Search results for: robust optimization.

Authors: Hongji Tang, Yanbo Gao, Yue Yu

Abstract:

This paper presents a new nonlinear integral-type sliding surface for synchronizing two different chaotic systems with parametric uncertainty. On the basis of Lyapunov theorem and average dwelling time method, we obtain the control gains of controllers which are derived to achieve chaos synchronization. In order to reduce the gains, the error system is modeled as a switching system. We obtain the sufficient condition drawn for the robust stability of the error dynamics by stability analysis. Then we apply it to guide the design of the controllers. Finally, numerical examples are used to show the robustness and effectiveness of the proposed control strategy.

Keywords: Chaos synchronization, Nonlinear sliding surface, Control gains, Sliding mode control.

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Authors: T. C. Kuo

Abstract:

In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptation law to alleviate the input chattering effectively. Stability of the control system is proven by using the Lyapunov method. An application to a three-degree-of-freedom robotic manipulator is carried out. Accurate trajectory tracking as well as robustness is achieved. Input chattering is greatly eliminated.

Keywords: Fuzzy control, sliding mode control, roboticmanipulator, adaptive control.

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Authors: Somkait Udomhunsakul

Abstract:

In this paper, a novel road extraction method using Stationary Wavelet Transform is proposed. To detect road features from color aerial satellite imagery, Mexican hat Wavelet filters are used by applying the Stationary Wavelet Transform in a multiresolution, multi-scale, sense and forming the products of Wavelet coefficients at a different scales to locate and identify road features at a few scales. In addition, the shifting of road features locations is considered through multiple scales for robust road extraction in the asymmetry road feature profiles. From the experimental results, the proposed method leads to a useful technique to form the basis of road feature extraction. Also, the method is general and can be applied to other features in imagery.

Keywords: Road extraction, Multiresolution, Stationary Wavelet Transform, Multi-scale analysis

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Authors: Randhir Singh Baghel

Abstract:

In this study, the fundamental ideas guiding the dynamic area of machine learning—where models thrive and algorithms change over time—are rooted in an innate mathematical link. This study explores the fundamental ideas that drive the development of intelligent systems, providing light on the mutually beneficial link between mathematics and machine learning.

Keywords: Machine Learning, deep learning, Neural Network, optimization.

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Authors: Wei-Hsin Sun, Jr-Ming Miao, Chang-Hsien Tai, Chien-Chun Hung

Abstract:

The development of biomimetic micro-aerial-vehicles (MAVs) with flapping wings is the future trend in military/domestic field. The successful flight of MAVs is strongly related to the understanding of unsteady aerodynamic performance of low Reynolds number airfoils under dynamic flapping motion. This study explored the effects of flapping frequency, stroke amplitude, and the inclined angle of stroke plane on lift force and thrust force of a bio-inspiration corrugated airfoil with 33 full factorial design of experiment and ANOVA analysis. Unsteady vorticity flows over a corrugated thin airfoil executing flapping motion are computed with time-dependent two-dimensional laminar incompressible Reynolds-averaged Navier-Stokes equations with the conformal hybrid mesh. The tested freestream Reynolds number based on the chord length of airfoil as characteristic length is fixed of 103. The dynamic mesh technique is applied to model the flapping motion of a corrugated airfoil. Instant vorticity contours over a complete flapping cycle clearly reveals the flow mechanisms for lift force generation are dynamic stall, rotational circulation, and wake capture. The thrust force is produced as the leading edge vortex shedding from the trailing edge of airfoil to form a reverse von Karman vortex. Results also indicated that the inclined angle is the most significant factor on both the lift force and thrust force. There are strong interactions between tested factors which mean an optimization study on parameters should be conducted in further runs.

Keywords: biomimetic, MAVs, aerodynamic, ANOVA analysis.

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Authors: Stephen C. H. Leung, Defu Zhang

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This paper addresses a stock-cutting problem with rotation of items and without the guillotine cutting constraint. In order to solve the large-scale problem effectively and efficiently, we propose a simple but fast heuristic algorithm. It is shown that this heuristic outperforms the latest published algorithms for large-scale problem instances.

Keywords: Combinatorial optimization, heuristic, large-scale, stock-cutting.

