a 2D image of each side of the connector. To measure the volume, we reconstructed 3D images from 2D images of four sides. The epipolar geometry and homography were used to improve the accuracy of the matching between other side images. The experimental results are presented that verify the usefulness of the method. © ICROS 2017.

关键词： Volume measurement

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Grain-level visualization of stress-strain distribution on fatigue crack via self-magnetic flux density: a brief experimental investigation

Grain-level visualization of stress-strain distribution on f...

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IEEE Instrumentation and Measurement Technology Conference

作者： I Dewa Made Oka Dharmawan Jinvi Lee Deparment of Control Intrumentation and Robot Engineering Chosun University Gwangju Republic of Korea Department of Electronic Engineering Chosun University Gwangju Republic of Korea

ISBN: (数字)9798350380903

ISBN: (纸本)9798350380910

Fatigue cracks exhibit unpredictable and rapid propagation, presenting challenges in comprehending their initiation, influenced by various physical and chemical parameters. To gain deeper insights into the nucleation and growth, understanding the convergence phenomenon in ferromagnetic materials requires visualization of the local stresses and phase changes around the defect. This necessitates a measurement system capable of not only imaging the defect but also stress mapping at high spatial resolution, ideally at grain-level. In this study, we explore how this can be achieved by integrating three-axis tunnel magnetoresistive (TMR) sensor with optical microscopy images. This integration was expected to facilitate the visualization of self-magnetic flux density and enable microstructure analysis on the material's surface. Employing this mapping technique, we observe and discuss the stress distribution around the crack at the grain level with three variation of defect depths direction: 0, 30, and 60 degrees.

关键词： Microscopy Data visualization Fatigue Tunneling magnetoresistance Spatial resolution Surface cracks Stress

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Localization system for AGVs using laser scanner and marker sensor

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Journal of Institute of control, robotics and Systems 2017年第10期23卷 866-872页

作者： Heo, Sung-Woo Park, Tae Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of Department of Electronics Engineering Chungbuk National University Research Institute for Computer and Information Communication Chungbuk National University Korea Republic of

This study develops a localization system using marker sensors and a laser scanner for autonomous guided vehicles (AGVs). To calibrate the relative position data of robots, which are obtained from encoders and gyros, the system uses a laser scanner and magnetic markers. The existing position-tracking method distinguish between rail and non-rail. This study proposes a method that enhances the position accuracy of robots using marker sensors and a laser scanner without distinguishing between rail and non-rail. First, using a laser scanner, the robot positions are obtained by measuring the distance between the reflector and the robot. The magnetic marker sensors provide the absolute position by detecting magnetic landmarks. Using a Kalman filter to combine the position data retrieved from the two sensors with the position data from the encoders and gyro sensors, we propose an effective localization system that integrates rails and non-rails. The experiment was repeated at three places using an actual AGV that was developed for this study. The experimental results demonstrate that the proposed system can effectively track the positions of AGVs. © ICROS 2017.

关键词： robots

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Accurate RGB-D SLAM in dynamic environments based on dynamic visual feature removal

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Science China(Information Sciences) 2022年第10期65卷 256-269页

作者： Chenxin LIU Jiahu QIN Shuai WANG Lei YU Yaonan WANG Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center College of Electrical and Information Engineering Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University

Visual localization is considered an essential capability in robotics and has attracted increasing interest for the past few years. However, most proposed visual localization systems assume that the surrounding environment is static, which is difficult to maintain in real-world scenarios due to the presence of moving objects. In this paper, we present DFR-SLAM, a real-time and accurate RGB-D SLAM based on ORB-SLAM2 that achieves satisfactory performance in a variety of challenging dynamic scenarios. At the core of our system lies a motion consensus filtering algorithm estimating the initial camera pose and a graph-cut optimization framework combining long-term observations, prior information, and spatial coherence to jointly distinguish dynamic and static visual features. Other systems for dynamic environments detect dynamic components by using the information from short time-span frames, whereas our system uses observations from a long period of keyframes. We evaluate our system using dynamic sequences from the public TUM dataset, and the evaluation demonstrates that the proposed system outperforms the original ORB-SLAM2 system significantly. In addition, our system provides competitive localization accuracy with satisfactory real-time performance compared to closely related SLAM systems designed to adapt to dynamic environments.

关键词： SLAM dynamic environments indoor localization graph-cut robot navigation

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Task-oriented synchronous error monitoring framework in robotic manufacturing process

Task-oriented synchronous error monitoring framework in robo...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Hyungsik Kim Joono Cheong Seungik Lee Joongbae Kim Department of Control and Instrumentation Engineering Korea University South Korea Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Daejeon South Korea

As manufacturing systems become increasingly more automated and complicated, there is a need for supervision systems to operate and control production. In complex manufacturing environments, robots can make errors that can cause serious product damages. This paper focuses on the efficient supervision systems, called the sequential task-oriented supervision, using multiple sensors for achieving task status monitoring, automated error analysis in robotic manufacturing process. As with the designed task sequence, a status monitoring system runs synchronously to detect errors in the current robot task. In order to continue performing tasks without human intervention, task status monitoring systems use multiple sensors including a vision sensor, a force-torque(F/T) sensor and a tactile sensor is developed. Detailed structure and working principle of the monitoring system are addressed in this paper.

关键词： Monitoring Sensor fusion robot sensing systems Sensor systems Manufacturing processes

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