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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...

引用

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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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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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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Remote wireless low cost RT process control using windows PLC by MATLAB/Simulink throw the REX control system

Remote wireless low cost RT process control using windows PL...

引用

2009 5th IEEE GCC Conference and Exhibition, GCC 2009

作者： Krejcar, Ondrej Konarik, Petr VSB-Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Department of Measurement and Control Centre for Applied Cybernetics 17. listopadu 15 708 33 Ostrava-Poruba Czech Republic VSB-Technical University of Ostrava Faculty of Mechanical Engineering Department of Control System and Instrumentation 17. listopadu 15 708 33 Ostrava-Poruba Czech Republic

ISBN: (纸本)9781424438853

Paper shows direct connection and implementation way of designed control schemas of prepared applications to an industrial WinPLC. Paper deals with industrial realization of feedback control of demanding applications on their control, control algorithms and visualization together with design, implementation and real time control from MATLAB/Simulink Environment. Described is a way to produce a permanent solution in control applications that are fully prepared, designed and implemented directly from MATLAB/Simulink to the target control platform. As a part, the mentioned solution is using a multiplatform control system REX as a bridge between MATLAB and target platforms. These methods allow minimizing costs of development of control of applications, because it produces target permanent realizations in comparison to classical development methods that usually need expensive real time measurement cards and produce only one purpose development solution. As next benefit the application is created for visualization the data from RT database during the measurement and control process. This last benefit produce an interesting data from real control process to give a next reason to use of WinCon solution.

关键词： Visualization

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An emulation of autonomous parallel parking system using fuzzy logic control

An emulation of autonomous parallel parking system using fuz...

引用

SICE Annual Conference

作者： Benjamas Panomruttanarug Sarayut Tungporntawee Parnupong Thongsuk Kohji Higuchi Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Department of Electronic Engineering University of Electro-Communications Tokyo Japan

This paper represents an emulation of fuzzy logic control schemes in autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending distance data to microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rare wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking process, the vehicle will be in line with other parked cars and position in the middle of the free space. A construction of fuzzy rules is designed based upon a wall following process. The effectiveness of the controller design is demonstrated in the experimental results.

关键词： Emulation Fuzzy logic control systems Space vehicles Infrared sensors Wheels Path planning Microcontrollers Technological innovation Safety

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A comparative study of two high performance current control techniques for three-phase shunt active power filters

A comparative study of two high performance current control ...

引用

International Conference on Power Electronics and Drive systems (PEDS)

作者： Wanchak Lenwari Milijana Odavic Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Department of Electrical and Electronic Engineering University of Nottingham Nottingham UK

In recent years, the increase of non-linear loads in electrical power system has sparked the research in power quality issue. The shunt active power filter (SAPF) is a power electronic device which has been developed to improve power quality. The current control of shunt power filters is critical since poor control can reinforce existing harmonic problems. Various control strategies have been proposed by many researchers. In this paper, a comparative evaluation of the performance of two current control techniques, resonant and predictive controller, is presented with identical system specification. The design procedure and principle of both current control methods are also presented in detail. Simulation results show the comparison of transient response, steady state control and performance in the presence of variation of supply impedance between two control techniques.

关键词： Current control Active filters Electric current control Power system harmonics Power harmonic filters Power quality Power electronics Power filters Resonance control systems

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Object detection and modeling algorithm for automatic visual people counting system

Object detection and modeling algorithm for automatic visual...

引用

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

作者： Kulrapat Jaijing Pakorn Kaewtrakulpong Supakorn Siddhichai Department of Computer Engineering Department of Instrumentation and Control System Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand National Electronics and Computer Technology Center Pathum Thani Thailand

This paper presents object detection and modeling algorithm for automatic visual people counting system to identify individuals from top view images acquired from an overhead surveillance camera. This work proposes Snake algorithm with effective external energy function and a half-circle template initialization for modeling passengers. The experiment result showed that the proposed method could fit the Snake to the head and shoulder boundaries of the passengers effectively. Fitting error of 3.76 pixels per control point was obtained in our experiment. The information is not only useful for verifying humans but also for extracting appearance features to enhance performance of the subsequent tracking algorithm.

