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International Conference on control, Mechatronics and Automation (ICCMA)

作者： Min-Ho Ha Chan-Hoe Kim Tae-Hyoung Park Industrial AI Research Center Chungbuk National University Cheongju South Korea Dept. Control and Robot Engineering Chungbuk National University Cheongju South Korea Dept. Intelligent Systems and Robotics Chungbuk National University Cheongju South Korea

ISBN: (纸本)9781665490498

Autonomous driving refers to a vehicle driving by itself without human intervention. An autonomous vehicle must recognize the environment with an attached sensor, make judgments appropriate to the situation, and drive toward its destination. Although many studies have been conducted on autonomous driving in clear weather, the response to bad weather is insufficient because the sensor encounters difficulties recognizing the environment when it is backlight or raining. This study proposes a method for recognizing objects (e.g., vehicles, pedestrians, lanes) based on polarization cameras for safe autonomous driving in backlight conditions or rain. First, the camera’s light input is adjusted, altering its aperture backlight conditions. Then, the polarized image from the camera is synthesized and inputted into the object recognition network. The object detection network used Yolo v5, while the lane detection network used an ultrafast lane detection network. By extracting features from the same backbone, the inference speed of the object recognition network increased. On average, a speed of 23 fps and an object recognition accuracy of over 90% were shown in the Xavier environment.

关键词： Rain Lane detection Roads Vehicle driving Cameras Feature extraction Reduced order systems

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Development of Method for Generating Trajectories of Movement of End Effectors and control Programs for Industrial Robots in an Uncertain Working Environment

Development of Method for Generating Trajectories of Movemen...

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2021 International Russian Automation Conference, RusAutoCon 2021

作者： Yukhimets, Dmitry Gubankov, Anton Mursalimov, Eduard Institute of Automation and Control Processes Robotic Laboratory Vladivostok Russia Far Eastern Federal University Dept. of Automation and Robotics Vladivostok Russia Institute of Marine Technology Problems Laboratory of Intelligent Information Systems for Marine Robots Vladivostok Russia

ISBN: (纸本)9780738131566

the deals with the implementation of the method of the trajectories generating for end effectors and control programs for industrial robots in an uncertain working environment. To generate correct trajectories, it is proposed to sequentially process data from vision systems, correct them in the human-machine interface, generate a control program in a generalized form using universal commands and then translate it into the form that a specific industrial robot requires. Experimental studies of the proposed method were carried out, which confirmed the operability and effectiveness of the proposed method. © 2021 IEEE.

关键词： Trajectories

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface

Optical Evanescent Field for Direct Observation of Sub-100nm...

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robotics, Engineering, Science, and Technology (RESTCON), International Conference on

作者： Panart Khajornrungruang Thitipat Permpatdechakul Keisuke Suzuki Aran Blattler Yutaka Terayama Daiki Goto Pipat Phaisalpanumas Natthaphon Bun-Athuek Amornphun Phunopas Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Mechanical Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Mechanical Information Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Mechanical Science and Technology Course Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Industiral Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Mechanical Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes.

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An optimization-based algorithm for simultaneous shaping of poles and zeros for non-collocated vibration suppression

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IFAC-PapersOnLine 2022年第16期55卷 394-399页

作者： Adrian Saldanha Haik Silm Wim Michiels Tomáš Vyhlídal Department of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

This article presents a control design method for simultaneous shaping of the poles and zeros of linear time-invariant systems, motivated by the application of non-collocated vibration suppression to flexible multi-body systems. An entire suppression of vibrations at a target mass for a given excitation frequencies can be recast into the problem of assigning zeros of the transfer function from the excitation force to the target mass' position. The design requirement of achieving sufficient damping in the closed loop system combined with suppressing vibrations at the target, leads to the minimization of the spectral abscissa function of the closed loop system as a function of the controller parameters, subject to zero location constraints. These constraints exhibit polynomial dependence on the controller parameters. We present two approaches to solve the optimization problem which are both based on constraint elimination followed by application of an algorithm for non-smooth unconstrained optimization. The design approach is applicable to delay-free models as well as time-delay models of retarded and neutral type. Simulations results illustrate its applicability to a spring-mass-damper system.

关键词： vibration suppression zero placement time-delay systems spectral optimization

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Simulation and control of Inverted Pendulum System Dynamics over control Area Network using TrueTime 8

Simulation and Control of Inverted Pendulum System Dynamics ...

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8th IEEE R10 Humanitarian Technology Conference, R10-HTC 2020

作者： Abdulrab, Hakim Qaid Abdullah Hussin, Fawnizu Azmadi Motea, Zakarya Zaidi, Rose Neezar Rose Universiti Teknologi Petronas Dept. of Electrical and Electronic Engineering Perak Malaysia Universiti Teknologi Malaysia Dept. of Control and Mechatronics Engineering Johor Malaysia Dept. of Mechatronics and Robotics Engineering Faculty of Engineering and IT Taiz University Taiz Yemen

ISBN: (纸本)9781728111100

Inverted pendulum is one the most popular systems that has been used and studied in the field of control engineering. Even its simplest form is an under-actuated system and highly unstable with high non-linear dynamics. Therefore, it is a challenging control task and have been referred to as benchmark for testing control algorithms. This paper discusses modelling and control of inverted pendulum using Linear Quadratic Regulator (LQR) controller. Then, the same model and controller are inserted to a real time Simulink model for the purpose of analysing the scheduling of tasks and testing control area network (CAN) performance. This is done by utilizing True Time toolbox. In this paper both nonlinear and linearized models were analysed. Four sensors, an actuator and a controller are used in analysing the response of the inverted pendulum. Different scheduling techniques and the response of the system after changing the period of one of the sensors in the system were also investigated. By changing the period of one sensor and maintaining the other 3 sensors, the system became unstable as discussed throughout the paper. © 2020 IEEE.

