C. Jao, Yen-Ling Chen, Tzu-Hsuan Huang, Ching-Ting Tseng, Ching-Sung Yang, Chun-Yi Lin, S. Tsai, Po-Shan Wang, Yu-Te Wu
{"title":"Status change revealed by electrocardiography (ECG) and electroencephalography (EEG) during cycling exercise","authors":"C. Jao, Yen-Ling Chen, Tzu-Hsuan Huang, Ching-Ting Tseng, Ching-Sung Yang, Chun-Yi Lin, S. Tsai, Po-Shan Wang, Yu-Te Wu","doi":"10.1109/CACS.2017.8284245","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284245","url":null,"abstract":"Long-term aerobic exercise can effectively improve the heart and lung function, stabilize mood and reduce the incidence of cardiopulmonary diseases. Brain activity can properly reflect physical and mental status of subjects during prolonged exercise, and long-term exercise may affect the power spectrum of EEG. Many studies showed that ECG, EMG and EEG, can effectively and accurately assess the status change during exercise. Safety and efficiency are the main concerns for promoting the aerobics for the elder. In this study, we aim to investigate the EEG and ECG features that can reveal status change during cycling exercise. Twenty-nine healthy subjects participated in this study. After four-minute resting stage, participants were asked to take cycling exercise continuously for twenty minutes, and the EEG, ECG signals were recorded and analyzed. The EEG data were divided into one-minute epoch and the wavelet transform was used to analyze five frequency bands, namely, theta (T), low alpha (LA), high alpha (HA), low beta (LB) and high beta (HB). The ECG signal was used to establish the average maximum heart rate ratio (AMHRR) and cardiac stress index (CSI). We found variations of RR intervals decreases during sustained cycling exercise. The CSI plot of a less frequent exerciser showed steeper than a frequent exerciser. If a participant has a steeper slope of CSI curve may imply an increase in cardiac stress. The AMHRR score at 65% could be a threshold for the occurrence of feeling hard during exercise. The CSI, HA and LB are the most proper features for assessing status change during exercise.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126630596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A nearly optimal control approach for uncertainty input-delay systems based on adaptive dynamic programming","authors":"Yu‐Chen Lin, Hsin-Chang Chen, C. Peng","doi":"10.1109/CACS.2017.8284252","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284252","url":null,"abstract":"This paper concerned with a nearly optimal control approach based on adaptive dynamic programming technique to solve robust control problem of the neutral type time-delay systems, taking parameter uncertainties and input delay into account. Based on the neural network (NN)-based adaptive dynamic programming and Lyapunov-Razumikhin theorems, the robust control design problem can be equivalently transformed into a nearly optimal control problem, and the amount of matched uncertainties are indirectly reflected in the performance index. A nearly optimal control is designed to approximate the costate function of the Hamilton-Jacobi-Isaaca (HJI) equation by NN-based adaptive dynamic programming scheme. By algebraic inequalities and appropriate uncertainty descriptions, sufficient conditions are derived under which not only the uncertain input-delay dynamical systems can achieve asymptotic stability, but also acquire the guaranteed level of performance for regulation. Simulation example is performed to demonstrate the effectiveness of the proposed approaches.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133142917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"An intelligent embedded cloud monitoring system design","authors":"Bing-Ting Dong, Ching-Min Lee, Ying-Chi Chiu, Yi-Ching Huang","doi":"10.1109/CACS.2017.8284268","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284268","url":null,"abstract":"In this paper, we would like to design an embedded cloud monitoring system for home/room/Lab security. The proposed system consists of monitoring and controlling parts. We use an Arduino Uno Wi-Fi board to be the platform and 4 PIR sensors for four partitions to detect intruders. When the 4-PIR sensor module detects someone close to the system, the buzzer will play alarm sounds and the servo motor will turn to specific angles to track the nearest intruder, at the same time the webcam will screenshot due to motion detection, and the system will email the screenshot pictures to users and backup these pictures in a cloud storage system. After receiving the mailed message, users can decide whether turn on the live-stream function via their mobile phones or computers. Moreover, once users turn on the live-stream via the developed APP, they can click a screenshot button to screenshot the APP screen. And the picture will also be saved in users’ mobile phones. In addition, users are allowed to remotely control some devices of the system via mobile phone APP to further monitor.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116884251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Fuzzy reinforcement learning algorithm for the pursuit-evasion differential games with superior evader","authors":"Ahmad A. Al-Talabi","doi":"10.1109/CACS.2017.8284272","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284272","url":null,"abstract":"This paper proposes a fuzzy reinforcement learning technique that enables a group of pursuers in pursuit-evasion (PE) differential games to learn how to capture a single superior evader in a decentralized manner. The superiority of the evader is in term of its maximum speed which means that this speed exceeds the maximum speed of the fastest pursuer in the game. The proposed learning technique uses a fuzzy actor-critic learning Automaton (FACLA) algorithm together with the so-called Apollonius circle technique and a specific formation control strategy which are used to define the necessary reward function for each pursuer. This enables each pursuer to update its value function accurately. Accordingly, the pursuer will take the right actions by tuning its fuzzy logic controller (FLC) parameters. The formation control strategy is also used such that during the capturing process the distribution angles of the pursuers around the evader are invariant as much as possible. Furthermore, it is also used to avoid a collision among them. It is assumed that the superior evader is an intelligent evader whose strategy is to continuously search for a gap during the evasion process by using the Apollonius circle method. If there is a gap, the evader will select its path through the gap to escape otherwise the evader will change its direction to increase the capture time. Simulation results are given to validate the proposed learning algorithm.