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Authors: Luísa P. Cruz-Lopes, Hugo Costa e Silva, Idalina Domingos, José Ferreira, Luís Teixeira de Lemos, Bruno Esteves

Abstract:

The liquefaction process of cork based tree barks has led to an increase of interest due to its potential innovation in the lumber and wood industries. In this particular study the bark of Quercus cerris (Turkish oak) is used due to its appreciable amount of cork tissue, although of inferior quality when compared to the cork provided by other Quercus trees. This study aims to optimize alkaline catalysis liquefaction conditions, regarding several parameters. To better comprehend the possible chemical characteristics of the bark of Quercus cerris, a complete chemical analysis was performed. The liquefaction process was performed in a double-jacket reactor heated with oil, using glycerol and a mixture of glycerol/ethylene glycol as solvents, potassium hydroxide as a catalyst, and varying the temperature, liquefaction time and granulometry. Due to low liquefaction efficiency resulting from the first experimental procedures a study was made regarding different washing techniques after the filtration process using methanol and methanol/water. The chemical analysis stated that the bark of Quercus cerris is mostly composed by suberin (ca. 30%) and lignin (ca. 24%) as well as insolvent hemicelluloses in hot water (ca. 23%). On the liquefaction stage, the results that led to higher yields were: using a mixture of methanol/ethylene glycol as reagents and a time and temperature of 120 minutes and 200 ºC, respectively. It is concluded that using a granulometry of <80 mesh leads to better results, even if this parameter barely influences the liquefaction efficiency. Regarding the filtration stage, washing the residue with methanol and then distilled water leads to a considerable increase on final liquefaction percentages, which proves that this procedure is effective at liquefying suberin content and lignocellulose fraction.

Keywords: Liquefaction, alkaline catalysis, optimization, Quercus cerris bark.

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Authors: Nabli L., Dhouibi H., Collart Dutilleul S., Craye E.

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The indistinctness of the manufacturing processes makes that a parts cannot be realized in an absolutely exact way towards the specifications on the dimensions. It is thus necessary to assume that the effectively realized product has to belong in a very strict way to compatible intervals with a correct functioning of the parts. In this paper we present an approach based on mixing tow different characteristics theories, the fuzzy system and Petri net system. This tool has been proposed to model and control the quality in an assembly system. A robust command of a mechanical assembly process is presented as an application. This command will then have to maintain the specifications interval of parts in front of the variations. It also illustrates how the technique reacts when the product quality is high, medium, or low.

Keywords: Petri nets, production rate, performance evaluation, tolerant system, fuzzy sets.

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Authors: Peng He

Abstract:

Imprecision is a long-standing problem in CAD design and high accuracy image-based reconstruction applications. The visual hull which is the closed silhouette equivalent shape of the objects of interest is an important concept in image-based reconstruction. We extend the domain-theoretic framework, which is a robust and imprecision capturing geometric model, to analyze the imprecision in the output shape when the input vertices are given with imprecision. Under this framework, we show an efficient algorithm to generate the 2D partial visual hull which represents the exact information of the visual hull with only basic imprecision assumptions. We also show how the visual hull from polyhedra problem can be efficiently solved in the context of imprecise input.

Keywords: Geometric Domain, Computer Vision, Computational Geometry, Visual Hull, Image-Based reconstruction, Imprecise Input, CAD object

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Authors: ByungHoon Kang, Jeawook Shin, Ju-man Song, Hyun-Taek Choi, PooGyeon Park

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In this study, we consider a special situation that only a pair of hydrophone on a moving underwater vehicle is available to localize a fixed acoustic source of far distance. The trigonometry can be used in this situation by using two different DOA of different locations. Notice that the distance between the two locations should be measured. Therefore, we assume that the vehicle is sailing straightly and the moving distance for each unit time is measured continuously. However, the accuracy of the localization using the trigonometry is highly dependent to the accuracy of DOAs and measured moving distances. Therefore, we proposed another method based on the extended Kalman filter that gives more robust and accurate localization result.

Keywords: Localization, acoustic, underwater, extended Kalman filter.

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Authors: Daniel Icaza, Federico Córdova, Chiristian Castro, Fernando Icaza, Juan Portoviejo

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In this article, the mathematical model is presented, and simulations were carried out using specialized software such as MATLAB before the construction of a 900-W wind turbine. The present study was conducted with the intention of taking advantage of the rotation of the blades of the wind generator after going through a process of amplification of speed by means of a system of gears to finally mechanically couple two electric generators of similar characteristics. This coupling allows generating a maximum voltage of 6 V in DC for each generator and putting in series the 12 V DC is achieved, which is later stored in batteries and used when the user requires it. Laboratory tests were made to verify the level of power generation produced based on the wind speed at the entrance of the blades.

