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2010 International Symposium on Computer, Communication, control and automation, 3CA 2010

作者： Huang, Chung-Chi Lin, Kuan-Chen Huang, Cong-Hui Lin, Hsin-Pu Liu, Cheng-Wei Dept. of Automation and Control Engineering Far East University Tainan Taiwan Dept. of Computer Application Engineering Far East University Tainan Taiwan

ISBN: (纸本)9781424455669

This study develops and implements a SoC-based HW/SW (Hardware-Software) codesign for an intelligent diagnostic system. To improve the efficiency of the VLSI (Very Large Scale Integration) design process, the components of the intelligent diagnostic system are designed in the form of SIP (Silicon Intellectual Property) modules. The SIP modules, including the CPU module, the GPIO (General Purpose I/O) module and the NN (Neural Network) module, are then integrated to form the complete intelligent diagnostic system. In constructing the system, an embedded processor is employed to run software programs. In addition to integrating the hardware architecture, this study also develops application software, comprising a bootloader, a UARTcomm module and a main program for human machine interface, to drive the embedded processor. The SoC-based HW/SW codesign method employed in this study increases the efficiency of the system design process and reduces the rebuild time. The results of the experimental trials verify the successful performance of the developed intelligent diagnostic system. © 2010 IEEE.

关键词： Hardware-software codesign

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Application of Visual Servo in Tracking and Grasping Moving Target 5

Application of Visual Servo in Tracking and Grasping Moving ...

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5th International Conference on control, Robotics and Informatics, ICCRI 2022

作者： Nguyen, Duc Tam-Hong Nguyen, Vinh-Hao VNU-HCM Dept. of Control Engineering and Automation Ho Chi Minh City Viet Nam

ISBN: (数字)9781665468008

ISBN: (纸本)9781665468008

This paper presents a visual servoing system for the task of tracking and grasping a moving target in 3D space. A multiple-cue feature visual tracking module combining known 3D CAD models of the object is used to extract the target pose in the RGB-D images. An Extended Kalman Filter (EKF) is developed to further compensate for the delay of the system and estimate the object motion. A two-stage controller for the visual servo is proposed with the first part being able to control the gripper to track the target, while the second part is a pose based visual servo (PBVS) scheme for the grasping motion. Experiment results show that the presented system is able to perform real time tracking- grasping tasks to a moving target. © 2022 IEEE.

关键词： Extended Kalman filters

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Interval analysis and nonlinear control ofwastewater plants with parameter uncertainty

Interval analysis and nonlinear control ofwastewater plants ...

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作者： Aschemann, H. Rauh, A. Kletting, M. Hofer, E.P. Gennat, M. Tibken, B. Dept. of Measurement Control and Microtechnology University of Ulm D-89081 Ulm Germany Dept. of Automation/Control Engineering University of Wuppertal D-42119 Wuppertal Germany

ISBN: (纸本)008045108X

This paper presents the successful application of interval arithmetics to a simplified activated sludge model that describes the reduction of biodegradable substrate in biological wastewater treatment. Reliable analysis of the steady-state behaviour as well as plant control have to account for the dominant uncertain system parameter given by the maximum specific growth rate of biomass. The proposed control strategy consists of nonlinear control of oxygen concentration using desired trajectories derived from interval evaluations of the uncertain steady-state substrate concentration. By this, plant operating costs can be significantly reduced resulting in superior plant efficiency. Copyright © 2005 IFAC.

关键词： Operating costs

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Aided navigation techniques for indoor and outdoor unmanned vehicles

Aided navigation techniques for indoor and outdoor unmanned ...

