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Livestock anti-theft system using morphological feature-based model

Transactions of the Korean Institute of Electrical Engineers 2018年第4期67卷 578-585页

作者： Kim, Jun Hyoung Joo, Yung Hoon Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of

In this paper, we propose a classification and theft detection system for human and livestock for various moving objects in a barn. To do this, first, we extract the moving objects using the GMM method. Second, the noise generated when extracting the moving object is removed, and the moving object is recognized through the labeling method. And we propose a method to classify human and livestock using model formation and color for the unique form of the detected moving object. In addition, we propose a method of tracking and overlapping the classified moving objects using Kalman filter. Through this overlap determination method, an event notifying a dangerous situation is generated and a theft determination system is constructed. Finally, we demonstrate the feasibility and applicability of the proposed system through several experiments. Copyright © The Korean Institute of Electrical Engineers

关键词： Kalman filters

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Improved Template Matching Based Stereo Vision Sparse 3D Reconstruction Algorithm

Improved Template Matching Based Stereo Vision Sparse 3D Rec...

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Chinese control and Decision Conference, CCDC

作者： Zhiyuan Liu Bin Song Yanning Guo Hang Xu Dept. of Control Science and Engineering Harbin Institute of Technology Harbin Aerospace System Engineering Shanghai Shanghai Engieering Research Center of Space Robotics Shanghai

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

Stereo vision 3D reconstruction using keypoints matching methods can bring up problems, such as uneven distribution of points, or even mismatches. To solve the problems, we proposed a novel stereo vision 3D reconstruction algorithm based on template matching. First, considering that the similarity between left and right image of binocular camera can be high, template matching can be brought in to minify the searching range of every keypoint, thus enhance the accuracy of matches and make the reconstruction result more complete. The specific process of the proposed method includes the following steps: templates extraction, keypoint density index calculation, template matching, keypoint matching within template matched areas, point cloud generation, and point cloud stitching. Furthermore, a simulation environment was built up in Gazebo, and 3D reconstruction was carried out using the proposed method. Comparison experiment was carried out using brute force keypoint matching method and FLANN. Simulation results showed that the proposed method performed better and improved in both utilization of keypoints and reconstruction result.

关键词： Three-dimensional displays Cameras Stereo vision Mathematical model Indexes Solid modeling Image reconstruction

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A Study on the Electromagnetic Noise Reduction of BLDC Motor for Fuel Pump of Vehicles

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Transactions of the Korean Institute of Electrical Engineers 2019年第2期68卷 277-284页

作者： Kim, Dong-Ki Lee, Seung-Woo Yoon, Duck-Yong Dept. of Electrical Electronic and Control Engineering Kongju National University Korea Republic of Robotics and Motion Division ABB Ltd. Korea Republic of Technical R and D Center HYUNDAM Ind. Co. Ltd. Korea Republic of

This paper proposes a driving method in order to reduce the electromagnetic noise of blushless DC motor for fuel pump of vehicles. In recent years, these motors have been widely employed in the electric fuel pumps because of its high-efficiency, high-reliability, compact size, light weight, and simple control method. However, despite the various advantages, brushless DC motors have realistic problems. These problems are acoustic noise and vibration, which are caused by torque ripple and sudden current fluctuation in the stator windings due to the mechanical structures and control methods. If the mechanical structures are redesigned or the control methods are improved, both cogging torque and torque ripple due to commutation can be reduced. Nevertheless, if quasi-square-wave currents are supplied to these motors by conventional methods, the stator windings may generate the electromagnetic noise and vibration within the audio frequency bands. In this paper, a sinusoidal-wave driving method is proposed to suppress the fluctuating currents. The reduction effects on noise and vibration are verified through computer simulations and experiments. ? The Korean Institute of Electrical Engineers. Copyright ⓒ The Korean Institute of Electrical Engineers.

关键词： Acoustic noise

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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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International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

作者： G Martinov A Issa L Martinova dept. Computer control systems Institute of Automation and Robotics Moscow Russia

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.

关键词： Servers Libraries Servomotors Automation Monitoring C++ languages Protocols

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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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International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

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

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.

关键词： Regulators Computer security Industrial engineering Information security Actuators

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Development of Motion controller Based on ARM Microcomputers by Supporting Different Strategies of controlling CAN Servo Drives

Development of Motion Controller Based on ARM Microcomputers...

