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2013 CACS International Automatic Control Conference (CACS)最新文献

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Design and realization of a knowledge-based framework for personalized home healthcare systems 基于知识的个性化家庭医疗保健系统框架的设计与实现
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734129
Yen-Lin Chen, H. Chiang, Tsu-Tian Lee
{"title":"Design and realization of a knowledge-based framework for personalized home healthcare systems","authors":"Yen-Lin Chen, H. Chiang, Tsu-Tian Lee","doi":"10.1109/CACS.2013.6734129","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734129","url":null,"abstract":"This paper proposes an integrated knowledge-based framework to design an intelligent personalized home healthcare system. To support numerous healthcare tasks according to individuals with many personalized services, this system integrates an efficient rule-based inference mechanism and flexible knowledge rules for determining efficiently and rapidly the necessary physiological and medication treatment procedures. Based on several key techniques realization and integration, the proposed system can support the extensible, customizable, and configurable demands of the ubiquitous healthcare systems to meet the different demands of patients and caregivers under various rehabilitation and nursing conditions. Finally, our experimental evaluations show the feasibility and validness of human-system interaction in a home testing environment.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"101 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114134766","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
A role allocation method for cooperative agents in robotic soccer games 机器人足球比赛中协作智能体角色分配方法
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734134
Pei-Chuan Zhou, Alan Liu
{"title":"A role allocation method for cooperative agents in robotic soccer games","authors":"Pei-Chuan Zhou, Alan Liu","doi":"10.1109/CACS.2013.6734134","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734134","url":null,"abstract":"This research describes a dynamic role allocation and fast formation positioning method in the multi-agent robot soccer domain. The optimal role assignment is a well-known problem from operations research, and the problem-solving techniques include the simplex method and the Hungarian method. The goal of those methods is to calculate the running time of positioning and to minimize the sum of all costs. However, the computing concept is different from the practical positioning, because the consuming time of practical positioning is determined by the time it takes for the last agent to reach its target position. In the robot soccer, both of role allocation and formation positioning must be performed in real time, so that robots can be effective in a dynamic environment. Therefore, we propose a new method with dynamic role assignment mechanism to find a near-optimal solution. The proposed method produces a set of corresponding combination quickly, and it is an acceptable approximate solution for the problem. We also provide time complexity analysis of our algorithms in this study, and the evaluation indicates that our method is much faster to complete the role assignment than dynamic programming approaches. Our experiment shows that the output of one-to-one mapping between agents and roles through the initial role allocation and re-allocation. Furthermore, in a robotic soccer game the number of available robots varies as a result of several situations such as hardware or software failures and penalties. Hence, we also use different priorities for the different roles and positions, so that the most important ones will always be played to fulfill the obligations.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"49 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114002685","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
Meteorological balloons as an experimental platform for scientific and engineering research 气象气球作为科学和工程研究的实验平台
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734103
A. Chen, C. Chiu, Shao-Chun Wen, Hsuan-Chen Lai, H. Su, R. Hsu
{"title":"Meteorological balloons as an experimental platform for scientific and engineering research","authors":"A. Chen, C. Chiu, Shao-Chun Wen, Hsuan-Chen Lai, H. Su, R. Hsu","doi":"10.1109/CACS.2013.6734103","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734103","url":null,"abstract":"The exploration by the in-situ measurement in the stratosphere, approximately 8-50 km height, can be done by sounding balloons exclusively. The scientific sounding balloon was used in the past decades to carry up to tones of the scientific instruments to the upper atmosphere and reached a great contribution in the atmosphere science, space science, and astrophysics. But the large scientific balloon can be launched in the limited sites for the safety reason and its cost is not affordable by all scientists. By integrating the miniaturized sensors, processor board and meteorological sounding balloon, we developed an experimental platform to carry small instruments up to 33 km altitude and transmit data to mobile ground stations. This experimental platform has the advantages of lightweight, inexpensive, disposable, and safe. It is not only can be employed in the scientific measurement but also able to act as a testbed for the new technologies which is going to be used in sounding rocket or satellite missions. The system structure of this platform and a successful flight experiment are introduced in this paper, and the new possible improvement is also discussed.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115143183","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
The design of chattering alleviated sliding mode control using wavelet approach 基于小波方法的减抖滑模控制设计
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734182
Ming Wu, Jian-Shiang Chen
{"title":"The design of chattering alleviated sliding mode control using wavelet approach","authors":"Ming Wu, Jian-Shiang Chen","doi":"10.1109/CACS.2013.6734182","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734182","url":null,"abstract":"A generalized saturation function has been formulated and applied to a sliding mode controller in order to redesign continuous approximation method. Also, this paper import a wavelet approach to help building suitable boundary layer thickness Φ with a pre-specified switching gain and sampling time in discrete time. Through using wavelet approach, one can determine the boundary layer thickness Φ without trial and error or much complicated algorithm, the sliding mode with continuous approximation can not only provide a significant reduction of chatters but save the excessive control effort. Simulation results have shown its efficiency further.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128119031","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
One-leg lifting method for humanoid robots based on SOPC design 基于SOPC设计的仿人机器人单腿升降方法
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734117
Chi-Tai Cheng, Shih-An Li, Ching-Chang Wong, Li-Feng Chen, Min-Wei Chou, Yuen-Yang Hu
