Search results for: tracking and control centers ATTTCC).

Authors: Toshifumi Hiramatsu, Satoshi Morita, Manuel Pencelli, Marta Niccolini, Matteo Ragaglia, Alfredo Argiolas

Abstract:

Automation technologies for agriculture field are needed to promote labor-saving. One of the most relevant problems in automated agriculture is represented by controlling the robot along a predetermined path in presence of rough terrain or incline ground. Unfortunately, disturbances originating from interaction with the ground, such as slipping, make it quite difficult to achieve the required accuracy. In general, it is required to move within 5-10 cm accuracy with respect to the predetermined path. Moreover, lateral velocity caused by gravity on the incline field also affects slipping. In this paper, a path-tracking controller for tracked mobile robots moving on rough terrains of incline field such as vineyard is presented. The controller is composed of a disturbance observer and an adaptive controller based on the kinematic model of the robot. The disturbance observer measures the difference between the measured and the reference yaw rate and linear velocity in order to estimate slip. Then, the adaptive controller adapts “virtual” parameter of the kinematics model: Instantaneous Centers of Rotation (ICRs). Finally, target angular velocity reference is computed according to the adapted parameter. This solution allows estimating the effects of slip without making the model too complex. Finally, the effectiveness of the proposed solution is tested in a simulation environment.

Keywords: Agricultural robot, autonomous control, path-tracking control, tracked mobile robot.

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Authors: Tappei Yotsumoto, Atsushi Nomura, Kozo Tanigawa, Kenichi Takahashi, Takao Kawamura, Kazunori Sugahara

Abstract:

In a human tracking system, expanding a monitoring range of one system is complicating the management of devices and increasing its cost. Therefore, we propose a method to realize a wide-range human tracking by connecting small systems. In this paper, we examined an agent deploy method and information contents across the heterogeneous human tracking systems. By implementing the proposed method, we can construct a human tracking system across heterogeneous systems, and the system can track a target continuously between systems.

Keywords: Human tracking system, mobile agent, monitoring.

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Authors: M. Zerikat, S. Chekroun

Abstract:

This paper proposes an effective algorithm approach to hybrid control systems combining fuzzy logic and conventional control techniques of controlling the speed of induction motor assumed to operate in high-performance drives environment. The introducing of fuzzy logic in the control systems helps to achieve good dynamical response, disturbance rejection and low sensibility to parameter variations and external influences. Some fundamentals of the fuzzy logic control are preliminary illustrated. The developed control algorithm is robust, efficient and simple. It also assures precise trajectory tracking with the prescribed dynamics. Experimental results have shown excellent tracking performance of the proposed control system, and have convincingly demonstrated the validity and the usefulness of the hybrid fuzzy controller in high-performance drives with parameter and load uncertainties. Satisfactory performance was observed for most reference tracks.

Keywords: Fuzzy controller, high-performance, inductionmotor, intelligent control, robustness.

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Authors: M. Ouassaid, M. Cherkaoui, A. Nejmi, M. Maaroufi

Abstract:

This study presents a novel means of designing a simple and effective torque controller for Permanent Magnet Synchronous Motor (PMSM). The overall stability of the system is shown using Lyapunov technique. The Lyapunov functions used contain a term penalizing the integral of the tracking error, enhancing the stability. The tracking error is shown to be globally uniformly bounded. Simulation results are presented to show the effectiveness of the approach.

Keywords: Integral action, Lyapunov Technique, Non Linear Control, Permanent Magnet Synchronous Motors, Torque Control, Stability.

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Authors: Iman Iraei, Mina Sharifi

Abstract:

A method for object tracking in motion blurred images is proposed in this article. This paper shows that object tracking could be improved with this approach. We use mean shift algorithm to track different objects as a main tracker. But, the problem is that mean shift could not track the selected object accurately in blurred scenes. So, for better tracking result, and increasing the accuracy of tracking, wavelet transform is used. We use a feature named as blur extent, which could help us to get better results in tracking. For calculating of this feature, we should use Harr wavelet. We can look at this matter from two different angles which lead to determine whether an image is blurred or not and to what extent an image is blur. In fact, this feature left an impact on the covariance matrix of mean shift algorithm and cause to better performance of tracking. This method has been concentrated mostly on motion blur parameter. transform. The results reveal the ability of our method in order to reach more accurately tracking.

