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Development of dual robotic arm system based on binocular vision 基于双目视觉的双机械臂系统的研制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734114
Guo-Shing Huang, Xi-Sheng Chen, Chung-Liang Chang
{"title":"Development of dual robotic arm system based on binocular vision","authors":"Guo-Shing Huang, Xi-Sheng Chen, Chung-Liang Chang","doi":"10.1109/CACS.2013.6734114","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734114","url":null,"abstract":"Because our laboratory is developing a meal service robot for a restaurant, it is necessary that robot has a function to hold and carry the meal tray. The main purpose of this research paper is to focus on the practical design and control of the robotic arm, which is mounted on the mobile robotic body. Robotic arm system combined with binocular vision system for gripping tray. Using 8052 MCU of Atmel series controls each axis of the robotic arms. Finally, experimental results show that the developed system of dual robotic arms can pick up coordinates from binocular vision and grip the meal tray stably in this paper. This study completed a signal transmission, the speed and angular control from PC to dual robotic arm system. Therefore, the robotic arms can move to the exact position with the kinematics approach.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"110 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":"127988066","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: 24
Design and implementation of a RANSAC RGB-D mapping algorithm for multi-view point cloud registration 多视点云配准的RANSAC RGB-D映射算法的设计与实现
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734162
Chi-Yi Tsai, Chuang-Wei Wang, Wei-Yi Wang
{"title":"Design and implementation of a RANSAC RGB-D mapping algorithm for multi-view point cloud registration","authors":"Chi-Yi Tsai, Chuang-Wei Wang, Wei-Yi Wang","doi":"10.1109/CACS.2013.6734162","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734162","url":null,"abstract":"This paper addresses multi-view point cloud registration, which is one of the major techniques to develop a robust visual tracking system. The proposed algorithm first uses Kinect camera to capture point clouds of an object-of-interest or a complex environment with different view points. Then, a novel RANSAC RGB-D mapping algorithm is developed to efficiently and accurately align the multiple point clouds. Based on the aligned point cloud of the object, a CAD model can possibly be created to achieve the purpose of three-dimensional object pose estimation, which helps improving the robustness of visual tracking systems.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"46 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":"127666743","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
Choice of interconnected points for large-scale offshore wind farms in Taiwan 台湾大型海上风电场互联点之选择
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734175
Yuan-Kang Wu, Ching-Yin Lee, Chih-Ju Chou, Wei-Ming Liao
{"title":"Choice of interconnected points for large-scale offshore wind farms in Taiwan","authors":"Yuan-Kang Wu, Ching-Yin Lee, Chih-Ju Chou, Wei-Ming Liao","doi":"10.1109/CACS.2013.6734175","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734175","url":null,"abstract":"Taiwan is developing the renewable energy actively, in which the wind energy is seen as one of the important resources. However, the suitable locations for wind farm constructions are less on the shore, and the trend of wind farm development in the near future will toward to offshore where the installation capacity of the wind farm could reach hundreds of megawatts. In this work, the choice of interconnected point of the large-scale offshore wind farm to the grid is investigated by using simulation analyses, in which the installation capacity of the offshore wind farm is assumed 864MW. The interconnected point is chosen on the extra-high voltage bus in the west coast of Taiwan. The short circuit current, short circuit capacity, and short circuit ratio (SCR) are used to determine the interconnected points. Besides, the impact of wind speed variation (gust, ramp-up, and ramp-down) on the voltage was also analyzed.","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":"134160147","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
Design and evaluation of the attitude control system of the PHOENIX CubeSat 凤凰立方体卫星姿态控制系统设计与评价
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734105
Jyun-Hau Huang, Ting-Yang Lin, Chieh-Min Liu, J. Juang