{"title":"One-leg lifting method for humanoid robots based on SOPC design","authors":"Chi-Tai Cheng, Shih-An Li, Ching-Chang Wong, Li-Feng Chen, Min-Wei Chou, Yuen-Yang Hu","doi":"10.1109/CACS.2013.6734117","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734117","url":null,"abstract":"An one-leg lifting method for the humanoid robot based on SOPC design is proposed in this paper. Four pressure sensors are mounted on each foot for calculating the center of the robot's mass. In order to speed up the calculating time, the purposed method is implemented on a System On a Programmable Chip (SOPC). The proposed method uses the determined value of the center of the mass to adjust the rotation of the robot's joint. During the robot is lifting its leg, the center of the mass will be keep inside of the support foot. The practical experiment illustrates the effectiveness of the proposed system.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"1 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132939403","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
Improved simultaneous localization and mapping by stereo camera and SURF 改进了立体相机和SURF的同步定位和绘图
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734133
Ta-Chung Wang, Cheng-Hsuan Chen
{"title":"Improved simultaneous localization and mapping by stereo camera and SURF","authors":"Ta-Chung Wang, Cheng-Hsuan Chen","doi":"10.1109/CACS.2013.6734133","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734133","url":null,"abstract":"Simultaneous Localization and Mapping (SLAM) has been an active area of research lately. MonoSLAM is a SLAM frame working with a single camera without odometry information for executing SLAM The camera motion estimation and incremental map building from new landmarks are computed using the Extended Kalman Filter framework In this paper, we propose a revised approach to improve the speed of executing SLAM. We use a stereo camera to acquire two images of the environment at the same time, and use SURF algorithm to detect features in the images. The distance between the landmark and the camera can be calculated by the pair of images using a revised algorithm. Using this approach, we can reduce the time of distance calculation and increase the SLAM execution speed.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131765969","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
Robust stability of impulsive genetic regulatory networks with time-varying delays 时变时滞脉冲遗传调控网络的鲁棒稳定性
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734181
Cheng-Fa Cheng, Yun-Chieh Lin, Yu-Syuan Jhong
{"title":"Robust stability of impulsive genetic regulatory networks with time-varying delays","authors":"Cheng-Fa Cheng, Yun-Chieh Lin, Yu-Syuan Jhong","doi":"10.1109/CACS.2013.6734181","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734181","url":null,"abstract":"The purpose of this paper is to investigate a new robust stability criterion of impulsive genetic regulatory networks with time-varying delays based on Lyapunov functional. The SUM logic which describes transcription factor is utilized to model the genetic regulatory mechanism. For the impulsive genetic regulatory networks with time-varying delays, both continuous and discontinuous time interval will be discussed separately. Lyapunov based sufficient conditions for the asymptotic stability of impulsive genetic regulatory networks are obtained by adopting bounding techniques and free-weighting matrices. Schur complements will be applied to express all the derived stability conditions in terms of LMIs. The new criterion is applicable to both fast and slow time-varying delay cases. Finally, a numerical example is presented to illustrate the effectiveness of the developed results.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116229904","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
Luenberger observer-based impedance control of linear servo motor for a desired haptic system 基于Luenberger观测器的线性伺服电机阻抗控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734122
Po-Wen Hsueh, J. Chen, Wu‐Sung Yao, M. Tsai, Wei-Cheng Syu
{"title":"Luenberger observer-based impedance control of linear servo motor for a desired haptic system","authors":"Po-Wen Hsueh, J. Chen, Wu‐Sung Yao, M. Tsai, Wei-Cheng Syu","doi":"10.1109/CACS.2013.6734122","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734122","url":null,"abstract":"Haptic technique is a tactile feedback skill between humans and machine devices. How to deal with the compliantly controlled haptic interaction is essential. This paper proposes an impedance control design based on Luenberger observer for haptic linear servo motors. With the consideration of practical implementations, the Luenberger observer is substituted for tactile sensors to estimate the external force exerted by humans. The controlled motion looks like a spring-mass-damper system required by the desired haptic system and realized by the proposed impedance control. Simulation and experimental results are given to show that the dynamic behavior of the controlled linear servo motor is analog to a desired spring-mass-damper system.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115246680","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
Static characteristics measurement of bionic handling assistant 仿生搬运助手的静态特性测量
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734169
T. Tsung, Yun-Ju Chuang
{"title":"Static characteristics measurement of bionic handling assistant","authors":"T. Tsung, Yun-Ju Chuang","doi":"10.1109/CACS.2013.6734169","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734169","url":null,"abstract":"For a control system, the static performance is always a milestone of dynamic performance of the system. The static performance of the actuator plays an important role due to it affects the dynamic properties quality of a control system and the results of dynamic identification. In order to investigate the dynamic characteristics of the pneumatic actuator of a bionic handling assistant, that the successful development of efficient the self-designed system will be used for the static characteristics measurement of this bionic handling assistant. In this paper, by analysing the output stroke of the pneumatic actuator of bionic handling assistant, the static characteristics of a pneumatic actuator of bionic handling assistant are evaluated. Through measurement of Elongation (E) and Height (H) deformation of the pneumatic actuator of bionic handling assistant in order to figure out the proper operating range, and the right components can be chosen to fit different requirements for an automation system in the future. Furthermore, it can be provided the evaluated data to manufacturing system design. This is the final destination to judge static characteristics.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121908316","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
A robust guidance law with predictable performance 具有可预测性能的鲁棒制导律
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734108
Yew-Wen Liang, Jun-Yu Chen, Wei-Ming Jhu
{"title":"A robust guidance law with predictable performance","authors":"Yew-Wen Liang, Jun-Yu Chen, Wei-Ming Jhu","doi":"10.1109/CACS.2013.6734108","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734108","url":null,"abstract":"This paper deals with the design of a robust guidance law for missiles in the presence of unknown target maneuver. Under the design, the closed-loop guidance system is shown to be robust to the target maneuver. Additionally, the scheme presented possesses the flexibility of allowing the engineer to select a desired guidance law for the nominal system (i.e., system without target maneuver) so that the state response of the overall uncertain guidance system is close to that of the selected nominal closed-loop guidance system. The simulation results clearly demonstrate the benefits of the presented scheme.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128003596","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
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