Keywords: Mean shift, object tracking, blur extent, wavelet transform, motion blur.

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Authors: Mahmud Hesain ALdwaik, Omar Hsiain Eldwaik

Abstract:

This paper deals with tracking and estimating time delay between two signals. The simulation of this algorithm accomplished by using Mathcad package is carried out. The algorithm we will present adaptively controls and tracking the delay, so as to minimize the mean square of this error. Thus the algorithm in this case has task not only of seeking the minimum point of error but also of tracking the change of position, leading to a significant improving of performance. The flowchart of the algorithm is presented as well as several tests of different cases are carried out.

Keywords: Tracking time delay, Algorithm simulation, Mathcad, MSE

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Authors: Clark Van Dam, Gagan Mirchandani

Abstract:

The Continuously Adaptive Mean-Shift (CamShift) algorithm, incorporating scene depth information is combined with the l1-minimization sparse representation based method to form a hybrid kernel and state space-based tracking algorithm. We take advantage of the increased efficiency of the former with the robustness to occlusion property of the latter. A simple interchange scheme transfers control between algorithms based upon drift and occlusion likelihood. It is quantified by the projection of target candidates onto a depth map of the 2D scene obtained with a low cost stereo vision webcam. Results are improved tracking in terms of drift over each algorithm individually, in a challenging practical outdoor multiple occlusion test case.

Keywords: CamShift, l1-minimization, particle filter, stereo vision, video tracking.

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Authors: Sung Wook Yun, Yun Jong Choi, Kyong-min Lee, Poogyeon Park*

Abstract:

Repetitive systems stand for a kind of systems that perform a simple task on a fixed pattern repetitively, which are widely spread in industrial fields. Hence, many researchers have been interested in those systems, especially in the field of iterative learning control (ILC). In this paper, we propose a finite-horizon tracking control scheme for linear time-varying repetitive systems with uncertain initial conditions. The scheme is derived both analytically and numerically for state-feedback systems and only numerically for output-feedback systems. Then, it is extended to stable systems with input constraints. All numerical schemes are developed in the forms of linear matrix inequalities (LMIs). A distinguished feature of the proposed scheme from the existing iterative learning control is that the scheme guarantees the tracking performance exactly even under uncertain initial conditions. The simulation results demonstrate the good performance of the proposed scheme.

Keywords: Finite time horizon, linear matrix inequality (LMI), repetitive system, uncertain initial condition.

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Authors: Sang Hoon Lee, Jong Sue Bae, Taewan Kim, Jin Mo Song, Jong Ju Kim

Abstract:

Image target detection and tracking methods based on target information such as intensity, shape model, histogram and target dynamics have been proven to be robust to target model variations and background clutters as shown by recent researches. However, no definitive answer has been given to occluded target by counter measure or limited field of view(FOV). In this paper, we will present a novel tracking method using filtering and computational geometry. This paper has two central goals: 1) to deal with vulnerable target measurements; and 2) to maintain target tracking out of FOV using non-target-originated information. The experimental results, obtained with airborne images, show a robust tracking ability with respect to the existing approaches. In exploring the questions of target tracking, this paper will be limited to consideration of airborne image.

Keywords: Tracking, Computational geometry, Homography, Filter

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Authors: K. K. Starkov, A. Y. Pogromsky, I. J. B. F. Adan, J. E. Rooda

Abstract:

In this paper we present our results on the performance analysis of a multi-product manufacturing line. We study the influence of external perturbations, intermediate buffer content and the number of manufacturing stages on the production tracking error of each machine in the multi-product line operated under a surplusbased production control policy. Starting by the analysis of a single machine with multiple production stages (one for each product type), we provide bounds on the production error of each stage. Then, we extend our analysis to a line of multi-stage machines, where similarly, bounds on each production tracking error for each product type, as well as buffer content are obtained. Details on performance of the closed-loop flow line model are illustrated in numerical simulations.