{"title":"Design and evaluation of the attitude control system of the PHOENIX CubeSat","authors":"Jyun-Hau Huang, Ting-Yang Lin, Chieh-Min Liu, J. Juang","doi":"10.1109/CACS.2013.6734105","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734105","url":null,"abstract":"PHOENIX satellite is a 2kg CubeSat that is being developed as a part of the FP7 international QB50 project. QB50 is an international network of 50 CubeSats for multi-point, in-situ measurements in the largely-unexplored lower thermosphere and for re-entry research. The CubeSat constellation will be launched in the first half of 2015 into a circular orbit at 320 km altitude, inclination 79°. A unique challenge of the QB50/PHOENIX satellite is the attitude control requirements. The satellite is required to align its body long axis along the velocity vector so that the scientific instrument onboard the satellite can measure in-situ data for the analysis of the lower thermosphere. The configuration is less susceptible to aerodynamic drag and torque which may then destabilize the satellite and reduce the mission life. To design the attitude control system, an in-depth understanding and modeling of the aerodynamic density model is essential. The paper outlines the development of the attitude propagator by accounting for environmental forces and torques in a comprehensive and effective manner. The simulation environment then serves as a platform for the verification of attitude control system.","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":"129933228","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
Transient analysis of Jang-Bin wind farm connected to Taiwan power system 长滨风电场与台湾电力系统的暂态分析
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734178
Li Wang, Cheng-Tai Wu, Che-Hao Chang
{"title":"Transient analysis of Jang-Bin wind farm connected to Taiwan power system","authors":"Li Wang, Cheng-Tai Wu, Che-Hao Chang","doi":"10.1109/CACS.2013.6734178","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734178","url":null,"abstract":"This paper presents the transient analyzed results of Jang-Bin wind farm connected to the simplified Taiwan Power System through a transmission line. The q-d axis equivalent-circuit model is developed to establish the complete system model by integrating the 46-MW wind farm and the simplified Taiwan Power System under three-phase balanced loading conditions. It can be concluded from the transient analyzed simulation results that the studied simplified Taiwan Power System connected with Jang-Bin wind farm is stable subject to a severe fault.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"74 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":"132907920","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
Anti-rolling fin control for ship stabilization 船舶稳定的减摇鳍控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734166
Kuo-Ho Su
{"title":"Anti-rolling fin control for ship stabilization","authors":"Kuo-Ho Su","doi":"10.1109/CACS.2013.6734166","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734166","url":null,"abstract":"Active fin control is the most effective anti-rolling approach for ship stabilization system, however the accurate model of whole nonlinear dynamic ship system under random wave or wind impact is difficult to obtain. In this paper, a guarded heuristic genetic algorithm fin controller (GHGAFC) including a heuristic genetic algorithm fin controller (HGAFC) and a guarded fin controller (GFC) is developed for ship stabilization system. In the HGAFC design, the gradient descent training is embedded into conventional genetic algorithm (GA) to construct a main controller to search the optimum fin control angle under the occurrence of uncertainties. In order to ensure the system states around a defined bound region, a guarded fin controller (GFC) is added to adjust the control angle. In the stabilization system, the gyroscope and accelerometer are used to detect the swaying conditions and the gathered data are sent to embedded microcontroller to calculate the command. To verify the effectiveness of the proposed fin controller, some simulations are carried out under the assumption that the sea surface is modeled as a one-dimension linear free surface. The performance is also compared with other announced GA-fuzzy, GA-PID and conventional supervisory GA control schemes under the same conditions.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"30 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":"124624495","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
Mobile robot navigation and control with monocular surveillance cameras 移动机器人导航和控制与单目监控摄像头
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734131
Wen-Chung Chang, Chia-Hung Wu, Wenhao Luo, Huan-Chen Ling
{"title":"Mobile robot navigation and control with monocular surveillance cameras","authors":"Wen-Chung Chang, Chia-Hung Wu, Wenhao Luo, Huan-Chen Ling","doi":"10.1109/CACS.2013.6734131","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734131","url":null,"abstract":"In recent years, most of the research about autonomous mobile robotics is focused on obstacle detection and path planning in unknown environments. Improved accuracy in environment recognition and high precision in robot control can ensure feasibility of intelligent and autonomous mobile robotic systems in unexplored environments. To reach this goal, effective navigation and control approaches for the mobile robots must be proposed. This paper presents a path planning approach based on the navigation map reconstructed by a scout robot equipped with an onboard camera using VSLAM (visual simultaneous localization and mapping) algorithm. In the region where surveillance cameras can see blind robots equipped with no onboard cameras, these blind robots can be driven to follow the desired trajectories and reach their goal positions by the proposed visual servo control law. The proposed navigation and control system has been validated by experimenting with a blind robot using available real-time vision from the surveillance cameras.","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":"127636537","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
