|
The Multi-agent Rendezvous using Gossip and Consensus Algorithms: Directed Bipartite Connection |
|
Hong-Kyong Kim, Younghun John, Hyo-Sung Ahn(GIST, Korea) |
| The multi-agent system is a hot topic in control systems theory. Consensus algorithm and gossip algorithm are
two main examples of multi-agent systems control. Consensus algorithm converges from different initial values of agents
to a certain value in a given graph. Gossip algorithm is similar to consensus but the graph is randomly selected each time.
In this paper, we propose a new concept of a cluster graph where it is composed of three parts: one set of agents with fixed
connections, another set of agents with randomly selected connections, and lastly fixed edges connecting the two former
m |
|
|
Development of a Drilling Robot that Mimics Mole Digging Pattern |
|
Hyun Myung, Jong Heon Kim, Christian Tirtawardhana(KAIST, Korea) |
| Recently, the drilling systems are widely used for various purposes, but in harsh environment such as Arctic or space, it is hard to apply these systems since they require lots of equipment and labors. There are various researches to solve these problems, but they are still in development stage due to low drilling performance. To solve this problem, we exploit the digging habits of moles. In this paper, we propose the excavation mechanism of the embedded drilling robot including cutting removal and balancing in the hole, which are inspired by a type of mole known as the African mole-rat. |
|
|
Yawing Motion Control of a Single-Wheel Robot Actuated by a Control Moment Gyroscope |
|
Hyun W Kim, Seul Jung(Chungnam National University, Korea) |
| In this paper, the yawing motion of a single-wheel robot (SWR) is controlled by a control moment gyroscope (CMG). The CMG is designed and implemented for generating torque in the yawing direction of a SWR. The CMG has a scisssored pair that is composed of two gimbal system rotating in the opposite direction to maximize the induced torque. Our CMG is designed to generate 0.4 Nm so that it controls the yawing motion of SWR. Experimental studies of controlling the SWR are presented to confirm the control of yawing motion. |
|
|
Multi-PLC Control System Based on Wireless Bridge/Base Stations for Work-in-Process Movements in Corrugated Box Manufacturer |
|
Krit Smerpitak, Woravut Jearnpanitpong, Amphawan Julsereewong, Teerawat Thepmanee(King Mongkut’s Institute of Technology Ladkrabang (KMITL), Thailand) |
| This paper presents a technique to design and implement a cooperative control of two groups with three conveyors and two rail guided vehicles (RGVs) by using two master and two slave programmable logic controllers (PLCs), respectively. The controlled conveyors and RGVs are utilized for work-in-process (WIP) movements between a corrugator and six printing machines in a manufacturer of corrugated boxes. The proposed technique is based on the use of wireless bridge/base stations for interconnections of two master PLCs, two slave PLCs, and a host application using EtherNet/IP. |
|
|
Design of Output Feedback Nonlinear Model Predictive Control for Inverted Pendulum on Cart |
|
Petchakrit Pinyopawasutthi, David Banjerdpongchai(Chulalongkorn university, Thailand), Oishi Yasuaki(Nanzan University, Japan) |
| This paper presents designing of output feedback nonlinear model predictive control (NMPC) for nonlinear systems. NMPC employs the state feedback and updates the control input at each sampling step. The control design of NMPC is formulated as optimal control which requires the information of states of the process. However, in practice, we can measure only some states of the process. This paper aims to use the state observer to estimate the unknown states and use them as feedback for NMPC. We apply output feedback NMPC to inverted pendulum on cart. Numerical results show the response of output. |
|
|
A Prototype System to Count Nursery Pacific White Shrimp using Image Processing |
|
Sungwan Boksuwan, Sumit Panaudomsup, Thepjit Cheypoca(King Mongkut’s Institute of Technology Ladkrabang, Thailand) |
| This paper proposes a counting system for estimating the biomass of nursery-stage pacific white shrimp in
an indoor cultured tank using an image processing technique. The outcome is to reduce an over feed and water quality
issue. As a result, it leads to the reduction of an operation cost in an indoor production system because the operation
cost is mainly caused by feed and water treatment. Shrimp’s biomass is directly used to determine an amount of feed. In
Thailand, farmers currently use the sampling cup to sample and estimate a shrimp density. This traditional method depends
on experiment. |
|