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2017 International Automatic Control Conference (CACS)最新文献

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Small signal modeling of multiple phase switching scheme for paralleling different rated power systems 不同额定功率系统并联时多相开关方案的小信号建模
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284246
P. Lee, Y. Chiang, F. Chang
{"title":"Small signal modeling of multiple phase switching scheme for paralleling different rated power systems","authors":"P. Lee, Y. Chiang, F. Chang","doi":"10.1109/CACS.2017.8284246","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284246","url":null,"abstract":"Small signal modeling of multiple phase switching scheme for paralleling different rated power systems is presented. It can parallel different rated power subsystems easily. For reducing power dissipation, it replaced isolated output diode with MOSFET. For fast switching at output MOSFET, the stability needs to be checked. In this paper, we use isolated flyback converters to be power systems.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"75 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":"131520100","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
Robust state feedback controllers of uncertain time-delay systems with completely unknown bounds of uncertainties 具有完全未知界不确定时滞系统的鲁棒状态反馈控制器
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284277
Hansheng Wu
{"title":"Robust state feedback controllers of uncertain time-delay systems with completely unknown bounds of uncertainties","authors":"Hansheng Wu","doi":"10.1109/CACS.2017.8284277","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284277","url":null,"abstract":"In this paper, the problem of robust stabilization is considered for a class of uncertain time-delay dynamical systems with completely unknown upper bounds of the delayed state perturbations, uncertainties, and external disturbances. For such a class of uncertain time-delay dynamical systems, a new design method is presented whereby a class of continuous memoryless adaptation-free robust state feedback controllers is constructed. That is, no adaptation law is introduced to update those completely unknown upper bounds. It is also shown that the solutions of the resulting closed-loop time-delay dynamical systems can be guaranteed to be uniformly exponentially bounded, instead of uniform ultimate boundedness. Finally, as an application of the results, the problem of water pollution control is considered for uncertain river time-delay systems due to industrial waste treatment facility, and the corresponding simulations are provided to demonstrate the validity of the theoretical results.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"45 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":"125516149","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
Apply forced dynamic control and state feedback mechanism for motor position control 采用强制动态控制和状态反馈机构进行电机位置控制
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284238
J. Wu, C. Hsu, C. Chen, M. Tsai
{"title":"Apply forced dynamic control and state feedback mechanism for motor position control","authors":"J. Wu, C. Hsu, C. Chen, M. Tsai","doi":"10.1109/CACS.2017.8284238","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284238","url":null,"abstract":"A motor positioning control system integrating feedforward and feedback mechanisms is proposed in this study. A feedforward mechanism for positioning control is designed based on forced dynamic control. By this approach, the velocity and position controllers are designed directly by determining the time constants of velocity and position control loops, respectively. Moreover, a Luenberger state and disturbance observer is utilized to reduce the effect caused by the external disturbance and the modeling error appearing in practice. The performance of the proposed control approach is evaluated by simulation and experimental results in this study.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"55 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":"127644012","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
Resilience of functional networks: A potential indicator for classifying bipolar disorder and schizophrenia 功能网络的弹性:分类双相情感障碍和精神分裂症的潜在指标
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284247
Yen-Ling Chen, Zih-Kai Kao, Po-Shan Wang, Chao-Wen Huang, Yi-Chieh Chen, Yu-Te Wu
{"title":"Resilience of functional networks: A potential indicator for classifying bipolar disorder and schizophrenia","authors":"Yen-Ling Chen, Zih-Kai Kao, Po-Shan Wang, Chao-Wen Huang, Yi-Chieh Chen, Yu-Te Wu","doi":"10.1109/CACS.2017.8284247","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284247","url":null,"abstract":"Bipolar disorder and schizophrenia are two prevailing psychiatric disorders with significant overlaps in symptoms, abnormalities, and disease progression. Therefore, it is difficult to differentiate these two diseases without repeated clinical visits. Previous studies demonstrated high accuracy of classification for bipolar disorder and schizophrenia at the individual level by functional connectivity, but few studies focused on classifying between these two diseases directly. In order to assist diagnosis, we investigated further the feasibility of classifying bipolar disorder and schizophrenia by the structure of functional networks. The results revealed 90.0% accuracy of the classification with the sensitivity 1.0 and the specificity 0.80 for the patients with bipolar disorder. The present study indicated that the differences between the characteristics of brain network structures in bipolar disorder and schizophrenia could be the reliable features for the classification and may be the diagnostic indicators in the future.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"274 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":"116846834","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: 2
Fuzzy actor-critic learning automaton algorithm for the pursuit-evasion differential game 追求-逃避微分对策的模糊演员-评论家学习自动机算法
2017 International Automatic Control Conference (CACS) Pub Date : 2017-11-01 DOI: 10.1109/CACS.2017.8284278
Ahmad A. Al-Talabi
{"title":"Fuzzy actor-critic learning automaton algorithm for the pursuit-evasion differential game","authors":"Ahmad A. Al-Talabi","doi":"10.1109/CACS.2017.8284278","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284278","url":null,"abstract":"This paper presents an efficient learning algorithm to autonomously tune the parameters of a fuzzy logic controller (FLC) of a mobile robot playing a pursuit-evasion (PE) differential game. The proposed algorithm is a modified version of the fuzzy-actor critic learning (FACL) algorithm, in which both the critic and the actor employ a fuzzy inference systems (FIS). It uses the continuous actor-critic learning Automaton (CACLA) algorithm to tune the parameters of the FIS. It is called fuzzy actor-critic learning Automaton (FACLA) algorithm. FACLA is applied to two versions of the PE games. The first version considers that the pursuer interacts with the evader and will learn its default control strategy and the evader has a fixed strategy. The second version assumes both the pursuer and the evader are learning their default strategies. FACLA is compared through simulation with the FACL, and the PSO-based FLC+QFIS algorithms. Simulation results demonstrate that the performance of FACLA quantified by the learning time outperforms that of the FACL and PSO-based FLC+QFIS algorithms.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"38 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":"116899496","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