Adaptive online learning for human tracking 用于人体跟踪的自适应在线学习
2013 CACS International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2013.6734124
Bing-Fei Wu, Pin-Yi Tseng, Cheng-Lung Jen, Tai-Yu Tsou, Kai-Tse Hsiao
{"title":"Adaptive online learning for human tracking","authors":"Bing-Fei Wu, Pin-Yi Tseng, Cheng-Lung Jen, Tai-Yu Tsou, Kai-Tse Hsiao","doi":"10.1109/CACS.2013.6734124","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734124","url":null,"abstract":"In this work, we present a multiple classifiers system cascades an on-line learning RGB-D appearance model framework in which detection, recognition, and tracking are highly coupled for a wheelchair robot equipped with a Kinect sensor to improve the efficiency of the care assistance and quality of accompanying service. The on-line trained classifiers use the surrounding background as negative examples in the updating which allows the algorithm to choose the most discriminative features between the target and the background, incrementally adjust to the changes in specific tracking environment. Meanwhile, a depth clustering based human detection is proposed to extract human candidates. Accordantly, an on-line learning RGB-D appearance model is cascaded to strengthen the human tracking function by dealing with color, depth and position information from the identified caregiver. Consequently, several experiments have been conducted to demonstrate the effectiveness and feasibility in real world environments.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"22 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":"115281604","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
A VLSI implementation of variation-free PUF-based processor for RFID applications 基于puf的RFID应用无变化处理器的VLSI实现
2013 CACS International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2013.6734118
Lan-Rong Dung, Chang-Ting Chen
{"title":"A VLSI implementation of variation-free PUF-based processor for RFID applications","authors":"Lan-Rong Dung, Chang-Ting Chen","doi":"10.1109/CACS.2013.6734118","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734118","url":null,"abstract":"The Physically Unclonable Function (PUF) has been presented to defend physical attacks for RFID authentication. The silicon PUF employs difference of gate and wire delays on silicon chip to protect hardware copies of RFID. Because of the process variation in IC manufacturing, each silicon chip has different delays for gates and wires and, thus, the PUF-based encryption on each chip has different output even though the logic design is the same as the others. Research has been focusing on low-cost PUF implementation with a chain of logic blocks. However, some operating variations such as power-supply voltage and temperature variations might cause the failure of authentication. This paper presents a variation-free PUF-based processor with error control coding (ECC) technology. We used the ECC encoder to generate parity code for variation compensation. Therefore, our chip can generate a variation-free PUF encryption for RFID application. The chip is implemented by TSMC 0.18um CMOS process. As shown in the results, the chip area is as small as 0.83 mm^2 and its power dissipation is 87 uW.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"2 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":"117339303","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
Mobile manipulation and visual servoing design of a configurable mobile manipulator 可配置移动机械手的移动操作与视觉伺服设计
2013 CACS International Automatic Control Conference (CACS) Pub Date : 1900-01-01 DOI: 10.1109/CACS.2013.6734139
K. Song, Sin-Yi Jiang, Ching-Jui Wu, Ming-Han Lin, Cheng-Hei Wu, Yi-Fu Chiu, Chia-How Lin, Chao-Yu Lin, Chien-Hung Liu
{"title":"Mobile manipulation and visual servoing design of a configurable mobile manipulator","authors":"K. Song, Sin-Yi Jiang, Ching-Jui Wu, Ming-Han Lin, Cheng-Hei Wu, Yi-Fu Chiu, Chia-How Lin, Chao-Yu Lin, Chien-Hung Liu","doi":"10.1109/CACS.2013.6734139","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734139","url":null,"abstract":"This paper presents a mobile manipulation and visual servoing design for a configurable mobile manipulator by using a Kinect sensor. To achieve this goal, an image-based grasping design is combined with a visual simultaneous localization and mapping (vSLAM). The proposed vSLAM method is based on extended Kalman filter (EKF) and a Kinect RGBD sensor. In the manipulator design, the robot arms are designed to be able to configure as a handrail for user support in execution of walking assistance tasks. The purpose of this design is to perform mobile manipulation and walking assistance tasks on the same robot. Experiments on the prototype dual-arm mobile manipulator validate that the proposed method can find and grasp a target object after navigation a distance to the object position. After the robot delivered the object to the user, it configured to provide walking assist to the user using the suggested compliance controller.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"38 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":"122925796","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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