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2012 5th International Conference on New Technologies, Mobility and Security, NTMS 2012

作者： Tuna, Gurkan Gulez, Kayhan Dept. of Computer Programming Trakya University Edirne Turkey Dept. of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9781467302296

This paper presents design considerations of indoor and outdoor navigation techniques proposed for unmanned vehicles (UV). In this paper, we mainly investigate the use and the advantages of wireless sensor networks (WSNs) for indoor navigation, and Global Positioning System (GPS) for outdoor navigation. The system primarily uses laser range finder (LRF) measurements for indoor navigation, and is based on Extended Kalman Filter (EKF). For outdoor navigation the system uses Inertial Navigation System (INS) measurements. At periodical intervals the system integrates the measurements of an absolute sensor to improve estimations. The absolute sensor is a WSN interface for indoor navigation, and a GPS receiver for outdoor navigation. Simulation studies were conducted using Unified System for automation and Robot Simulation (USARSim) and Player/Stage. The results of USARSim based simulations prove the advantages of integrating GPS measurements. Player/Stage based simulations show the advantages of integrating Received Signal Strength Indicator (RSSI) measurements obtained from WSN interfaces. In addition to the simulation studies, field tests with a custom-built Corobot autonomous robot platform will be realized to prove the effectiveness of the methods. © 2012 IEEE.

关键词： Wireless sensor networks

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A Secure and Interactive Home automation System with Machine Learning Based Power Prediction 3

A Secure and Interactive Home Automation System with Machine...

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3rd IEEE International Virtual Conference on Innovations in Power and Advanced Computing Technologies, i-PACT 2021

作者： Pattnaik, Biswamoy Dey, Sreya Pandian, B. Jaganatha School of Electrical Engineering VIT Dept. of Instrumentation Tamilnadu Vellore India School of Electrical Engineering VIT Dept. of Control and Automation Tamilnadu Vellore India

ISBN: (纸本)9781665426916

The existing and growing trending technology in the industry is the smart home automation system, which simplifies and streamlines life. IoT-enabled home automation provides consumers with smooth leverage over household equipment, allowing for greater efficiency. This paper describes a prototype of a multi-featured home automation system consisting of a textual chatbot based on Natural Language Processing to monitor and display household conditions and control devices. It also includes a machine learning algorithm to predict the household power consumption for a day. The system is made secure with a face recognition system that only gives access to users registered in the system. © 2021 IEEE.

关键词： Learning algorithms

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Hardware design of features extraction using wavelet packet method for intelligent diagnostic system

Hardware design of features extraction using wavelet packet ...

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2010 International Symposium on Computer, Communication, control and automation, 3CA 2010

作者： Huang, Chung-Chi Huang, Cong-Hui Tsao, Yi-Ming Huang, Shih-Chuan Huang, Hao-Lun Dept. of Automation and Control Engineering Far East University Tainan Taiwan Dept. of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan

ISBN: (纸本)9781424455669

This paper aims to develop a hardware architecture of features extraction using wavelet packet method for an intelligent diagnostic system. Verilog-based features extraction architecture is proposed and implemented. Test results verify the design architecture of features extraction using wavelet packet method. A CNC spindle motor commonly featured in intelligent diagnosis of manufacturing systems is chosen to verify this architecture. Under the normal and eccentric spindle states, system modeling is built up for a high speed (10,000RPM), medium speed (5,000RPM) and low speed (1,000RPM) The test results of samples of different rotating speeds under the normal and eccentric spindle states show the effect of the hardware of features extraction and verify the feasibility of hardware design. © 2010 IEEE.

关键词： Manufacture

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Enabling control technologies for telesurgery

Enabling control technologies for telesurgery

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62nd International Astronautical Congress 2011, IAC 2011

作者： Haidegger, Tamás Kovács, Levente Precup, Radu-Emil Benyó, Balázs Benyó, Zoltán Dept. of Control Engineering Budapest University of Technology and Economics Hungary Dept. of Automation and Applied Informatics Politehnica University of Timişoara Romania