Keywords: Flexible manufacturing systems, tracking systems, discrete time systems, production control, boundary conditions.

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Authors: S. Ganesh, J. Janani, G. Besliya Angel

Abstract:

Photovoltaic (PV) energy is one of the most important renewable energy sources. Maximum Power Point Tracking (MPPT) techniques should be used in photovoltaic systems to maximize the PV panel output power by tracking continuously the maximum power point which depends on panel’s temperature and on irradiance conditions. Incremental conductance control method has been used as MPPT algorithm. The methodology is based on connecting a pulse width modulated dc/dc SEPIC converter, which is controlled by a microprocessor based unit. The SEPIC converter is one of the buck-boost converters which maintain the output voltage as constant irrespective of the solar isolation level. By adjusting the switching frequency of the converter the maximum power point has been achieved. The main difference between the method used in the proposed MPPT systems and other technique used in the past is that PV array output power is used to directly control the dc/dc converter thus reducing the complexity of the system. The resulting system has high efficiency, low cost and can be easily modified. The tracking capability has been verified experimentally with a 10 W solar panel under a controlled experimental setup. The SEPIC converter and their control strategies has been analyzed and simulated using Simulink/Matlab software.

Keywords: Maximum Power Point Tracking, Microprocessor, PV Module, SEPIC Converter.

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Authors: James Dunia, Bakari M. M. Mwinyiwiwa

Abstract:

Photovoltaic (PV) energy is one of the most important energy resources since it is clean, pollution free, and endless. Maximum Power Point Tracking (MPPT) is used in photovoltaic (PV) systems to maximize the photovoltaic output power, irrespective the variations of temperature and radiation conditions. This paper presents a comparison between Ćuk and SEPIC converter in maximum power point tracking (MPPT) of photovoltaic (PV) system. In the paper, advantages and disadvantages of both converters are described. Incremental conductance control method has been used as maximum power point tracking (MPPT) algorithm. The two converters and MPPT algorithm were modelled using MATLAB/Simulink software for simulation. Simulation results show that both Ćuk and SEPIC converters can track the maximum power point with some minor variations. 

Keywords: Ćuk Converter, Incremental Conductance, Maximum Power Point Tracking, PV Module, SEPIC Converter.

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Authors: Mehran Yazdi, Mehdi Seyfi, Amirhossein Rafati, Meghdad Asadi

Abstract:

Detection and tracking of the lip contour is an important issue in speechreading. While there are solutions for lip tracking once a good contour initialization in the first frame is available, the problem of finding such a good initialization is not yet solved automatically, but done manually. We have developed a new tracking solution for lip contour detection using only few landmarks (15 to 25) and applying the well known Active Shape Models (ASM). The proposed method is a new LMS-like adaptive scheme based on an Auto regressive (AR) model that has been fit on the landmark variations in successive video frames. Moreover, we propose an extra motion compensation model to address more general cases in lip tracking. Computer simulations demonstrate a fair match between the true and the estimated spatial pixels. Significant improvements related to the well known LMS approach has been obtained via a defined Frobenius norm index.

Keywords: Lip contour, Tracking, LMS-Like

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Authors: Kenji Suyama, Masahiro Oshida, Noboru Owada

Abstract:

In this paper, an estimation accuracy of multiple moving talker tracking using a microphone array is improved. The tracking can be achieved by the adaptive method in which two algorithms are integrated, namely, the PAST (Projection Approximation Subspace Tracking) algorithm and the IPLS (Interior Point Least Square) algorithm. When either talker begins to speak again after a silent period, an appropriate feasible region for an evaluation function of the IPLS algorithm might not be set. Then, the tracking fails due to the incorrect updating. Therefore, if an increment of the number of active talkers is detected, the feasible region must be reset. Then, a low cost realization is required for the high speed tracking and a high accuracy realization is desired for the precise tracking. In this paper, the directions roughly estimated using the delayed-sum-array method are used for the resetting. Several results of experiments performed in an actual room environment show the effectiveness of the proposed method.

