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2017 International Automatic Control Conference (CACS)最新文献

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Motion replaying by humanoid robots based on segmented and stable postures 基于分段和稳定姿态的类人机器人运动重放
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284258
Jinsong Lin, Chi-Wei Hsieh
{"title":"Motion replaying by humanoid robots based on segmented and stable postures","authors":"Jinsong Lin, Chi-Wei Hsieh","doi":"10.1109/CACS.2017.8284258","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284258","url":null,"abstract":"The proposed research focuses on how humanoid robots replay motions, which were demonstrated by human demonstrator, steadily. First, the proposed system captures the three-dimensional coordinates of a human body's joints by using Microsoft Kinect v2. Then, the captured joint-information is converted to the angles of biped's motors. Further, extract the key poses from these captured poses in order to reduce the quantity of joint information for a series of pose in a motion. For each key pose, use Q-Learning to adjust the angles of a biped's motors such that the biped can replay the captured pose steadily. Besides, a key pose database, which contains the balanced key poses, and a motion sequence database, which contains the keypose sequence of demonstrators' motions, are maintained for motion replaying. Finally, search motion sequence database, based on Sequence-Pattern-Mining approach, to find the most similar motion sequence to the motion, which the biped will imitate currently. The simulated results show that the biped could replay the demonstrators' motions effectively and steadily.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"85 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":"132232382","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}
引用次数: 0
Virtual reality survival first person shooting game 虚拟现实生存第一人称射击游戏
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284241
Shao-Hung Yu, Ya-Wen Hsu, Guan-Yan Chen, Jau-Woei Pemg
{"title":"Virtual reality survival first person shooting game","authors":"Shao-Hung Yu, Ya-Wen Hsu, Guan-Yan Chen, Jau-Woei Pemg","doi":"10.1109/CACS.2017.8284241","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284241","url":null,"abstract":"The aim of this study is to create a cheaper virtual reality (VR) on the cellphone platform with equipment to gain more external inputs rather than just using accelerator in the cellphone to detect head rotation. The study used Android as a platform and the Unity game engine to design a VR game, with Wi-Fi connection, using Arduino, gyroscopes, and Wii joysticks to add external input controls to enrich the gaming experience.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"43 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":"127450539","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}
引用次数: 4
License plate detection and recognition algorithm for vehicle black box 车牌检测与识别算法的车辆黑匣子
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284273
Jung-Hwan Kim, Sun-Kyu Kim, Sang-Hyuk Lee, Tae-Min Lee, Joonhong Lim
{"title":"License plate detection and recognition algorithm for vehicle black box","authors":"Jung-Hwan Kim, Sun-Kyu Kim, Sang-Hyuk Lee, Tae-Min Lee, Joonhong Lim","doi":"10.1109/CACS.2017.8284273","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284273","url":null,"abstract":"Almost every vehicle has currently installed black box since the stored images by black box can be used to investigate the exact cause of the accident. One of the most important aspects in an accident investigation is the license plate detection and recognition as the license plate has information about the driver and car. This paper presents a novel algorithm for license plate detection and recognition using black box image. The proposed license plate recognition system is divided into three stages: license plate detection, individual number and character extraction, and number and character recognition. The Gaussian blur filter is used to remove noise in the image and then we detect the license plate edge using modified Canny algorithm. Second, we determine license plate candidate image using morphology and support vector machine. Finally, we recognize the numbers and characters using k-nearest neighbor classifier. The experimental study results indicate that the license plate detection and recognition algorithm has been successfully implemented.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"26 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":"129017366","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}
引用次数: 12
An affective mood booster robot based on emotional processing unit 一种基于情绪处理单元的情感情绪助推器机器人
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284239
Jui Hua Lui, H. Samani, Kun-yu Tien