关键词： Object detection Cameras Head Humans Data mining Surveillance Feature extraction Image segmentation Counting circuits Computer errors

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Low Cost RT Process control Using Windows PLC by MATLAB/Simulink Throw the REX control system by Secured Wireless Network

Low Cost RT Process Control Using Windows PLC by MATLAB/Simu...

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ICONS International Conference on systems

作者： Ondrej Krejcar Petr Konarik Department of Measurement and Control Centre for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava-Poruba Department of Measurement and Control Centre for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava-Poruba Czech Republic Department of Control System and Instrumentation VSB-Technical University of Ostrava Faculty of Mechanical Engineering Ostrava-Poruba Czech Republic

Paper deals with industrial realization of feedback control of demanding applications on theirs control, control algorithms and visualization together with real time control from MATLAB/Simulink Environment. Paper shows direct connection and implementation way of designed control schemas of prepared applications to an industrial WinPLC. Described is a way to produce a permanent solution in control applications that are fully prepared, designed and implemented directly from MATLAB/Simulink to the target control platform. As a part, the mentioned solution is using a multiplatform control system REX as a bridge between MATLAB and target platforms. These methods allow minimizing costs of development of control of applications, because it produces target permanent realizations in comparison to classical development methods that usually need expensive real time measurement cards and produce only one purpose development solution.

关键词： Costs Process control Programmable control MATLAB control systems Wireless networks Electrical equipment industry Industrial control Pulp and paper industry Feedback control

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Road traffic estimation with signal matching in mobile phone using large-size database

Road traffic estimation with signal matching in mobile phone...

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International Conference on Intelligent Transportation

作者： Sunisa Promnoi Poj Tangamchit Wasan Pattara-Atikom Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand

This paper presents a road traffic estimation method using a GSM mobile phone as a probe. The technique relies on localization by signal strength matching. Our emphasis is on the unusual-large size of the database. We built a module that automatically collects location-signal with one second refresh rate and carried it along a test route to collect database. To handle big database, we additionally present a noise reduction algorithm, which eliminates bad data and compacts the database. For the localization algorithm, the fast nearest neighbor strategy is applied in the database matching to reduce computation time. The position estimations which formerly implemented noise reduction are compared with the ordinary results. Furthermore, we compared the computation time of the fast nearest neighbor algorithm to the normal method. The results show that the mobile phone positioning based on signal strength pattern matching can locate its location down to 63 meter accuracy.

关键词： Mobile handsets Databases Neurons GSM Global Positioning system Nearest neighbor searches Intelligent transportation systems Signal processing Roads Cellular phones

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Intelligent model of continuous improvement mechanisms scope of QMS

Intelligent model of continuous improvement mechanisms scope...

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IEEE International Conference on systems, Man and Cybernetics

作者： Sofiene Hermi Taieb Ben Romdhane Raouf Ketata Department of Physics and Instrumentation Engineering National Institute of Applied Science and Technology Tunis Tunisia Research Unit on Intelligent Control Design and Optimization of Complex System (ICOS) National Engineering School of Sfax Sfax Tunisia

This work proposes a new methodology to evaluate and improve the QMS (Quality Management system) effectiveness and efficiency to succeed for a factual approach including all monitoring parameters. This idea is justified by the difficulties incurred by the organizations to establish a continuous improvement's system based on the objectives and the process approach. In addition, the guidelines defined by the FDX 50-174 part published by AFNOR to assess the QMS effectiveness, still guides defining the assessment criteria and progress levels. Indeed, to facilitate the continuous improvement system's integration, we propose a new methodology based on a broad range of monitoring tools (functional and operational indicators, audits, quality control, customer satisfaction) and including the requirements of the process and the system approach.

关键词： Continuous improvement Design engineering Quality management Condition monitoring Customer satisfaction ISO standards Physics Instruments Management training Cybernetics

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