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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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Tracking of Multiple Moving Objects using DTW Algorithm

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Transactions of the Korean Institute of Electrical Engineers 2019年第5期68卷 670-677页

作者： Wang, Kyo Sun Joo, Yung Hoon Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of

– In this paper, we propose a method to track multiple moving objects using DTW algorithm for images received from CCTV Cameras. The proposed method first extracts a moving object using GMM background modeling to extract a moving object from the input image, and then removes and extends the shadow and noise of the extracted moving object using morphology. The moving object thus obtained is recognized by using the labeling method, and the labeling is merged using the morphology to identify the problem that the recognized moving object is divided into several labels. Then, when the recognized moving object is detected in the designated ROI, the HSV and RGB values of the moving object are extracted and the extracted data is sequentially stored in the DTW data base. Next, we propose a method of classifying the moving object as similar to the DTW by judging the similarity between the stored DTW DB and the moving object. The moving objects classified by the proposed method are continuously compared and tracked. If it is judged that the moving objects to be tracked are overlapped, it is possible to compare the remaining objects. It also suggests how tracking can be done if the moving object is unwrapped. Finally, the applicability of the proposed method is verified through various experiments. 670 Copyright The Korean Institute of Electrical Engineers

关键词： Morphology

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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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Double Deployment of Delayed Resonator in Active Vibration Suppression

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IFAC-PapersOnLine 2019年第18期52卷 115-120页

作者： Vladimír Kućera Jaromír Fišer Tomàš Vyhlídal Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Prague 6 Czech Republic 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

In the paper a proposal of active vibration suppression is made for the two-degree-of-freedom primary structure. The active vibration suppression of both masses of the primary structure is achieved by applying the absorber attached to every mass. The absorbers used are the delayed resonators which are tuned by delayed acceleration feedback. The delayed resonators are tuned separately, i.e. the tuning is provided for every mass of the primary structure where each mass is excited by its own external force. Both delayed resonator tunings are performed with respect to the suppression of both external forces and at the same time the stability guarantee of overall structure system. This system due to two feedback delays results in neutral-type system that requires demanding stability investigation. Finally the application example based on the simulation study on laboratory setup vibration suppression shows the effect of the delayed resonator tunings for the vibration suppression.

关键词： Vibration suppression delayed feedback resonators two-degree-of-freedom structure neutral system

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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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Towards Rehabilitation of Mughal Era Historical Places using 7 DOF Robotic Manipulator

Towards Rehabilitation of Mughal Era Historical Places using...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Bilal Ali Raza Mohsin Rizwan Muhammad Ahsan Hafiz Farhan Maqbool Syed Abbas Zilqurnain Naqvi Al-Khawarizmi Institute of Computer Science UET1 Lahore HCR2 Lab National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering UET Lahore Lahore Pakistan

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.

关键词：

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Adaptive Output-Feedback Prescribed-Time Stabilization of Uncertain Nonlinear Strict-Feedback-Like Systems

Adaptive Output-Feedback Prescribed-Time Stabilization of Un...

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IEEE Annual Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami M. Krstic Dept. of ECE NYU Tandon School of Engineering Control/Robotics Research Laboratory (CRRL) Brooklyn NY USA Dept. of Mech. and Aero. Engineering Univ. of California San Diego La Jolla CA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Prescribed-time output-feedback stabilization (i.e., regulation of state and control input to the origin within a "prescribed" time irrespective of initial state) is addressed for a class of uncertain nonlinear strict-feedback-like systems. We show that prescribed-time output-feedback stabilization (i.e., both state estimation and regulation in prescribed time) is achieved through a novel control design involving specially designed dynamics of an adaptation state variable and high-gain scaling parameter along with a temporal transformation and a dual high-gain scaling based observer and controller design.