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114604410","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Development of autonomous hexapod rolling robot","authors":"J. Tsai, N. Mayer, Ting Chen","doi":"10.1109/CACS.2017.8284274","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284274","url":null,"abstract":"The technology of robotics has been well developed in recent years in many fields, such as day care, security, rescue, industry and so on. We can be sure that more and more robots will be produced in the future. The target of the development is that the robot should be stable and fast while moving. The users will not accept that either the robot become shaky easily and even worse falls down directly or in a very slow speed when moving. The focal point of this the work is to build a Hexapod rolling robots and it will move by rotating its six stretched out feet. It is a different moving strategy from the ordinary robot.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116477388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Multi-sensor based glove control of an industrial mobile robot arm","authors":"Li-Hu Jhang, Carlo Santiago, Chian-Song Chiu","doi":"10.1109/CACS.2017.8284267","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284267","url":null,"abstract":"In this paper, a multi-sensor glove controller is designed to control a mobile robot and a 6-axis robot arm for industrial operations. In order to implement safe working practices, the mobile robot arm is navigated by a glove controller wirelessly to perform several human tasks. By integrating the 6-axis robot arm, a mobile car, the StarGazer indoor positioning system, the user can monitor the situation in front of the mobile robot arm as well as record the trajectory and position coordinate, so that the functions of remote control is achieved. This makes it possible for people to complete the task without entering dangerous workplaces. On the data glove, there are various kinds of sensors and switch control modes, so that it can achieve the goal of operating and moving the mobile device simply and intuitively. The experiment results show the effectiveness when the mobile robot arm actually performs a human task.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129894174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Proposal of magnetic suspension with elastic ferromagnetic substance for vibration isolation system","authors":"T. Mizuno, Megumi Namai, M. Takasaki, Y. Ishino","doi":"10.1109/CACS.2017.8284257","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284257","url":null,"abstract":"An improvement of magnet suspension by using elastic ferromagnetic substance is proposed. The zero-power magnetic suspension has been applied to vibration isolation system because it has a negative-stiffness property. High stiffness against direct disturbance on the isolation table can be achieved by combining it with a normal spring with a positive stiffness. It enables the system to have good characteristics in both the performances of isolation from ground and suppression of direct vibration. However, the vibration isolation system using zero-power magnetic suspension has several problems. One of them is that a large/strong permanent magnet is necessary to support the isolation table. Another problem is a technical difficulty of achieving sufficient damping for suppressing resonance. It is proposed to insert elastic ferromagnetic substance between the magnet for suspension and the object to be suspended. Since it decreases magnetic reluctance, the suspension force increase. In addition, the damping characteristics of the suspension system is improved by the elasticity of the substance.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130636013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Object volume estimation based on 3D point cloud","authors":"Wen-Chung Chang, Chia-Hung Wu, Ya-Hui Tsai, Wei-Yao Chiu","doi":"10.1109/CACS.2017.8284244","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284244","url":null,"abstract":"An approach to estimating the volume of an object based on 3D point cloud is proposed in this paper. Firstly, 3D point cloud is cut into slices of equal thickness along the z-axis. Bisect each slice along the y-axis and cut each slice into sub-intervals along the x-axis. Using the minimum and maximum coordinates in each sub-interval, two surface curve functions can be fitted accordingly for the bisected slices. Then, the curves are integrated to estimate the area of each slice and further integrated along the z-axis for an estimated volume of the object.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130707447","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Pitch angle control for hovering tilt rotor aircraft on one side rotor lift variation","authors":"Y. Osa, S. Uchikado, Kanya Tanaka","doi":"10.1109/CACS.2017.8284254","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284254","url":null,"abstract":"In CACS2016 authors have proposed a roll angle control system for hovering tilt rotor aircraft (TRA) on one side rotor lift variation, which seriously affects the stability of TRA motion. And in this study as the next step a pitch angle control system of hovering TRA on the same situation is proposed under the assumption that the lateral-directional motion is already stabilized. Basically this flight control system consists of pitch rate feedback as stability augmentation method and P control as controllability augmentation method.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130234587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Real time logistics monitoring system of packages during transportation using decision tree combined with clustering method","authors":"Wu Yu, W. Ye, S. Tateno","doi":"10.1109/CACS.2017.8284242","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284242","url":null,"abstract":"With the development of logistics industry recently, the problem of package damage has become more serious. Nonstandard driving can make packages turn into abnormal states. This article presents a package state monitoring system with inertial measurement units (IMUs) which can be easily installed and can detect states of packages correctly. The system uses decision tree method and clustering method to classify states with different features like stable as normal states, while turnover, move, shake, and knock as abnormal states. The experiment results show that the system can distinguish different states of packages with different weights.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114641302","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}