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International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

作者： G. Martinov A. Lyubimov A.A. Khoury Institute of Automation and Robotics dept. Computer control systems MSTU STANKIN Moscow Russia

All types of servo step drives motion controllers should guarantee the accuracy of control at all possible rotation speeds taking into consideration the application field of servo drive. Depending on the implementation of servo drives and dividing rotation speed into two ranges low speeds and high speeds, when it's important to have higher rotation speeds (using servo drive as spindle) the motion controller will use speed controlling mode but when it's important to use small values of rotation speeds (using servo drive as feed drive) then it's better to use position controlling mode to ensure the accuracy of the position and minimize the value of errors. Also, it is evidently that the traffic load on CAN bus will affect the stability and the accuracy of controlling CAN servo step drives. The aim of this work is to develop a motion controller that supports dynamically change of controlling strategies of CAN servo step drives depending on rotation speed, additionally will clarify how to reduce CAN bus traffic load.

关键词： Servomotors Kernel Protocols Microcomputers Drives TCPIP Industrial engineering

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Construction of a specialized CNC system for thread grinding machines

Construction of a specialized CNC system for thread grinding...

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2018 International Russian Automation Conference, RusAutoCon 2018

作者： Martinov, Georgi Kovalev, Ilya Khoury, Akram Al MSTU STANKIN Robotics Dept. Computer Control Systems Institute of Automation Moscow Russia

ISBN: (纸本)9781538649381

The aim of this research is to construct a specialized system of thread grinding machines considering the features of thread grinding and the requirements to increase accuracy, the original structure of the control system for a thread grinder is proposed. This research will present an example of programming a software-implemented programmable logic controller to process the key press of operator's panel. © 2018 IEEE.

关键词： Grinding (machining)

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Distributed Observers for LTI Systems with Finite Convergence Time: A Parameter Estimation-based Approach

arXiv

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arXiv 2020年

作者： Ortega, Romeo Nuño, Emmanuel Bobtsov, Alexei Université Paris-Saclay CNRS CentraleSupélec Laboratoire des Signaux et Systèmes Gif-sur-Yvette91190 France Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia Dept. of Computer Science CUCEI University of Guadalajara Guadalajara Mexico Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia

A novel approach to solve the problem of distributed state estimation of linear time-invariant systems is proposed in this paper. It relies on the application of parameter estimation-based observers, where the state observation task is reformulated as a parameter estimation problem. In contrast with existing results our solution achieves convergence in finite-time, without injection of high gain, and imposes very weak assumptions on the communication graph—namely the existence of a Hamiltonian walk. The scheme is shown to be robust vis-á-vis external disturbances and communication delays. Copyright © 2020, The Authors. All rights reserved.

关键词： Parameter estimation

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AutomationML for Data Exchange in the Robotic Process of Metal Additive Manufacturing

AutomationML for Data Exchange in the Robotic Process of Met...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Mihail Babcinschi Bernardo Freire Pedro Neto Lucía Alonso Ferreira Baltasar Lodeiro Señaris Félix Vidal Dept. of Mechanical Engineering University of Coimbra Coimbra Portugal Robotics and Control Unit AIMEN Technology Centre Vigo Spain

Flexibility, adaptability and standardization of multidisciplinary production processes are key issues for today's industry. The digitalization of industry partially helps to overcome these challenges, leading to the need for efficient management of data. AutomationML has been pointed as a solution to solve the problem of data exchange between heterogeneous engineering tools landscape. This paper introduces a practical approach for data exchange on a production-engineering environment linked to Metal Additive Manufacturing (MAM). The proposed approach allows the exchange of data/information between different engineering tools using AutomationML Engine. For example, the MAM paths can be edited and enriched with information along the different stages of the process (design, simulation, robotics) using a neutral format. In the sphere of Direct Energy Deposition (DED) technologies it is proposed a practical use case for data exchange and editing, from computer aided design (CAD), to path planning, to process parameters definition, to robot programming. Results demonstrated the effectiveness of the proposed AutomationML-based solution.

关键词： Path planning Tools Three-dimensional printing Metals XML Robots

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PID controller Tuning via Dominant Pole Placement in Comparison with Ziegler-Nichols Tuning

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IFAC-PapersOnLine 2019年第18期52卷 43-48页

作者： Jaromír Fišer Pavel Zítek Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czech Republic Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering“ Czech Technical University in Prague Prague 6 Czech Republic

The paper provides PID controller tuning for the third-order plants with delay. For obtaining the PID setting the dominant three-pole placement is applied to achieve desired dynamics. This dynamics is proposed such that to overcome well-known Ziegler-Nichols (Z-N) tuning rule. The desired dynamics proposal is found out by the integrated absolute error (IAE) optimization of the fourth-order PID control loop with delay. The initial guess for this optimization is based on ultimate frequency assessment and the IAE optimization is performed with respect to disturbance rejection. The dominant three-pole placement approach to the PID tuning is designed for oscillatory, aperiodic and integrating plants of the third-order. On examples the proposed PID tuning is demonstrated overcoming the Z-N tuning.

关键词： dominant pole placement Ziegler-Nichols tuning rule ultimate frequency disturbance rejection three term controller

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