Keywords: Smart grids, wind turbine, modeling, renewable energy, robust control.

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Authors: F. C. Calnegru

Abstract:

This article presents a computationally tractable probabilistic model for the relation between the complex wavelet coefficients of two images of the same scene. The two images are acquisitioned at distinct moments of times, or from distinct viewpoints, or by distinct sensors. By means of the introduced probabilistic model, we argue that the similarity between the two images is controlled not by the values of the wavelet coefficients, which can be altered by many factors, but by the nature of the wavelet coefficients, that we model with the help of hidden state variables. We integrate this probabilistic framework in the construction of a new image registration algorithm. This algorithm has sub-pixel accuracy and is robust to noise and to other variations like local illumination changes. We present the performance of our algorithm on various image types.

Keywords: Complex wavelet transform, image registration, modeling using hidden state variables, probabilistic similaritymeasure.

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Authors: T. Benmiloud, A. Omari

Abstract:

This paper presents a new technique of compensation of the effect of variation parameters in the direct field oriented control of induction motor. The proposed method uses an adaptive tuning of the value of synchronous speed to obtain the robustness for the field oriented control. We show that this adaptive tuning allows having robustness for direct field oriented control to changes in rotor resistance, load torque and rotational speed. The effectiveness of the proposed control scheme is verified by numerical simulations. The numerical validation results of the proposed scheme have presented good performances compared to the usual direct-field oriented control.

Keywords: Induction motor, direct field-oriented control, compensation of variation parameters, fuzzy logic controller.

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Authors: Nadia Belu, Laurentiu M. Ionescu, Agnieszka Misztal

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In this paper we propose a computer-aided solution with Genetic Algorithms in order to reduce the drafting of reports: FMEA analysis and Control Plan required in the manufacture of the product launch and improved knowledge development teams for future projects. The solution allows to the design team to introduce data entry required to FMEA. The actual analysis is performed using Genetic Algorithms to find optimum between RPN risk factor and cost of production. A feature of Genetic Algorithms is that they are used as a means of finding solutions for multi criteria optimization problems. In our case, along with three specific FMEA risk factors is considered and reduce production cost. Analysis tool will generate final reports for all FMEA processes. The data obtained in FMEA reports are automatically integrated with other entered parameters in Control Plan. Implementation of the solution is in the form of an application running in an intranet on two servers: one containing analysis and plan generation engine and the other containing the database where the initial parameters and results are stored. The results can then be used as starting solutions in the synthesis of other projects. The solution was applied to welding processes, laser cutting and bending to manufacture chassis for buses. Advantages of the solution are efficient elaboration of documents in the current project by automatically generating reports FMEA and Control Plan using multiple criteria optimization of production and build a solid knowledge base for future projects. The solution which we propose is a cheap alternative to other solutions on the market using Open Source tools in implementation.

Keywords: Automotive industry, control plan, FMEA.

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Authors: C. Bruni, F. Delli Priscoli, G. Koch, I. Marchetti

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The Connection Admission Control (CAC) problem is formulated in this paper as a discrete time optimal control problem. The control variables account for the acceptance/ rejection of new connections and forced dropping of in-progress connections. These variables are constrained to meet suitable conditions which account for the QoS requirements (Link Availability, Blocking Probability, Dropping Probability). The performance index evaluates the total throughput. At each discrete time, the problem is solved as an integer-valued linear programming one. The proposed procedure was successfully tested against suitably simulated data.

Keywords: Connection Admission Control, Optimal Control, Integer valued Linear Programming, Quality of Service Requirements, Robust Control.

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Authors: Suresh S. Salankar, Balasaheb M. Patre

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Research into the problem of classification of sonar signals has been taken up as a challenging task for the neural networks. This paper investigates the design of an optimal classifier using a Multi layer Perceptron Neural Network (MLP NN) and Support Vector Machines (SVM). Results obtained using sonar data sets suggest that SVM classifier perform well in comparison with well-known MLP NN classifier. An average classification accuracy of 91.974% is achieved with SVM classifier and 90.3609% with MLP NN classifier, on the test instances. The area under the Receiver Operating Characteristics (ROC) curve for the proposed SVM classifier on test data set is found as 0.981183, which is very close to unity and this clearly confirms the excellent quality of the proposed classifier. The SVM classifier employed in this paper is implemented using kernel Adatron algorithm is seen to be robust and relatively insensitive to the parameter initialization in comparison to MLP NN.