ISBN: (纸本)9781618398055

Human space exploration was given a new boost by targeting again the Moon and the Mars. Besides the USA, China, India and Russia announced their progressive plans to put astronauts on orbit and beyond in the next decades. The continuous development of robotic technology should lead to the advancement of automated technology, including space medicine. Telesurgery has already proved its effectiveness through various procedures on Earth, and it has the potential to provide medical assistance in space. Space agencies have already conducted numerous experiments and developed various setups to push the boundaries of teleoperation. Different control schemes have been proposed and tested to facilitate and enhance telepresence and to ensure transparency, bandwidth and latency-tolerance. This paper focuses on the modelling of a generic telesurgery setup, supported by a cascade control approach. The minimalistic models were tested with classical and fuzzy PID control options to provide a simple, universal and scalable solution for the challenges of telesurgery over large distances. In our simulations, the control structures were capable of providing acceptable performance indices up to 2 seconds of roundtrip delay, which is a promising result towards the support of future teleoperational missions. Copyright ©2011 by the International Astronautical Federation. All rights reserved.

关键词： Remote control

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Bird's Eye View on Systems and control - General View and Case Studies

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IFAC-PapersOnLine 2016年第6期49卷 274-279页

作者： Vámos, T. Bars, R. Sik, D. Institute of Computer Science and Control Hungarian Academy of Sciences MTA-SZTAKI Budapest Hungary Dept. of Automation and Applied Informatics Budapest University of Technology and Economics MTA-BME Control Engineering Research Group Budapest Hungary

Systems and control are all around us. System view, understanding systems and how they are controlled is important for everyone. The behavior of systems is determined by some fundamental principles which can be understood by everyone. The main principles governing systems and control are presented on different levels. The first level is dedicated for everyone. Comics-like interpretation is provided with explanations. The second level discusses the main topics dedicated for the interested students. Several case studies demonstrate how system view is considered in different areas of life. With this approach systems in different areas of life could be better understood contributing to better decisions influencing their performance. The third level provides deeper insight into some aspects of modern mathematical system theory, to geometric view of control systems. The material is available on a website on the internet. © 2016

关键词： control theory Algorithms Case studies control disciplines control education control structure Systems and control

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A discrete-time adaptive current controller for BLDCM with Uncertain Back-EMF signals

A discrete-time adaptive current controller for BLDCM with U...

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2020 International Conference on Computation, automation and Knowledge Management, ICCAKM 2020

作者： Adiguzel, Fatih Turker, Turker Istanbul University-Cerrahpasa Dept. of Electrical and Electronics Eng Istanbul Turkey Yildiz Technical University Dept. of Control and Automation Engineering Istanbul Turkey

ISBN: (纸本)9781728106663

In this study, a discrete-time adaptive control structure is proposed to eliminate the effects of periodic uncertainties in brushless direct current motor drives. The discrete-time model of brushless direct current motor drives is introduced first, followed by the derivation of the error dynamics and of the discrete-time control structure, which deals with uncertain periodic back-emf signals with known periodicity. The discrete-time adaptation rule was modified to overcome the switching phenomenon. The effectiveness and viability of the proposed adaptive controller algorithm was successfully demonstrated in various realistic numerical simulations. © 2020 IEEE.

关键词： controllers

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Sense-Assess-eXplain (SAX): Building Trust in Autonomous Vehicles in Challenging Real-World Driving Scenarios 31

Sense-Assess-eXplain (SAX): Building Trust in Autonomous Veh...

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31st IEEE Intelligent Vehicles Symposium, IV 2020

作者： Gadd, Matthew De Martini, Daniele Marchegiani, Letizia Newman, Paul Kunze, Lars Oxford Robotics Institute University of Oxford Dept. Engineering Science United Kingdom Automation and Control Aalborg University Dept. Electronic Systems Denmark

This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for large-scale deployments of autonomous systems. To this end, we present how we build robots that (1) can robustly sense and interpret their environment using traditional as well as unconventional sensors;(2) can assess their own capabilities;and (3), vitally in the purpose of assurance and trust, can provide causal explanations of their interpretations and assessments. As it is essential that robots are safe and trusted, we design, develop, and demonstrate fundamental technologies in real-world applications to overcome critical barriers which impede the current deployment of robots in economically and socially important areas. Finally, we describe ongoing work in the collection of an unusual, rare, and highly valuable dataset. © 2020 IEEE.

关键词： Autonomous vehicles

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