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

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3D coordinate identification of object using binocular vision system for mobile robot 基于双目视觉系统的移动机器人物体三维坐标识别
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734113
Guo-Shing Huang, Ci-En Cheng
{"title":"3D coordinate identification of object using binocular vision system for mobile robot","authors":"Guo-Shing Huang, Ci-En Cheng","doi":"10.1109/CACS.2013.6734113","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734113","url":null,"abstract":"This paper aims to develop an intelligent robot binocular vision system using image processing principle and edge of the detection algorithms can be clearly presented object contours. Utilizing random cyclometry with Hough transform random lines can find a specified object. We can explore the image recognition application technology from this study. In this paper, with the binocular vision system coordinates using the service robot localization algorithm the target can be captured quickly and accurately. Through two Webcam cameras calibration, we can find the internal and external parameters. Then the 3D space coordinates of fixed position of the target object can be calculated using the principle of binocular vision trigonometry. The distance between the target and the robot can be found through the coordinate transformation systems. Through the triangular geometry theoretical derivation and verification, the system error can be within a reasonable range. It is also confirmed that the proposed method can achieve the desired accuracy and reliability.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"53 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":"117223252","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
Fast position and posture control of an anthropomorphous 7 DOF dual-arm mobile robot 拟人七自由度双臂移动机器人的快速位姿控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734137
Ching-Chih Tsai, Po-Ren Deng, Chun-Chieh Chan, Chun-An Lin
{"title":"Fast position and posture control of an anthropomorphous 7 DOF dual-arm mobile robot","authors":"Ching-Chih Tsai, Po-Ren Deng, Chun-Chieh Chan, Chun-An Lin","doi":"10.1109/CACS.2013.6734137","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734137","url":null,"abstract":"This paper presents a fast pose position and posture control method for an anthropomorphous seven degrees-of-freedom (DOF) dual-arm mobile robot. The method is aimed to control the dual arm from their initial position and posture to a destination position and posture, and it consists of two phases: coarse and refined. In the coarse phase, an analytical inverse kinematic method together with a trajectory planner and PIV joint controllers is proposed to bring the dual arms to a neighborhood of the destination position and posture, and, in the refined phase, a Jacobian inverse kinematic method along with a P controller and PI speed joint controllers is used to achieve position and posture control with an acceptable accuracy. The effectiveness and merit of the proposed control method are well exemplified by conducting two simulations.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"20 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":"130528647","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
Recent results in linear-quadratic mean field games 线性二次平均场博弈的最新结果
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734102
K. Sung
{"title":"Recent results in linear-quadratic mean field games","authors":"K. Sung","doi":"10.1109/CACS.2013.6734102","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734102","url":null,"abstract":"In this article, we will present the recent development of the Linear-Quadratic Mean Field Games with a time-delay coupling term through the adjoint equation approach. In comparison to the HJB equation approach, the novelty of the adjoint equation approach is that it can provide delay-dependent sufficient conditions for the unique existence of the equilibrium strategy and more relaxed conditions in the scalar case.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"31 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":"125212183","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
The applications of automatic vision detection for the intersections 交叉口自动视觉检测的应用
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734126
C. Chiu, Sheng-Yi Chiu, Meng-Liang Chung, Bing-Fei Wu
{"title":"The applications of automatic vision detection for the intersections","authors":"C. Chiu, Sheng-Yi Chiu, Meng-Liang Chung, Bing-Fei Wu","doi":"10.1109/CACS.2013.6734126","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734126","url":null,"abstract":"The intelligent transportation systems (ITS) aim to provide services to transport and traffic management and supply more information and safer to various users. The visual-based systems are the most popular solutions for ITS due to their highly maintainable, flexible, and intuitive features. This paper uses a background extraction algorithm to extract initial color backgrounds from surveillance video based on an entropy-analysis concept. The moving objects can then be segmented quickly and correctly by a robust object segmentation algorithm. The segmented object can be used to analyze the trajectory and to provide the collision between pedestrian and moving vehicle. A license plate detection algorithm is also provided to detect the license plate in this study.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"31 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":"115507263","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
Fall-prediction algorithm using a neural network for safety enhancement of elderly 基于神经网络的老年人跌倒预测算法
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734140
Shih-Hung Yang, Wenlong Zhang, Yizou Wang, M. Tomizuka
{"title":"Fall-prediction algorithm using a neural network for safety enhancement of elderly","authors":"Shih-Hung Yang, Wenlong Zhang, Yizou Wang, M. Tomizuka","doi":"10.1109/CACS.2013.6734140","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734140","url":null,"abstract":"Among the elderly, falls are a well-known safety hazard, often resulting in major injury, hospitalization and death. To reduce the injuries caused by falls, it is first necessary to predict a fall as early as possible and then to provide protection for the person who is falling. This paper proposes a fall-prediction algorithm (FPA) that can predict whether the person will fall within one-walking-step. The fall prediction is different from the fall detection, and it is intended to predict a fall before it occurs and provide sufficient time to enable a safety mechanism. The proposed FPA adopts a neural network to perform prediction in which the inputs are accelerations and angular rates of upper trunk and the output presents fall or no fall. A wearable inertial sensor package with a triple axis accelerometer and a triple axis gyroscope is developed to measure the required motion data. Five subjects were asked to wear the inertial sensor package and perform a number of simulated falls. The experimental results show that the FPA could predict a fall 0.4 seconds prior to the beginning of the fall. The time interval is sufficient to inflate an airbag covering the head, trunk, and hip, an intervention that would reduce fall-related injuries among older people.","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":"114986577","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: 14
Design and implementation of human-robot collaborative control for wheeled mobile robots 轮式移动机器人人机协同控制的设计与实现