Keywords: Classification, MLP NN, backpropagation algorithm, SVM, Receiver Operating Characteristics.

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Authors: Abdelaziz Sahbani, Kamel Ben Saad, Mohamed Benrejeb

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This paper deals with the comparison between two proposed control strategies for a DC-DC boost converter. The first control is a classical Sliding Mode Control (SMC) and the second one is a distance based Fuzzy Sliding Mode Control (FSMC). The SMC is an analytical control approach based on the boost mathematical model. However, the FSMC is a non-conventional control approach which does not need the controlled system mathematical model. It needs only the measures of the output voltage to perform the control signal. The obtained simulation results show that the two proposed control methods are robust for the case of load resistance and the input voltage variations. However, the proposed FSMC gives a better step voltage response than the one obtained by the SMC.

Keywords: Boost DC-DC converter, Sliding Mode Control (SMC), Fuzzy Sliding Mode Control (FSMC), Robustness.

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Authors: Hrabe Thomas, Beck Florian, Nickell Stephan

Abstract:

Cryo-electron microscopy (CEM) in combination with single particle analysis (SPA) is a widely used technique for elucidating structural details of macromolecular assemblies at closeto- atomic resolutions. However, development of automated software for SPA processing is still vital since thousands to millions of individual particle images need to be processed. Here, we present our workflow for automated particle picking. Our approach integrates peak shape analysis to the classical correlation and an iterative approach to separate macromolecules and background by classification. This particle selection workflow furthermore provides a robust means for SPA with little user interaction. Processing simulated and experimental data assesses performance of the presented tools.

Keywords: Cryo-electron Microscopy, Single Particle Analysis, Image Processing.

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Authors: M. S. Bani, Z. A. Rashid, K. H. K. Hamid, M. E. Harbawi, A.B.Alias, M. J. Aris

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Most Decision Support Systems (DSS) for waste management (WM) constructed are not widely marketed and lack practical applications. This is due to the number of variables and complexity of the mathematical models which include the assumptions and constraints required in decision making. The approach made by many researchers in DSS modelling is to isolate a few key factors that have a significant influence to the DSS. This segmented approach does not provide a thorough understanding of the complex relationships of the many elements involved. The various elements in constructing the DSS must be integrated and optimized in order to produce a viable model that is marketable and has practical application. The DSS model used in assisting decision makers should be integrated with GIS, able to give robust prediction despite the inherent uncertainties of waste generation and the plethora of waste characteristics, and gives optimal allocation of waste stream for recycling, incineration, landfill and composting.

Keywords: Review, decision support system, GIS and waste management.

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Authors: Zilya R. Vershinina, Andrei K. Baymiev, Aleksei K. Baymiev, Aleksei V. Chemeris

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This paper reports optimization of characteristics of bioballistic transformation of spring soft wheat (Triticum aestivum L. cultivar Raduga) and getting of transgenic plants, carrying pea lectin gene. This gene will let to create new associative wheat symbiosis with nodule bacteria of field pea, which has growth encouraging, fungistatic and other useful characteristics.

Keywords: transgenic wheat, pea lectin, rhizobia root colonization, symbiosis

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Authors: Bahram Talebjedi, Emily Earl, Mina Hoorfar

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One of the issues that arises with microscale lab-on-a-chip technology is that the laminar flow within the microchannels limits the mixing of fluids. To combat this, micromixers have been introduced as a means to try and incorporate turbulence into the flow to better aid the mixing process. This study presents an electroosmotic micromixer that balances vortex generation and degeneration with the inlet flow velocity to greatly increase the mixing efficiency. A comprehensive parametric study was performed to evaluate the role of the relevant parameters on the mixing efficiency. It was observed that the suggested micromixer is perfectly suited for biological applications due to its low pressure drop (below 10 Pa) and low shear rate. The proposed micromixer with optimized working parameters is able to attain a mixing efficiency of 95% in a span of 0.5 seconds using a frequency of 10 Hz, a voltage of 0.7 V, and an inlet velocity of 0.366 mm/s.

Keywords: Microfluidics, active mixer, pulsed AC electroosmosis flow, micromixer.