Scheduling and control of a cloud robot for reception and guidance 云机器人接收与引导的调度与控制
2017 International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2017.8284263
K. Song, Yu-Heng Chiu, Shao-Huan Song, Kateryna Zinchenko
{"title":"Scheduling and control of a cloud robot for reception and guidance","authors":"K. Song, Yu-Heng Chiu, Shao-Huan Song, Kateryna Zinchenko","doi":"10.1109/CACS.2017.8284263","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284263","url":null,"abstract":"This paper presents a design for robot task scheduling and human guidance for health checkup application in a hospital. For a health-checkup robot in a hospital, an IC card reader mounted on the robot is used to retrieve user's personal information from the cloud server. After data retrieval, a visiting list in the hospital is automatically scheduled for each patient. Next, the robot guides each user according to the scheduled list. The scheduling is completed by adopting the non­preemptive Priority Scheduling approach. To assure safe human guidance and navigation, the robot uses data from two laser scanners: one is used for robot localization, and the other is used to detect user's leg for guidance. The robot uses Cartographer for localization and mapping. The guidance controller constantly adjusts motion commands depending on the user's position, meanwhile guides the user to the planned destination. The motion commands are executed by robot motion controller. The proposed design has been successfully verified using a prototype mobile robot in the lab environment.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127274400","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: 6
Image based contactless blood pressure assessment using Pulse Transit Time 基于图像的脉搏传递时间非接触式血压评估
2017 International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2017.8284275
Po-Wei Huang, Chun-Hao Lin, Meng-Liang Chung, Tzu-Min Lin, Bing-Fei Wu
{"title":"Image based contactless blood pressure assessment using Pulse Transit Time","authors":"Po-Wei Huang, Chun-Hao Lin, Meng-Liang Chung, Tzu-Min Lin, Bing-Fei Wu","doi":"10.1109/CACS.2017.8284275","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284275","url":null,"abstract":"Recent years have seen increased attention being given to Blood Pressure (BP) monitoring. Among all kinds of measurements, the monitors based on Pulse Transit Time (PTT) have gain plenty of attention due to its continuous and cuffless features. Additionally, several studies proposed a fancy way to estimate photoplethysmography (PPG) signal simply via a regular webcam. Nevertheless, literatures on issues of integrating these two advanced techniques have emerged on a slowly and scattered way. Furthermore, accuracy of BP prediction model based on PTT is often limited due to the lack of data. To address the above-mentioned problems, we proposed an image based BP measurement algorithm using k-nearest neighbor and transfer learning results from MIMICII database to real task. The study also introduces newly defined PTT features which are especially suitable for image based PPG and domain adaptation. Compared with the state-of-the-art algorithm, root mean square error of SBP evaluation has been reduced from 15.08 to 14.02.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122246190","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: 15
Trajectory modification of a cloud learning robot 云学习机器人的轨迹修正
2017 International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2017.8284262
K. Song, Shao-Huan Song, Hung-Shen Liu
{"title":"Trajectory modification of a cloud learning robot","authors":"K. Song, Shao-Huan Song, Hung-Shen Liu","doi":"10.1109/CACS.2017.8284262","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284262","url":null,"abstract":"In the near future, home service robots will enter our daily life and interact with people more and more frequently. In order to cope with the needs and habits of different users, an easy robot programming method is desirable. For some users, who are not familiar with programming, customizing the robot program deserves attention. This paper suggests a method to use Programming by Demonstration(PbD) to teach a robot through user demonstration of the trajectory and save the trajectory into a cloud database to facilitate future playback when needed. Through the cloud database, each robot shares previously recorded trajectories. However, in many cases a recorded trajectory may need to be modified to be customized for an individual user. In this paper, a method is proposed to facilitate the robot to return to the original trajectory as part of the retrieved trajectory is modified. Experimental results are presented by using two robots in the robotic cloud system. The first one is the prototype dual-arm home service robot Aladdin developed in the lab. The second robot is a TM5 robot from Techman, which reproduced the learned trajectories remotely.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124813024","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
Online motion adjustment using compliance control for a multi-axis robot manipulator 基于柔度控制的多轴机器人在线运动调节
2017 International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2017.8284253
Daniel Reyes-Uquillas, T. Hsiao
{"title":"Online motion adjustment using compliance control for a multi-axis robot manipulator","authors":"Daniel Reyes-Uquillas, T. Hsiao","doi":"10.1109/CACS.2017.8284253","DOIUrl":"https://doi.org/10.1109/CACS.2017.8284253","url":null,"abstract":"The demand for more human-robot interactions is increasing rapidly. Safety of these interactions is a crucial concern and is closely related to the design of the control system. When the robot is affected by an external force, in order to have a safe interaction, it is necessary to regulate the speed and position changes that may occur due to this expected or unexpected force. This work focuses on robot compliance control that can online adjust the motion of the robot manipulator according to the external force applied to the end effector. The proposed control law calculates the Jacobian matrix and modifies the task-space velocities of the end-effector with respect to the prescribed force/velocity relationship, i.e. the admittance law; then the desired position is achieved by the computed-torque control in the joint space. Simulations of the proposed algorithm show that the trajectory of the end effector can be modified online based on the magnitude and direction of the external force. These results can be further applied to lead-through teaching applications where we want the robot to comply with the force to achieve the specified task.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"1018 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127426985","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: 3
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