关键词： Inverted pendulum

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A Deep Reinforcement Learning Visual Servoing control Strategy for Target Tracking Using a Multirotor UAV

A Deep Reinforcement Learning Visual Servoing Control Strate...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Andreas Mitakidis Sotirios N. Aspragkathos Fotis Panetsos George C. Karras Kostas J. Kyriakopoulos Control Systems Lab School of Mechanical Engineering National Technical University of Athens Zografou Athens Greece Dept. of Informatics and Telecommunications University of Thessaly Lamia Greece Canter for Artificial Intelligence and Robotics (CAIR) New York University - Abu Dhabi Abu Dhabi United Arab Emirates

In this work, a deep Reinforcement Learning control scheme is developed in order to execute autonomous tracking of an unmanned ground vehicle (UGV) with a multirotor unmanned aerial vehicle (UAV). The UAV is equipped with a downward looking camera and the detection of the target UGV is achieved through a convolutional neural network (CNN). The deep RL control policy is deployed as a cascade position controller, which commands the inner attitude controller of the autopilot, and achieves the following of the UGV despite the aggressive maneuvers of the target. The efficacy of the proposed framework is demonstrated via a set of outdoor experiments using an octocopter flying above the ground vehicle.

关键词： Deep learning Target tracking Attitude control Reinforcement learning Autonomous aerial vehicles Cameras Land vehicles

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Lateral gait analysis of a crawling robot by means of controlling the lengths of links and friction in the supports

Lateral gait analysis of a crawling robot by means of contro...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Vorochaeva, Lyudmila Savin, Sergei Hamed, Hany Southwest State University Dept. of Mechanics Mechatronics and Robotics Kursk Russia Innopolis University Lab. of Mechatronics Control and Prototyping Innopolis Russia

ISBN: (纸本)9781728187631

The present paper describes three developed designs of multi-link crawling robots intended for movement on rough surfaces with obstacles. The characteristic feature of the first design is the ability to control the friction coefficients in the supports of the central link, the second design is supplemented by the ability to lift off the side links in order to "step over"obstacles. The third design is distinguished by the ability to control the friction coefficients in the supports of all links, as well as the lengths of the links in addition to the implementation of the function "stepping over"obstacles. A comparative description of the implementation of the lateral gait by the robots of all the designs is presented. The operation of the control system for the lengths of the robot's links is described, which is based on a sequential algorithm for changing the length of the first central link and then the side links when the central one reaches its shortest length. © 2020 IEEE.

关键词： Machine design

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Design of GPU based non-coherent signal tracking module for real-time GNSS SDR

Design of GPU based non-coherent signal tracking module for ...

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2018 International Symposium on Global Navigation Satellite System, ISGNSS 2018

作者： Park, Jong-Il Park, Kwi Woo Park, Chansik Dept. of Control and Robotics Eng Chungbuk National University Korea Republic of

In this paper, we design and implement GPU-based non-coherent GPS signal tracking module for real-Time SDR. When using CPU and GPU simultaneously, the signal tracking module should be designed considering the memory bottleneck between the two processors. The basic non-coherent module, which accumulates the 1msec correlation value 20 times, is changed to accumulate M(20/N) times of Nmsec units. From the experiments using real GPS signals, the computational performance of N=20 is improved by 80% compared to N=1. Therefore, the implemented SDR using notebook computer can tracks more channels simultaneously in the real time. © The Authors, published by EDP Sciences, 2019.

关键词： Graphics processing unit

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controlling CAN Servo Step Drives and Their Remote Monitoring by Using Protocol OPC UA

Controlling CAN Servo Step Drives and Their Remote Monitorin...

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2019 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2019

作者： Martinov, G. Issa, A. Martinova, L. Institute of Automation and Robotics Dept. Computer Control Systems Moscow Russia

ISBN: (纸本)9781728100616

The diverse requirements of customers in automation systems increase the need for improved adaptability, flexibility and of simplicity production processes. which creates new horizons for modern production systems. Fortunately, the achievements of the Industry 4.0 (fourth industrial revolution) have provided many solutions to these problems. In this study, an OPC UA-based solution is proposed for monitoring the working process of CAN servo drives. By integrating C++ based OPC UA libraries to implement common OPC UA functionality and developing protocol of interaction between the kernel of CNC system and OPC UA server. The aim of this work is to ensure the connection mechanism between OPC UA Server of CNC system and OPC UA clients which are currently existed on the market. This flexible model allows users to remotely tune and set up CAN servo drives and monitor their work. © 2019 IEEE.

关键词： Digital storage

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The Complex of Operations on Cybersecurity in Man-Made Objects

The Complex of Operations on Cybersecurity in Man-Made Objec...

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2019 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2019

作者： Iureva, R.A. Popova, V.O. Andreev, Y.S. Nikitina, M.V. ITMO University Dept. of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9781728100616

The paper deals with the problem of cybersecurity in man-made objects, especially with protection from destructive information in automated enterprise control systems. This topic is most acute in the context of managing systems critical to safety, for example, at nuclear power plants (NPP). Besides, violation of cybersecurity can have catastrophic consequences. © 2019 IEEE.

关键词： Nuclear power plants

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