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Authors: A. Balbo, G. Colucci, M. Nicoli, L. Savoldi

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Hydrogen is expected to become an undisputed player in the ecological transition throughout the next decades. The decarbonization potential offered by this energy vector provides various opportunities for the so-called “hard-to-abate” sectors, including industrial production of iron and steel, glass, refineries and the heavy-duty transport. In this regard, Italy, in the framework of decarbonization plans for the whole European Union, has been considering a wider use of hydrogen to provide an alternative to fossil fuels in hard-to-abate sectors. This work aims to assess and compare different options concerning the pathway to be followed in the development of the future Italian energy system in order to meet decarbonization targets as established by the Paris Agreement and by the European Green Deal, and to infer a techno-economic analysis of the required asset alternatives to be used in that perspective. To accomplish this objective, the Energy System Optimization Model TEMOA-Italy is used, based on the open-source platform TEMOA and developed at PoliTo as a tool to be used for technology assessment and energy scenario analysis. The adopted assessment strategy includes two different scenarios to be compared with a business-as-usual one, which considers the application of current policies in a time horizon up to 2050. The studied scenarios are based on the up-to-date hydrogen-related targets and planned investments included in the National Hydrogen Strategy and in the Italian National Recovery and Resilience Plan, with the purpose of providing a critical assessment of what they propose. One scenario imposes decarbonization objectives for the years 2030, 2040 and 2050, without any other specific target. The second one (inspired to the national objectives on the development of the sector) promotes the deployment of the hydrogen value-chain. These scenarios provide feedback about the applications hydrogen could have in the Italian energy system, including transport, industry and synfuels production. Furthermore, the decarbonization scenario where hydrogen production is not imposed, will make use of this energy vector as well, showing the necessity of its exploitation in order to meet pledged targets by 2050. The distance of the planned policies from the optimal conditions for the achievement of Italian objectives is clarified, revealing possible improvements of various steps of the decarbonization pathway, which seems to have as a fundamental element Carbon Capture and Utilization technologies for its accomplishment. In line with the European Commission open science guidelines, the transparency and the robustness of the presented results are ensured by the adoption of the open-source open-data model such as the TEMOA-Italy.

Keywords: Decarbonization, energy system optimization models, hydrogen, open-source modeling, TEMOA.

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Authors: Arash Parehkar, S. Jamshid Mousavi, Shoubo Bayazidi, Vahid Karami, Laleh Shahidi, Arash Azaranfar, Ali Moridi, M. Shabakhti, Tayebeh Ariyan, Mitra Tofigh, Kaveh Masoumi, Alireza Motahari

Abstract:

Water resource systems modeling has constantly been a challenge through history for human beings. As the innovative methodological development is evolving alongside computer sciences on one hand, researches are likely to confront more complex and larger water resources systems due to new challenges regarding increased water demands, climate change and human interventions, socio-economic concerns, and environment protection and sustainability. In this research, an automatic calibration scheme has been applied on the Gilan’s large-scale water resource model using mathematical programming. The water resource model’s calibration is developed in order to attune unknown water return flows from demand sites in the complex Sefidroud irrigation network and other related areas. The calibration procedure is validated by comparing several gauged river outflows from the system in the past with model results. The calibration results are pleasantly reasonable presenting a rational insight of the system. Subsequently, the unknown optimized parameters were used in a basin-scale linear optimization model with the ability to evaluate the system’s performance against a reduced inflow scenario in future. Results showed an acceptable match between predicted and observed outflows from the system at selected hydrometric stations. Moreover, an efficient operating policy was determined for Sefidroud dam leading to a minimum water shortage in the reduced inflow scenario.

Keywords: Auto-calibration, Gilan, Large-Scale Water Resources, Simulation.

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Authors: M. Tahmasebi, R.A. Rahman, M. Mailah, M. Gohari

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The control of sprayer boom undesired vibrations pose a great challenge to investigators due to various disturbances and conditions. Sprayer boom movements lead to reduce of spread efficiency and crop yield. This paper describes the design of a novel control method for an active suspension system applying proportional-integral-derivative (PID) controller with an active force control (AFC) scheme integration of an iterative learning algorithm employed to a sprayer boom. The iterative learning as an intelligent method is principally used as a method to calculate the best value of the estimated inertia of the sprayer boom needed for the AFC loop. Results show that the proposed AFC-based scheme performs much better than the standard PID control technique. Also, this shows that the system is more robust and accurate.