Keywords: moving talkers tracking, microphone array, signal subspace

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Authors: Pierre Kenfack

Abstract:

In this paper we present a contribution for the modelling and control of the inverter voltage of a permanent magnet linear generator with multi air-gap structure. The time domain control method is based on instant comparison of reference signals, in the form of current or voltage, with actual or measured signals. The reference current or voltage must be kept close to the actual signal with a reasonable tolerance. In this work, the time domain control method is used to control tracking signals. The performance evaluation concerns the continuation of reference signal. Simulations validate very well the tracking of reference variables (current, voltage) by measured or actual signals. All is simulated and presented under PSIM Software to show the performance and robustness of the proposed controller.

Keywords: Control, permanent magnet, linear machine, multi air-gap structure.

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Authors: E. E. El-Kholy, Ahamed Kalas, Mahmoud Fauzy, M. El-Shahat Dessouki, Abdou. M. El-Refay, Mohammed El-Zefery

Abstract:

Direct Torque Control (DTC) is an AC drive control method especially designed to provide fast and robust responses. In this paper a progressive algorithm for direct torque control of threephase induction drive system supplied by photovoltaic arrays using voltage source inverter to control motor torque and flux with maximum power point tracking at different level of insolation is presented. Experimental results of the new DTC method obtained by an experimental rapid prototype system for drives are presented. Simulation and experimental results confirm that the proposed system gives quick, robust torque and speed responses at constant switching frequencies.

Keywords: Photovoltaic (PV) array, direct torque control (DTC), constant switching frequency, induction motor, maximum power point tracking (MPPT).

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Authors: Fulya Zaralı, Harun Resit Yazgan

Abstract:

Logistics centers represent areas that all national and international logistics and activities related to logistics can be implemented by the various businesses. Logistics centers have a key importance in joining the transport stream and the transport system operations. Therefore, it is important where these centers are positioned to be effective and efficient and to show the expected performance of the centers. In this study, the location selection problem to position the logistics center is discussed. Alternative centers are evaluated according certain criteria. The most appropriate center is identified using the axiomatic design method.

Keywords: Logistic center, axiomatic design, facility location, information systems.

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Authors: Petr Šimek, Kamil Kostruk

Abstract:

This paper deals with the problem of testing the Electronic Control Unit (ECU) for the specified function validation. Modern ECUs have many functions which need to be tested. This process requires tracking between the test and the specification. The technique discussed in this paper explores the system for automating this process. The paper focuses on the introduction to the problem in general, then it describes the proposed test system concept and its principle. It looks at how the process of the ECU interface specification file for automated interface testing and test tracking works. In the end, the future possible development of the project is discussed.

Keywords: Electronic control unit testing, embedded system, test generate, test automation, process automation, CAN bus, Ethernet.

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Authors: Y. Sabzehmeidani, M. Mailah, M. Hussein, A. R. Tavakolpour

Abstract:

In this paper, a worm-like micro robot designed for inpipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportionalintegral- derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system-s tracking capability in the wake of the disturbances.

Keywords: Active Force Control, Micro Robot, Fuzzy Logic, In-pipe Application.

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Authors: Alexander S. Andreev, Olga A. Peregudova

Abstract:

In this paper we propose a discrete tracking control of nonholonomic mobile robots with two degrees of freedom. The electromechanical model of a mobile robot moving on a horizontal surface without slipping, with two rear wheels controlled by two independent DC electric, and one front roal wheel is considered. We present backstepping design based on the Euler approximate discretetime model of a continuous-time plant. Theoretical considerations are verified by numerical simulation.

Keywords: Actuator Dynamics, Backstepping, Discrete-Time Controller, Lyapunov Function, Wheeled Mobile Robot.

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Authors: H. Bouadi, M. Tadjine

Abstract:

In this paper; we are interested in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation and new control scheme. We present after the development and the synthesis of a stabilizing control laws design based on sliding mode in order to perform best tracking results. It ensures locally asymptotic stability and desired tracking trajectories. Nonlinear observer is then synthesized in order to estimate the unmeasured states and the effects of the external disturbances such as wind and noise. Finally simulation results are also provided in order to illustrate the performances of the proposed controllers.