{"title":"An affective mood booster robot based on emotional processing unit","authors":"Jui Hua Lui, H. Samani, Kun-yu Tien","doi":"10.1109/CACS.2017.8284239","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284239","url":null,"abstract":"We propose a novel robotics system with affective interaction capability. Our proposed robot would act as a personal companion with focusing on the mood of the user. The robot has the ability to detect basic emotions of the user through visual and audio sensors. The emotional processing unit employs advances in the field of affective computing and artificial intelligence in order to estimate the emotional state of the user. Additionally, the artificial intelligence unit aims to propose certain behaviors of the robot in order to generate positive emotional interaction towards the user. Such expressions would be projected by various behaviors of the robot such as audio output that appropriate music would be played. Additionally, the robot would generate relevant smell accordingly by digital scent technology. The robot would be in the form of mobile that it can also act by appropriate physical movements. For example when the robot estimates the stressed emotion by the user, it would play relaxing music and produce relaxing scent and the robot would navigate smoothly around without disturbing the user.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"9 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":"115425816","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}
引用次数: 17
The bearing-based multi-agent rendezvous problem on a circle 基于方位的圆上多智能体交会问题
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284233
M. Trinh, H. Ahn
{"title":"The bearing-based multi-agent rendezvous problem on a circle","authors":"M. Trinh, H. Ahn","doi":"10.1109/CACS.2017.8284233","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284233","url":null,"abstract":"This paper studies a multi-agent rendezvous problem where the agents’ positions are restricted in a circle and each can sense a bearing vector with regard to the center and communicate with its neighbor on the sensed bearing. A bearing-only control law is proposed and is proved to drive the n-agent system to a set of equilibria which contains the rendezvous space (desired equilibrium set). Depending on the interaction graph between n agents, the set of equilibria may also contain some subsets of undesired equilibria. For some specific cases (n-agent system with line graphs and three-agent system with complete graph), we show that the sets of undesired equilibria are repulsive, and thus any trajectory of the n­agent system starting outside the undesired equilibrium set approaches the rendezvous space. Simulations are also provided to validate the analysis.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"31 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":"128948880","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}
引用次数: 1
Implementation of phase lead controller for lane following system based on identified vehicle lateral model 基于识别车辆横向模型的车道跟随系统相位超前控制器的实现
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284236
J. Hsu, K. Ku, Tong-Kai Jhang, Chih-Jung Yeh, Hung-Pang Lin
{"title":"Implementation of phase lead controller for lane following system based on identified vehicle lateral model","authors":"J. Hsu, K. Ku, Tong-Kai Jhang, Chih-Jung Yeh, Hung-Pang Lin","doi":"10.1109/CACS.2017.8284236","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284236","url":null,"abstract":"Vehicle lateral controllers are general designed based on a simplified lateral model, known as bicycle model. However, some of parameters of the bicycle model are difficult to estimate accurately such as cornering stiffness and moment of inertia. Furthermore, some expensive sensors are required for estimating these parameters such as GPS/inertial sensors, wheel force transducers. The paper studies a practical method for identifying lateral model and a phase lead controller implemented in a real vehicle is designed based on the identified model. The identified lateral model is in the form of a discrete-time transfer function, which is conducive to practical identification and digital controller design. The transfer function is derived from a bicycle model. The input and the output of the transfer function are the steering wheel angle and the lateral offset at a look-ahead distance respectively. The data for identification are provided by the electric power steering system and the lane detection system using a camera without the requirement of expensive sensors. The feedback signal of the controller is also based on the lane detection system. The identified model is validated successfully by the experimental data. The phase lead controller is carried out in a real vehicle and experiment results show that the phase lead controller works well.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"4 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":"125564713","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}
引用次数: 1
Accuracy improvement of submersible charging station stabilization on various depths 潜水式充电站在不同深度稳定精度的提高
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284259
S. A. Gayvoronskiy, T. Ezangina, I. Khozhaev
