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A Third Order Sliding Modes based Output-Feedback Control for Stabilization of Container-Slosh |
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Jyoti Prakash Mishra, Shailaja Ravindra Kurode, Sanket Kailas Gorade(College of Engineering, Pune, India) |
| This paper describes about lateral container-slosh dynamical model, which represents an under-actuated
system. The dynamics is highly coupled and non-linear, moreover it is difficult to measure the slosh states. Hence an output-feedback control is proposed, which depends only on measurable states. Third order sliding mode (TOSM) based on nested controller algorithm is applied while developing the control. The stability of the system during sliding is
analyzed. Finally the proposed method is validated in simulations. |
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A Hybrid Control Approach for Precise Positioning of a Piezo-Actuated Stage |
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Marwan Nafea, Suhail Kazi, Zaharuddin Mohamed, Mohamed Sultan Mohamed Ali(Universiti Teknologi Malaysia, Malaysia) |
| This paper presents a hybrid control approach for precise positioning of a piezo-actuated stage, where Bouc-Wen hysteresis model is used to represent the hysteresis behavior of the PEA. A Luenberger observer-based feedforward controller is designed, and then integrated with a Particle Swarm Optimization (PSO)-based Proportional-Integral-Derivative (PID) controller to form a hybrid controller. Optimal PID gains are obtained based on a fitness function proposed to reduce the displacement error and achieve fast response time. |
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Generalized complex projective synchronization of chaotic complex systems with unknown parameters |
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Jaepil Ban(POSTECH, Republic of Korea), Jinwoo Lee(Electrical Engineering, Republic of Korea), Sangchul Won(POSTECH, Republic of Korea) |
| In this paper, we developed a complex projective synchronization for complex chaotic systems. We generalized
a complex scaling matrix for synchronizing two chaotic systems with different orders. We proposed an adaptive control
method to synchronize between drive and response chaotic complex systems with fully unknown parameters. Based on
Lyapunov theorem, we proved the stability of the synchronization. Numerical simulations are given to verify the proposed
method. |
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A Quadrocopter Automatic Control Contest as an Example of Interdisciplinary Design Education |
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Christian Nitschke, Yuki Minami, Masayuki Hiromoto, Hiroaki Ohshima, Takashi Sato(Kyoto University, Japan) |
| This paper describes a contest on visual navigation of unmanned aerial vehicles (UAVs) as a case-study on robotics in education. A programming library for marker-based navigation of the AR.Drone 2.0 allows for learning by experience and rapid development. A novel nested-marker design and accurate camera parameters for the AR.Drone 2.0 allow for robust tracking and general vision tasks. The contest design and user study enable insights on the application of robotics in interdisciplinary design education, where the fast comprehension of a complex topic has important implications. |
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Spectral Preservation of Pan-sharpening for THEOS imagery |
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Thani Jintasuttisak, Suwannee Phayapchaiyakun, Sathit Intajag(Prince of Songkla University, Thailand) |
| The proposed method studied on the relationship between intensity and saturation to preserve spectral information of the fusing THEOS images. Thus, we found a suitable color space, iHSL (improved hue-saturation-lightness) for pan-sharpening that can isolate the intensity or lightness component. The fusion method employs smooth filter-based intensity modulation technique to merge the spatial information from PAN with the intensity component from MS images. From the studied results, our method could preserve the spectral information better than the well-known IHS-based methods. |
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Color Retinal Image Enhancement by Rayleigh Contrast-Limited Adaptive Histogram Equalization |
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Thani Jintasuttisak(Prince of Songkla University, Thailand) |
| Retinal fundus image is important for ophthalmologist to identify and detect many vision-related diseases, such as diabetes and hypertension. This paper proposes a method using improved nonlinear hue-saturation-intensity color model(iNHSI) to preserve color information of the retinal images. The intensity component is enhanced by Rayleigh transformation in contrast-limited adaptive histogram equalization (Rayleigh CLAHE) algorithm. The proposed method can preserve the original hue component unchanged; because, the hue information of the input images is important to ophthalmologist in diagnosis |
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