Keywords: Dynamic modelling, nonholonomic constraints, sliding mode, nonlinear observer.

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Authors: S. Sendhil Kumar, S. N. Vijayan

Abstract:

Utilization of solar energy can be found in various domestic and industrial applications. The performance of any solar collector is largely affected by various parameters such as glazing, absorber plate, top covers, and heating pipes. Technology improvements have brought us another method for conversion of solar energy to direct electricity using solar photovoltaic system. Utilization and extraction of solar energy is the biggest problem in these conversion methods. This paper aims to overcome these problems and take the advantages of available energy from solar by maximizing the utilization through solar tracking system using a refrigerant as a working medium. The use of this tracking system can help increase the efficiency of conversion devices by maximum utilization of solar energy. The dual axis tracking system gives maximum energy output compared to single axis tracking system.

Keywords: Refrigerant, solar collector, solar energy, solar panel, solar tracking.

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Authors: Cheng Fang, Lingwei Quan, Cunyue Lu

Abstract:

Human pose estimation and tracking are to accurately identify and locate the positions of human joints in the video. It is a computer vision task which is of great significance for human motion recognition, behavior understanding and scene analysis. There has been remarkable progress on human pose estimation in recent years. However, more researches are needed for human pose tracking especially for online tracking. In this paper, a framework, called PoseSRPN, is proposed for online single-person pose estimation and tracking. We use Siamese network attaching a pose estimation branch to incorporate Single-person Pose Tracking (SPT) and Visual Object Tracking (VOT) into one framework. The pose estimation branch has a simple network structure that replaces the complex upsampling and convolution network structure with deconvolution. By augmenting the loss of fully convolutional Siamese network with the pose estimation task, pose estimation and tracking can be trained in one stage. Once trained, PoseSRPN only relies on a single bounding box initialization and producing human joints location. The experimental results show that while maintaining the good accuracy of pose estimation on COCO and PoseTrack datasets, the proposed method achieves a speed of 59 frame/s, which is superior to other pose tracking frameworks.

Keywords: Computer vision, Siamese network, pose estimation, pose tracking.

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Authors: Ahmet Denker, Tuğrul Adıgüzel

Abstract:

In this paper, a solution is presented for a robotic manipulation problem in industrial settings. The problem is sensing objects on a conveyor belt, identifying the target, planning and tracking an interception trajectory between end effector and the target. Such a problem could be formulated as combining object recognition, tracking and interception. For this purpose, we integrated a vision system to the manipulation system and employed tracking algorithms. The control approach is implemented on a real industrial manipulation setting, which consists of a conveyor belt, objects moving on it, a robotic manipulator, and a visual sensor above the conveyor. The trjectory for robotic interception at a rendezvous point on the conveyor belt is analytically calculated. Test results show that tracking the raget along this trajectory results in interception and grabbing of the target object.

Keywords: robotics, robot vision, rendezvous planning, self organizingmaps.

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Authors: Songtao Wu, Yuesheng Zhu, Ziqiang Sun

Abstract:

Region covariance (RC) descriptor is an effective and efficient feature for visual tracking. Current RC-based tracking algorithms use the whole RC matrix to track the target in video directly. However, there exist some issues for these whole RCbased algorithms. If some features are contaminated, the whole RC will become unreliable, which results in lost object-tracking. In addition, if some features are very discriminative to the background, other features are still processed and thus reduce the efficiency. In this paper a new robust tracking method is proposed, in which the whole RC matrix is decomposed into several low rank matrices. Those matrices are dynamically chosen and processed so as to achieve a good tradeoff between discriminability and complexity. Experimental results have shown that our method is more robust to complex environment changes, especially either when occlusion happens or when the background is similar to the target compared to other RC-based methods.