Keywords: Active force control, sprayer boom, active suspension, iterative learning.

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Authors: Nasser Erfani Majd, Mojtaba Lotfizad

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In this paper, an ultra low power and low jitter 12bit CMOS digitally controlled oscillator (DCO) design is presented. Based on a ring oscillator implemented with low power Schmitt trigger based inverters. Simulation of the proposed DCO using 32nm CMOS Predictive Transistor Model (PTM) achieves controllable frequency range of 550MHz~830MHz with a wide linearity and high resolution. Monte Carlo simulation demonstrates that the time-period jitter due to random power supply fluctuation is under 31ps and the power consumption is 0.5677mW at 750MHz with 1.2V power supply and 0.53-ps resolution. The proposed DCO has a good robustness to voltage and temperature variations and better linearity comparing to the conventional design.

Keywords: digitally controlled oscillator (DCO), low power, jitter; good linearity, robust

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Authors: Matjaž Divjak, Simon Zelič, Aleš Holobar

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We present a dedicated video-based monitoring system for quantification of patient’s attention to visual feedback during robot assisted gait rehabilitation. Two different approaches for eye gaze and head pose tracking are tested and compared. Several metrics for assessment of patient’s attention are also presented. Experimental results with healthy volunteers demonstrate that unobtrusive video-based gaze tracking during the robot-assisted gait rehabilitation is possible and is sufficiently robust for quantification of patient’s attention and assessment of compliance with the rehabilitation therapy.

Keywords: Video-based attention monitoring, gaze estimation, stroke rehabilitation, user compliance.

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Authors: Taweepol Suesut, Arjin Numsomran, Vittaya Tipsuwanporn

Abstract:

This paper presents the communication network for machine vision system to implement to control systems and logistics applications in industrial environment. The real-time distributed over the network is very important for communication among vision node, image processing and control as well as the distributed I/O node. A robust implementation both with respect to camera packaging and data transmission has been accounted. This network consists of a gigabit Ethernet network and a switch with integrated fire-wall is used to distribute the data and provide connection to the imaging control station and IEC-61131 conform signal integration comprising the Modbus TCP protocol. The real-time and delay time properties each part on the network were considered and worked out in this paper.

Keywords: Distributed Real-Time Automation, Machine Visionand Ethernet.

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Authors: J. Rizk, M. H. Nagrial

Abstract:

The paper aims to show that implementing different types of reflectors in solar energy systems, will dramatically improve energy production by means of concentrating and intensifying more sunlight onto a solar cell. The Solar Intensifier unit is designed to increase efficiency and performance of a set of solar panels. The unit was fabricated and tested. The experimental results show good improvement in the performance of the solar energy system.

Keywords: Renewable Energy, Power optimization, Solar Energy.

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Authors: Say Wei Foo, Qi Dong

Abstract:

In this paper, a novel feature-based image watermarking scheme is proposed. Zernike moments which have invariance properties are adopted in the scheme. In the proposed scheme, feature points are first extracted from host image and several circular patches centered on these points are generated. The patches are used as carriers of watermark information because they can be regenerated to locate watermark embedding positions even when watermarked images are severely distorted. Zernike transform is then applied to the patches to calculate local Zernike moments. Dither modulation is adopted to quantize the magnitudes of the Zernike moments followed by false alarm analysis. Experimental results show that quality degradation of watermarked image is visually transparent. The proposed scheme is very robust against image processing operations and geometric attacks.

Keywords: Image watermarking, Zernike moments, Featurepoint, Invariance, Robustness.

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Authors: Sunhyoung Lee, Askar Akshabayev, Beisenbek Baisakov, Youngjoon Han, Hernsoo Hahn

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It is important to give input information without other device in AR system. One solution is using hand for augmented reality application. Many researchers have proposed different solutions for hand interface in augmented reality. Analyze Histogram and connecting factor is can be example for that. Various Direction searching is one of robust way to recognition hand but it takes too much calculating time. And background should be distinguished with skin color. This paper proposes a hand tracking method to control the 3D object in augmented reality using depth device and skin color. Also in this work discussed relationship between several markers, which is based on relationship between camera and marker. One marker used for displaying virtual object and three markers for detecting hand gesture and manipulating the virtual object.

Keywords: Augmented Reality, depth map, hand recognition, kinect, marker, YCbCr color model.

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