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

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A vision-based robot arm with ball-throwing capability 具有投球能力的基于视觉的机械臂
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734110
Chih-Yung Cheng, Yi-Li Hsieh, Guan-Hong Kuo
{"title":"A vision-based robot arm with ball-throwing capability","authors":"Chih-Yung Cheng, Yi-Li Hsieh, Guan-Hong Kuo","doi":"10.1109/CACS.2013.6734110","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734110","url":null,"abstract":"This paper investigates the construction and control of a robot arm which mimics human arm's pitching motion. In order for the robot to have the vision capability, like a human pitcher, a CCD webcam is added to capture target image. After image processing and analysis, controller can compute and then issue the motion commands to the robot arm motors. The vision system helps promote system's intelligence and improves pitching precision. Furthermore, placing the robot arm onto an autonomous vehicle increases its mobility. Two experiments are performed to demonstrate its throwing ability. The first one is to hit a static target, which consists of 9 prearranged rectangles. The other one is a dynamic target, which consists of an air-floating ball kept in midair using a blower. The blower is located on a remote-controlled car; therefore, the target ball moving trajectory can be changed.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"52 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":"122368445","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
Synchronization on unified chaotic systems via PI-type terminal synergetic control 基于pi型终端协同控制的统一混沌系统同步
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734101
Chi-Hua Liu, Ming-Ying Hsiao
{"title":"Synchronization on unified chaotic systems via PI-type terminal synergetic control","authors":"Chi-Hua Liu, Ming-Ying Hsiao","doi":"10.1109/CACS.2013.6734101","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734101","url":null,"abstract":"In this paper, a PI-type terminal synergetic control scheme is proposed for synchronization on two different chaotic systems. Based on the synergetic control theory and the terminal attractor approach, a nonlinear controller is designed to synchronize two different chaotic systems and it can ensure that the states of the controlled response system synchronize the states of the master system at finite time. Computer simulations are performed to demonstrate the effectiveness and feasibility of the proposed control scheme.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"1 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":"130672545","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
Embedding graceful deception system in visual navigation for elderly health care 在老年保健视觉导航中嵌入优美欺骗系统
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734128
Yo-Ping Huang, Guan-Xian Chen
{"title":"Embedding graceful deception system in visual navigation for elderly health care","authors":"Yo-Ping Huang, Guan-Xian Chen","doi":"10.1109/CACS.2013.6734128","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734128","url":null,"abstract":"In the past sensors and surveillance systems were installed in the home environment to capture user activities. However, blind spots exist in areas out of reach of sensors. Obstacles and furniture are some barriers that cause fall down of elderly in the home environment. A motion sensor is mounted on Arduino platform to design a visual navigation system in service robot. Colors and depth of images are used to predict the walking route of elderly and to navigate the service robot. The service robot is functioned to use strategy inferred from fuzzy output to make the elderly detour from any possible collision with barriers. A graceful deception model and fuzzy inference system are proposed in this paper. In case an incident is predicted to happen in the current walking route, the proposed system will calculate the dangerous degree to avoid colliding with obstacles. Experiment results are given to verify the effectiveness of the presented work.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"64 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":"131726613","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
Control of DC-link by adaptive PID control for DC/DC boost converter DC/DC升压变换器直流链路的自适应PID控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734172
Thanana Nuchkrua, T. Leephakpreeda
{"title":"Control of DC-link by adaptive PID control for DC/DC boost converter","authors":"Thanana Nuchkrua, T. Leephakpreeda","doi":"10.1109/CACS.2013.6734172","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734172","url":null,"abstract":"Generally, a photovoltaic (PV) system generates a wide range of voltages and currents at the terminal output. Normally, the PV cell cannot functionally maintain a constant direct current (DC) voltage while incident illumination and ambient temperature. To overcome that problem, a power electronics convertor such as DC/DC converter with the control scheme topology may be used. However, a linear conventional controller like PID control scheme is not suitable to be a controller for regulating the output voltage of DC/DC converter due to nonlinearity of converter. In this paper, the adaptive PID control scheme is considered to stabilizing the output voltage of the DC/DC converter in order to maintain and stabilize the constant DC-link voltage in both power line and load variations. Conventional control is compared with the proposed controller in both transient and steady state responses. The results show that the proposed control scheme is more performance than conventional control scheme. The transient response is improved by the proposed controller, in which the gain parameters are automatically tuned. Moreover, at steady state response is more robust against to the uncertainty while operation.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"24 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":"131489063","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
Global path planning and navigation of an omnidirectional Mecanum mobile robot 全向Mecanum移动机器人的全局路径规划与导航
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734112
Ching-Chih Tsai, Ching-Zu Kuo, Chun-Chieh Chan, Xiao-Ci Wang
{"title":"Global path planning and navigation of an omnidirectional Mecanum mobile robot","authors":"Ching-Chih Tsai, Ching-Zu Kuo, Chun-Chieh Chan, Xiao-Ci Wang","doi":"10.1109/CACS.2013.6734112","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734112","url":null,"abstract":"This paper develops techniques and methodologies for global path planning and navigation of a Mecanum-wheeled omnidirectional mobile robot (MWOMR). The proposed navigation system is composed of three modules: odometry, nonsingular terminal sliding-mode (NTSM) dynamic motion controller, and global path planner, which have been implemented using the SoPC technology. The odometry is constructed by using a numerical method and a kinematic model of the robot, in order to keep track of the current position and orientation of the robot over short distances. A nonsingular terminal sliding-mode dynamic controller is well derived to achieve simultaneous point stabilization and trajectory tracking. A hybrid PSO (particle swarm optimization)-RGA (real-coded genetic algorithm) algorithm is proposed to find an optimal path between a starting and ending point in a given grid environment. Simulations and experimental results are conducted which have shown the feasibility and effectiveness of the proposed global path planning and navigation methods.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"34 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":"131059201","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: 9