Keywords: Visual tracking, region covariance descriptor, lowrankregion covariance

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Authors: Tainchi Lu, Chochih Lin

Abstract:

With a rapid growth in 3D graphics technology over the last few years, people are desired to see more flexible reacting motions of a biped in animations. In particular, it is impossible to anticipate all reacting motions of a biped while facing a perturbation. In this paper, we propose a three-level tracking method for animating a 3D humanoid character. First, we take the laws of physics into account to attach physical attributes, such as mass, gravity, friction, collision, contact, and torque, to bones and joints of a character. The next step is to employ PD controller to follow a reference motion as closely as possible. Once the character cannot tolerate a strong perturbation to prevent itself from falling down, we are capable of tracking a desirable falling-down action to avoid any falling condition inaccuracy. From the experimental results, we demonstrate the effectiveness and flexibility of the proposed method in comparison with conventional data-driven approaches.

Keywords: Character Animation, Forward Dynamics, Motion Tracking, PD Control.

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Authors: Javad Khazaei, Rick S. Blum

Abstract:

Distributed control is an efficient and flexible approach for coordination of multi-agent systems. One of the main challenges in designing a distributed controller is identifying the governing dynamics of the dynamical systems. Data-driven system identification is currently undergoing a revolution. With the availability of high-fidelity measurements and historical data, model-free identification of dynamical systems can facilitate the control design without tedious modeling of high-dimensional and/or nonlinear systems. This paper develops a distributed control design using consensus theory for linear and nonlinear dynamical systems using sparse identification of system dynamics. Compared with existing consensus designs that heavily rely on knowing the detailed system dynamics, the proposed model-free design can accurately capture the dynamics of the system with available measurements and input data and provide guaranteed performance in consensus and tracking problems. Heterogeneous damped oscillators are chosen as examples of dynamical system for validation purposes.

Keywords: Consensus tracking, distributed control, model-free control, sparse identification of dynamical systems.

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Authors: M. Zerikat, M. Bendjebbar, N. Benouzza

Abstract:

In this paper, a novel approach for robust trajectory tracking of induction motor drive is presented. By combining variable structure systems theory with fuzzy logic concept and neural network techniques, a new algorithm is developed. Fuzzy logic was used for the adaptation of the learning algorithm to improve the robustness of learning and operating of the neural network. The developed control algorithm is robust to parameter variations and external influences. It also assures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the designed controller of induction motor drives which considered as highly non linear dynamic complex systems and variable characteristics over the operating conditions.

Keywords: Induction motor, fuzzy-logic control, neural network control, indirect field oriented control.

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Authors: Abdelsalam A. Ahmed

Abstract:

Fast speed drives for Permanent Magnet Synchronous Motor (PMSM) is a crucial performance for the electric traction systems. In this paper, PMSM is derived with a Model-based Predictive Control (MPC) technique. Fast speed tracking is achieved through optimization of the DC source utilization using MPC. The technique is based on predicting the optimum voltage vector applied to the driver. Control technique is investigated by comparing to the cascaded PI control based on Space Vector Pulse Width Modulation (SVPWM). MPC and SVPWM-based FOC are implemented with the TMS320F2812 DSP and its power driver circuits. The designed MPC for a PMSM drive is experimentally validated on a laboratory test bench. The performances are compared with those obtained by a conventional PI-based system in order to highlight the improvements, especially regarding speed tracking response.

Keywords: Permanent magnet synchronous motor, mode predictive control, optimization of DC source utilization, cascaded PI control, space vector pulse width modulation, TMS320F2812 DSP.

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Authors: Suryanto, Hyo-Kak Kim, Sang-Hee Park, Dae-Hwan Kim, Sung-Jea Ko

Abstract:

In this paper, we introduce a novel algorithm for object tracking in video sequence. In order to represent the object to be tracked, we propose a spatial color histogram model which encodes both the color distribution and spatial information. The object tracking from frame to frame is accomplished via center voting and back projection method. The center voting method has every pixel in the new frame to cast a vote on whereabouts the object center is. The back projection method segments the object from the background. The segmented foreground provides information on object size and orientation, omitting the need to estimate them separately. We do not put any assumption on camera motion; the proposed algorithm works equally well for object tracking in both static and moving camera videos.

Keywords: center voting, back projection, object tracking, size adaptation, non-stationary camera tracking.

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