งานประชุมวิชาการ IEEE International Conference ICAICTA 2018

อาจารย์กลุ่มวิจัยวิทยาการหุ่นยนต์และระบบอัตโนมัติ หรือ RAAS คณะวิศวกรรมศาสตร์ศรีราชา ม.เกษตรศาสตร์ ได้นำเสนอผลงานวิจัยในงานประชุมวิชาการระดับนานาชาติ IEEE International Conference ICAICTA 2018 ระหว่างวันที่ 14 – 17 สิงหาคม 2561

บทความ Ball Balancing on a Stewart Platform Using Fuzzy Supervisory PID Visual Servo Control นำเสนอโดย อ.ดร.กิตติพงษ์ เยาวาจา #RaasKU

2 papers join IEEE conference. …ทีมงานกลุ่มส่งงานไปแล้วร่วมงานประชุมวิชาการนานาชาติ ปลายปีนี้

In this paper, fuzzy supervisor of PID controller for ball balancing on a Stewart platform (ball and plate system) was implemented. Small-size Stewart platform was built and used for demonstrating the application of the controller. HD web camera was the visual sensor for sensing the ball position. After image processing, by using color threshold and object detection, the ball position was a feedback signal of the controller. In ball balancing control problem, the x-direction and y-direction can be decentralized and are separated into two PID control loops. Conventional PID control might give poor performance due to nonlinearity such as friction and error from the visual tracking. Model-based control design is complicated and could be suffered from modeling uncertainties. Fuzzy controller, which is a nonlinear control, is chosen to resolve the problem. By the way, the PID controller can be enhanced by using a fuzzy supervisory system. By using a few human intuitive rules, from ball speed and ball location, control performance can be improved. Each PID controller gains were adjusted by the fuzzy supervisor. The controller generated the pitch and roll references. The reference signals were transformed to six servo motor set-points by using the inverse kinematics of the platform. PID position controllers were used for the six servo motors. The ball position results showed enhancement by the proposed control system.

Published in: 2018 5th International Conference on Advanced Informatics: Concept Theory and Applications (ICAICTA)
Date of Conference: 14-17 Aug. 2018
Date Added to IEEE Xplore: 22 November 2018
ISBN Information:INSPEC Accession Number: 18273910
DOI: 10.1109/ICAICTA.2018.8541349
Publisher: IEEE
Conference Location: Krabi, Thailand

อ่านต่อที่ https://ieeexplore.ieee.org/document/8541349

งานประชุมวิชาการนานาชาติ IEEE ICAICTA 2018

บทความ Development of a Thermal/Visible Image Fusion System for Situation Awareness นำเสนอโดย อ.ดร.พงศกร บำรุงไทย

Abstract:The development of an image fusion system is described in this paper. The system consists of thermal and visible (color) cameras. Image alignment between two camera views is performed by using homography. The homography was estimated from four pairs of corresponding points on a planar object in the captured images that was manually selected by the user. Then, the user-defined region of interest (ROI) is used to adjust scale and position of the two images. Finally, the image fusion algorithm is applied to create the fused image. By thresholding the thermal image at a specified intensity level, the pixel values in the color image will be replaced with a predefined color if the corresponding pixels in the thermal image exceed the threshold value. This technique can provide thermal information of possible targets to be fused with original color image. This makes the system suitable for situation awareness. The experimental results show that the system can operate in real-time with satisfactory results.

Published in: 2018 5th International Conference on Advanced Informatics: Concept Theory and Applications (ICAICTA)
Date of Conference: 14-17 Aug. 2018
Date Added to IEEE Xplore: 22 November 2018
ISBN Information:INSPEC Accession Number: 18282553
DOI: 10.1109/ICAICTA.2018.8541301
Publisher: IEEE
Conference Location: Krabi, Thailand