关键词： control design Observers Aerodynamics Symmetric matrices Convergence Linear matrix inequalities System dynamics

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Neutral PID control Loop Investigated in Terms of Similarity Theory

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IFAC-PapersOnLine 2018年第14期51卷 212-217页

作者： Fier, J. Zítek, P. Vyhlídal, T. Dept. Instrument. and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague 166 07 Praha 6 Czech Republic Czech Inst. of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic

A study to which extent of parameter setting the PID controller can be designed by means of dominant pole assignment for non-minimum-phase plant with delay is dealt with in the paper. Two options of the control loop are investigated, namely with and without the measurement filtering where the latter leads to a neutral time delay system which therefore has to satisfy the strong stability condition. The control loop is described in dimensionless quantities obtained by dimensional analysis. The influence of filtering on the loop dynamics is investigated particularly the effect of filter absence at all. This effect is demonstrated by the position of neutral root chain, i.e. how far from the origin lie the roots on a vertical line parallel to the imaginary axis of complex plane. To show boundaries of the dominant three-pole placement possibility in the control loop the trio of poles is placed repeatedly as long as the neutral root chain crosses the imaginary axis and the boundaries are mapped in the space of similarity numbers. © 2018

关键词： Delay control systems Chains Closed loop control systems controllers Electric control equipment Poles Poles and zeros Proportional control systems Three term control systems Time delay Dimensional analysis Dominant pole placements Neutral time delay systems Non minimum phase plants Parameter setting PID controllers Similarity theory Strong stability

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Robust PID controller Design for Plants with Delay Using Similarity Theory

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IFAC-PapersOnLine 2018年第14期51卷 236-241页

作者： Fier, J. Zítek, P. Vyhlídal, T. Dept. Instrument. and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague 166 07 Praha 6 Czech Republic Czech Inst. Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic

Novel robust PID controller tuning is designed for second-order processes with varying delay in terms of the similarity theory. Similarity numbers are provided to characterize class of dynamically similar control loops enabling to tune all the robust PID controller settings together with a measurement filter adjustment. The novelty of the paper consists in the controller gain and filter constant settings by means of dominant four-pole placement such that the quadruple of placed poles is simultaneously robust. In addition these settings are generalized due to plant's dynamics characteristics expressed by the similarity numbers that describe sets of dynamically similar plants considered stable. For proving the robust stability of the similar control loops an algorithm for the pseudospectral abscissa evaluation is applied. Finally an example of the stability proof is given. © 2018

关键词： controllers

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Multivariable Generalization of BMRAC Algorithm by means of Global HOSM Differentiators with Dynamic Gains

Multivariable Generalization of BMRAC Algorithm by means of ...

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control Technology and Applications (CCTA),

作者： Andrei Battistel Tiago Roux Oliveira Victor Hugo Pereira Rodrigues Leonid Fridman Department of Electronics and Telecommunication Engineering 4State University of Rio de Janeiro (UERJ) Rio de Janeiro RJ Brazil Dept. of Control Engineering and Robotics National Autonomous University of Mexico (UNAM) Federal District Mexico

This paper presents an extension of the Binary Model Reference Adaptive control (BMRAC) for uncertain multivariable (square) systems with non-uniform arbitrary relative degrees, using only output feedback. The BMRAC algorithm is a robust adaptive strategy which has the good transient and robustness properties of sliding mode control with the important advantage of preserving a continuous control signal free of chattering, inherited from classical adaptive systems. Unlike most of the publications which consider plants with uniform relative degree one, here we circumvent the arbitrary relative degree obstacle using a multivariable generalization of global finite-time differentiators with dynamic gains and higher-order sliding modes. State-norm observers are employed to obtain an upper bound for the unmeasured state and to update the gains of the proposed robust and exact multivariable differentiator. Global and exact output tracking is guaranteed without requiring stringent symmetry assumptions on the plant High-Frequency Gain matrix, usually assumed in other works in the literature.

关键词： MIMO communication Adaptive control Adaptation models Robustness Observers Heuristic algorithms Output feedback

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