{"title":"Accuracy improvement of submersible charging station stabilization on various depths","authors":"S. A. Gayvoronskiy, T. Ezangina, I. Khozhaev","doi":"10.1109/CACS.2017.8284259","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284259","url":null,"abstract":"Considered paper is dedicated to mathematical modeling and controller parametric synthesis of stabilization system for submersible underwater charging station, which is based on two measurement signals: signal of difference between a charging station speed and a speed of boat hoist; signal of shock absorbing hoist rope tension deviation. These systems were synthesized with several methods, considering an interval parametric uncertainty of a control object. Simulation modeling of synthesized systems was performed. An approach to choosing a method of submersible charging station stabilization is described.","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":"124886455","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}
引用次数: 0
FPGA-based stepper motor vector control system design 基于fpga的步进电机矢量控制系统设计
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284269
Chiu-Keng Lai, J. Ciou, Chia-Che Tsai
{"title":"FPGA-based stepper motor vector control system design","authors":"Chiu-Keng Lai, J. Ciou, Chia-Che Tsai","doi":"10.1109/CACS.2017.8284269","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284269","url":null,"abstract":"In this paper, we implement a stepper motor drive system on field programmable gate array (FPGA), and the design is mainly based on vector control strategy. First, the control system is built by MATLAB/Simulink and simulated on Modelsim platform. Next, the resulting software system is converted into Verilog HDL codes, and implemented on an Altera Cyclone III FPGA. The stator's currents of the developed hardware system are first shown by simulation and experiment to verify the validness and performances of the vector control structure. After that, the speed responses of motor rotor are shown to prove the performances of the outer loop control system and encoder counter circuit.","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":"125846175","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}
引用次数: 5
To build a smart unmanned restaurant with multi-mobile robots 利用多移动机器人构建智能无人餐厅
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284256
Guo-Shing Huang, Yan-Jie Lu
{"title":"To build a smart unmanned restaurant with multi-mobile robots","authors":"Guo-Shing Huang, Yan-Jie Lu","doi":"10.1109/CACS.2017.8284256","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284256","url":null,"abstract":"Compared with a single robot, the system with multiple mobile robots has many advantages; through decomposing some tasks appropriately, the multiple robots can complete different subtasks respectively at the same time and enhance the performance, as well as the stability of the robot can be improved by the cooperation among the members (The robots which is used for only some tasks can be designed more perfectly, the more flexibility can be designed.). This study proposes to build an unmanned intelligent restaurant by the use of multiple robots cooperating with each other. The system uses MATLAB software as a platform, and then uses Vision C # as a design tool to simulate the effect at final. The system can determine to assign the variety number of robots according to the number of guests, and the system will order the robot which is nearest the task to perform according to the decision making. It also plans the path with the Particle Swarm Optimization to obtain a faster convergence speed, enhance the ability of global search; so that the robots can achieve communication, coordination and cooperation, to execute the functions of automatic guest hosting, food delivery, table cleaning, and many other features in the restaurant.","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":"130975969","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}
引用次数: 12
Long range gaze estimation with multiple near-infrared emitters 基于多个近红外发射器的远程凝视估计
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284270
Zheng-Hong Ma, Zhi-Xiang Liu, M. Ho, J. Yen, Yung-Yaw Chen
{"title":"Long range gaze estimation with multiple near-infrared emitters","authors":"Zheng-Hong Ma, Zhi-Xiang Liu, M. Ho, J. Yen, Yung-Yaw Chen","doi":"10.1109/CACS.2017.8284270","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284270","url":null,"abstract":"Gaze estimation is used to identify the eye foci of users for intention identification or as the input devi for computer/control systems. A novel long-range gai estimation algorithm is developed in this paper wi interpolations method and head motions compensation Among multiple near-infrared (NIR) emitters, particul sets of NIR's are chosen for different head positions provide the optimal gaze point estimations. Experimen were conducted showing satisfactory results for t method.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"11 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":"130519957","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}
引用次数: 1
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