2013 CACS International Automatic Control Conference (CACS)最新文献_第8页

Zigbee-assisted mobile robot gardener zigbee辅助移动机器人园丁

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734104

Chung-Liang Chang, Jia-Heng Jhu

{"title":"Zigbee-assisted mobile robot gardener","authors":"Chung-Liang Chang, Jia-Heng Jhu","doi":"10.1109/CACS.2013.6734104","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734104","url":null,"abstract":"With an aging population and recent change in traditional industries, automatic agricultural production has become inevitable in intensive agriculture. Agriculture in every country has gradually developed in terms of low-cost technical development and transformed to tourism type of orchard or greenhouse. Thus, the development of autonomous mobile robot gardener to assist farmers has become quite important. In this study, the prototype semi-autonomous mobile robot gardener is proposed to meet the requirement for spraying in the greenhouse. A robot designed with three wheels and driven by front-wheels whose speed difference controls the moving direction of the robot. The sensors including wide-angle laser rangefinder (LRF), single-point LRF, ultrasonic, and Hall-rotary encoders are equipped in the robot. The ARM-based controller serves as the main core processor to proceed with the behavior of mobile robot gardener. The initial tests are conducted in miniature greenhouse. The operation area is divided into multiple regions in the greenhouse. The internal map information, the location of soil moisture sensor modules (including Zigbee sensors), and mobile robot gardener moving path are known a priori. When the particular task within the region requires assistance, the robot moves on to the region and performs spraying task. The robot is equipped with Zigbee transceiver/receiver module to receive spraying task messages from the soil moisture sensor modules. While all task flags are confirmed by the robot, the control and decision-making program are performed under the known location information of the robot. The robot will move towards the selected path (the edge of planting bed) and finally will arrive at designated region. When the spraying work is completed, the robot stays on original operation point and waits for the next task command. The proposed mobile robot gardener can be applied for unmanned management of greenhouse in the future.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"28 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":"132385955","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: 8

Basic consensus problems in multi-agent systems with switching interconnection graphs 具有交换互连图的多智能体系统的基本一致性问题

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1080/00207179.2014.971431

G. Zhai, Chi Huang

引用次数: 11

Synchronizing the tail motion of a robotic fish to a periodic moving source 使机器鱼的尾巴运动与周期性运动源同步

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734119

Wei-Kuo Yen, Jenhwa Guo

引用次数: 1

Preliminary study of intracorporeal localization for endoscopy tracking 内窥镜跟踪中体内定位的初步研究

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734120

M. Ke, Y. Tseng, Cheng-Wei Chen, M. Ho, Feng Lian, J. Yen, Win-Li Lin, Yung-Yaw Chen

引用次数: 1

Power quality measurements and analysis for Zhong-Tun Wind Farm in Penghu 澎湖中屯风电场电能质量测量与分析

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734174

Yuan-Kang Wu, G. Chang, Li Wang

引用次数: 5

Fault-tolerant networked control systems 容错网络控制系统

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734130

Sheng-Hsiung Yang, Jenq‐Lang Wu

引用次数: 2

Current loop controller design for torque ripple suppression of switched reluctance motors 开关磁阻电机转矩纹波抑制的电流环控制器设计

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734185

G. Su, M. Cheng, W. Chi

{"title":"Current loop controller design for torque ripple suppression of switched reluctance motors","authors":"G. Su, M. Cheng, W. Chi","doi":"10.1109/CACS.2013.6734185","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734185","url":null,"abstract":"Due to attractive features such as low cost and highly robust, the demand for Switched Reluctance Motors has reached an all-time high. However, the torque ripple caused by the inherent double salient structure of SRMs leads to speed ripple as well. In order to cope with the aforementioned torque/speed ripple problem, many studies rely on sophisticated control techniques. However, in most of the previous studies the powerful Digital-Signal-Processor is used to realize these sophisticated control schemes since their complicated structures require massive computing power. The fact that the DSP-based solution is not cost effective results in a conflict with the original benefits of SRMs. To cope with the aforementioned problems, this paper employs a variable gain PI-type controller to suppress the torque ripples of SRMs. In order to have a cost effective solution, all the motor drive algorithms and control schemes are implemented using a low cost microcontroller in this paper. Experimental results show that the torque ripple has been significantly reduced so as to verify the effectiveness of the proposed control approach.","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":"122071587","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

Transient analysis of Jang-Bin wind farm connected to Taipower grid 张滨风电场并网暂态分析

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734177

Li Wang, M. Hsieh, Shun-Chin Ke

引用次数: 3

Characteristics of spectral illumination and automatic feature inspection for stem accessory 阀杆附件的光谱照明特性及自动特征检测

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734161

Wen-Yang Chang, Chin-Ping Tsai, Cheng-Han Yang

引用次数: 0

GNSS/INS sensor fusion using Kalman filter with covariance adaptation 基于协方差自适应卡尔曼滤波的GNSS/INS传感器融合

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734106

Chi-Yuan Cheng, Kuan-Chun Sun, Jwusheng Hu

{"title":"GNSS/INS sensor fusion using Kalman filter with covariance adaptation","authors":"Chi-Yuan Cheng, Kuan-Chun Sun, Jwusheng Hu","doi":"10.1109/CACS.2013.6734106","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734106","url":null,"abstract":"This paper proposes a new method which estimates the Kalman filter's measurement noise covariance matrix in a loosely coupled GNSS/INS sensor fusion system. The signals received from the satellites are heavily influenced by the environmental conditions, and will cause the noise variance to change dramatically. Thus, estimating the measurement noise to improve the fusion quality is very important. Most of the proposed methods use the moving average method to estimate the measurement noise online from the innovation sequence of the Kalman filter in the window interval. However, those methods can only have a good performance in a quasi-static environment, e.g., freeway where the signals are rarely blocked. In dynamic environments such as the urban area, the satellite signals are often blocked by the buildings, resulting in a large range of the noise variance. This paper proposes to use Savitzky-Golay filter with degree adaptation (ADSG) to estimate the measurement noise. The ADSG filter uses local polynomial regression method to fit the delayed-sample innovation sequence in the window interval, and adjust the polynomial order by the statistics F-test. Experiments show that the proposed method's horizontal position error is about 0.3m, which is better than several existing methods.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"26 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":"123078916","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