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734125
Tsu-Zen Hong, H. Chiang, Yen-Lin Chen
{"title":"Design and implementation of human-robot collaborative control for wheeled mobile robots","authors":"Tsu-Zen Hong, H. Chiang, Yen-Lin Chen","doi":"10.1109/CACS.2013.6734125","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734125","url":null,"abstract":"In this study, a human-robot collaborative control system is presented for the navigation control of wheeled mobile robots (WMRs). This system aims to provide the mobility assistance for the elderly or the disabled to whom the effectiveness and safety in mobility should be more enhanced. In the proposed control system, two frameworks of operation models are developed. The first model is autonomous wall-following in which the WMR can automatically follow walls with a predefined offset while avoid obstacles. The other model provides the easy-to-use operation for users, and in this mode the motion WMR will be guided to where user intends to be. The switch scheme between the two modes can be activated by RFID sensing which is installed in the fork so that the WMR can wait for the command from the user. Through the experimental results, the developed control system demonstrates the effectiveness for human-robot collaborative navigation on the WMR.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"11 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":"128316993","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
Robust asymptotic stability of linear time-varying uncertain system with respect to its state mean 线性时变不确定系统相对于状态均值的鲁棒渐近稳定性
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734180
Ping-Min Hsu, Chun‐Liang Lin, Wei-Ting Chang
{"title":"Robust asymptotic stability of linear time-varying uncertain system with respect to its state mean","authors":"Ping-Min Hsu, Chun‐Liang Lin, Wei-Ting Chang","doi":"10.1109/CACS.2013.6734180","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734180","url":null,"abstract":"This paper studies a novel kind of robust stability, namely robust asymptotic stability with respect to states' means, of linear time-varying (LTV) uncertain systems. Roughly speaking, the system will feature this robust stability if its state variables' mean values gradually approach to their equilibrium states. Robust input-output finite-time stability (IO-FTS) of the LTV uncertain system over a bounded time interval is first introduced; however, it may suffer steady-state error due to modeling uncertainties. This gives rise to a demand for the stability robustness analysis corresponding to such uncertainties by studying the averaging system behavior focusing on the steady-state error rejection. Furthermore, a case study is provided to endorse significant superiority of our work.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"26 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":"125889827","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
Design and implementation of a color-based visual tracking control system 基于颜色的视觉跟踪控制系统的设计与实现
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734163
Sho-Tsung Kao, Zong-Yu Yang, Ming-Tzu Ho
{"title":"Design and implementation of a color-based visual tracking control system","authors":"Sho-Tsung Kao, Zong-Yu Yang, Ming-Tzu Ho","doi":"10.1109/CACS.2013.6734163","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734163","url":null,"abstract":"This paper considers the problems of developing a visual servo system to track a flying object based on the color information of the object. The system consists of three parts: a pan and tilt mechanism, image processing module and motor control module. The position of the target object in the space is determined by using the image processing algorithms based on the color detection. The position controllers of the motor control module control the pan and tilt mechanism to track and keep the target object in the field of view of cameras. Use of color detection makes the visual servo system able to work in a more complicated circumstance. The Kalman filter is used for predicting the flying trajectory to improve the performance of tracking control. Moreover, estimation of the point of fall is studied by the projectile physics. The effectiveness of the system is verified through experimental studies. The experimental results show that the designed color-based visual servo system performs well in real-time.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"428 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":"128856513","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
Apply discrete integral variable structure control to synchronization and tension control of dual motor rolling systems 将离散积分变结构控制应用于双电机轧制系统的同步和张力控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734147
C. Chuang, Chieh-Chuan Feng
{"title":"Apply discrete integral variable structure control to synchronization and tension control of dual motor rolling systems","authors":"C. Chuang, Chieh-Chuan Feng","doi":"10.1109/CACS.2013.6734147","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734147","url":null,"abstract":"In industrial manufacturing systems, the one or the more client motors are often arranged to follow the velocity of the master motor. The speed difference between these motors will affect the tension of the product. Hence, the synchronized control and the tension control are the important research topics in the manufacturing process. This project proposes a novel modified MIMO DTVSC for the synchronism and tension control of dual motor system. By Grey model theory, the unknown model of tension control can be on-line established to be a pseudo grey model. Based on these pseudo grey models, the model based multi-input-multi-output (MIMO) discrete integral variable structure control (DIVSC) can proceed with the design procedures. At the same time, a prototype of the dual motor system is developed for testing the performance of the proposed control scheme. Experimental results will show the robust potential and the practicability of the proposed controller.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"25 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":"123114582","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
Active rear steering of driver-vehicle systems based on D‗ control 主动后转向的驾驶员车辆系统基于D -控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734184
M. Kasahara, Y. Mori
{"title":"Active rear steering of driver-vehicle systems based on D‗ control","authors":"M. Kasahara, Y. Mori","doi":"10.1109/CACS.2013.6734184","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734184","url":null,"abstract":"Under normal operation, a driver will manipulate the steering wheels to control the yaw rate. In an unexpected case like risk aversion, the driver will manipulate the steering wheel as to suppress a lateral acceleration. Depending on the objective of the vehicle at a given time, the D* value align with a lateral acceleration and a yaw rate is define and input. The idea here is to understand the real situations of a vehicle and use this situation to develop the ideal value by a control rule. In this research, we design the value of d, which uses a D* control, to be variable, and build a new D* control rule that correspond to change in side wind disturbance, steering-wheel operation, and the road surface condition.","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":"114816102","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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