Robust control for bi-directional DC/DC converter for increase of battery state of charge 双向DC/DC变换器提高电池充电状态的鲁棒控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734191
Duck-Hyun Yu, Ya-Xiong Wang, Y. Kim
{"title":"Robust control for bi-directional DC/DC converter for increase of battery state of charge","authors":"Duck-Hyun Yu, Ya-Xiong Wang, Y. Kim","doi":"10.1109/CACS.2013.6734191","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734191","url":null,"abstract":"Time delay control (TDC) is selected, designed and implemented in the bi-directional DC-DC converter system to supply stable DC link power to the load side. In compared with PID results, TDC can offer better performance in charging the battery or in supplying the required power without significant power loss. NEDC load profile is used to analyze the battery SOC in real-time. LabVIEW system is selected for real experimental device, and Li-ion battery is used for showing the power charging and discharging efficiency.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"92 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":"123252290","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
Implementation issues of robust state estimation: Nominal system reformation approach 鲁棒状态估计的实现问题:名义系统改造方法
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734148
C. Hsieh
{"title":"Implementation issues of robust state estimation: Nominal system reformation approach","authors":"C. Hsieh","doi":"10.1109/CACS.2013.6734148","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734148","url":null,"abstract":"This paper considers a robust state estimation (RSE) problem for uncertain standard systems subject to bounded uncertainties, based on the recently proposed signal division method (SDM) and the equivalent nominal system (ENS) reformation approach. Two alternative implementations of the regularized least-squares (RLS) problem in solving the RSE problem are revisited and reexamined in filtering structure differences for a general uncertain discrete-time linear stochastic system with bounded uncertainties in both the system dynamics and the measurement. Conclusions related to the differences of the filtering performances of the two robust filters regarding the two approaches are drawn based on comparisons between their obtained ENSs.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"385 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":"122777135","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
Scenario-play method for autistic children using humanoid robots 使用类人机器人的自闭症儿童情景游戏方法
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734116
Yu-Cheng Cheng, Ying-Hua Peng, Min-Liang Wang, N. Mayer
{"title":"Scenario-play method for autistic children using humanoid robots","authors":"Yu-Cheng Cheng, Ying-Hua Peng, Min-Liang Wang, N. Mayer","doi":"10.1109/CACS.2013.6734116","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734116","url":null,"abstract":"Using a robot playmate to help autistic children is a relatively new idea for therapy. A Robot can repeat the same procedure precisely and does not get tired or bored. Moreover, earlier experiments indicate that autistic children show an open behavior to robots. In this paper, we report about experiments with a humanoid robot in which the robot plays a scenario-role for autistic children and is later also interacting with them. This method origins from puppetry play.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"13 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":"125346837","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
Learning a pick-and-place robot task from human demonstration 从人类示范中学习机器人的拾取任务
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734152
Hsein-I Lin, Chia-Hsien Cheng, Wei-Kai Chen
{"title":"Learning a pick-and-place robot task from human demonstration","authors":"Hsein-I Lin, Chia-Hsien Cheng, Wei-Kai Chen","doi":"10.1109/CACS.2013.6734152","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734152","url":null,"abstract":"Programming by human demonstration is an intuitive methodology to program robots. Since pick-and-place tasks are common, this paper proposes a framework to learn robot pick-and-place tasks by human demonstration. To recognize human motion, we adopt Gilbreth's therbligs to represent it. For each therblig, this work uses a corresponding robot motion primitive to implement it. Additionally, this work uses XABSL to describe the motion primitives and the sequence of them. The experiment showed that the human stacked three blocks in an order and the robot learned to stack the blocks in the same order by human demonstration.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"117 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":"122041665","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
Model predictive control based optimal torque distribution strategy for a compound electric vehicle 基于模型预测控制的复合型电动汽车最优转矩分配策略
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734171
Fang-Chieh Chou, Kang Li, Lih-Wei Jeng, Cheng-Ho Li
{"title":"Model predictive control based optimal torque distribution strategy for a compound electric vehicle","authors":"Fang-Chieh Chou, Kang Li, Lih-Wei Jeng, Cheng-Ho Li","doi":"10.1109/CACS.2013.6734171","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734171","url":null,"abstract":"This research explores energy-efficient torque distribution strategies for a compound electric vehicle (EV), whose propulsion system employs a single induction motor (IM) at the front wheel axle and two permanent magnet synchronous motors (PMSM) in the rear wheels. In addition, it is our research goal to utilize the information and communication technology (ICT) to enhance the energy efficiency of the compound EV. The model predictive control (MPC) strategy is proposed with the aim to utilize up-to-date road and traffic information through ICT to keep optimizing the torque distribution of the compound EV while satisfying driver's torque demands and constraints due to vehicle dynamics, safety and actuator limitations, etc. The performance of the proposed MPC-based torque distribution scheme is evaluated through the hardware-in-the-loop simulations (HiLS). Experimental results show that the MPC strategy can outperform alternative solutions including the dynamic programming approach. Moreover, the FTP-72 driving cycle tests reveal that the proposed compound EV consumes less energy than existing EVs with a single induction motor by ~6% in urban driving conditions.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"3 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":"114346552","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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