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2014 CACS International Automatic Control Conference (CACS 2014)最新文献

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A study on multi-issue negotiation with incomplete information 不完全信息下的多议题谈判研究
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097195
Wei-wei Huang, Alan Liu, Chih-Chun Wang
{"title":"A study on multi-issue negotiation with incomplete information","authors":"Wei-wei Huang, Alan Liu, Chih-Chun Wang","doi":"10.1109/CACS.2014.7097195","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097195","url":null,"abstract":"For satisfying the needs of different users in a smart home, the issue of conflict resolution must be considered. Conflicts may come from disagreement in opinions and may also be caused by exceeding the usage of shared resources. A smart home provides personalized service based on preferences of users. Explicit or implicit preferences of different users may interfere with each other or compete for system resources. A negotiation method can be considered as designing a process to search a consensus among each other. For searching a solution which satisfies all users, automatic negotiation systems play a key role to resolve problems such as conflicts or inadequate resource assignments. Sometimes, participants in the negotiation process hide private information to ensure their benefits, and it makes negotiation more difficult. We propose an automatic multiple issue negotiation model suitable in a non-cooperative multiagent setting. By using sequential projection strategies, the negotiation process always reaches an agreement, even lacking some information about opponents. Through the BOA architecture, every agent can become a negotiating agent which works for the benefits of the user who it represents.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129427805","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
Human intention recognition using Markov decision processes 基于马尔可夫决策过程的人类意图识别
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097213
Hsien-I Lin, Wei-Kai Chen
{"title":"Human intention recognition using Markov decision processes","authors":"Hsien-I Lin, Wei-Kai Chen","doi":"10.1109/CACS.2014.7097213","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097213","url":null,"abstract":"Human intention recognition in human-robot interaction (HRI) has been a papular topic. This paper presents a human-intention recognition framework using Markov decision processes (MDPs). The framework is composed of the object and motion layers. The object and motion layers obtain the object information and human hand gestures, respectively. The information extracted from the both layers is used to represent the state in the MDPs. To learn human intention to accomplish tasks, a frequency-based reward function in the MDPs is proposed. It assists the MDPs to converge to the policy that corresponds to the frequency of the task that has been performed. In our experiments, four tasks that were trained in different numbers of trial of pouring water and making coffee were used to validate the proposed framework. With the frequency-based reward function, the plausible intentional actions in certain states were distinguishable from the ones using the default reward function.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127648506","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
Study on robust stability inverse problem for linear systems 线性系统鲁棒稳定性反问题的研究
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097158
Xianhong Li, Haibin Yu, P. Zeng, Lan-xiang Sun
{"title":"Study on robust stability inverse problem for linear systems","authors":"Xianhong Li, Haibin Yu, P. Zeng, Lan-xiang Sun","doi":"10.1109/CACS.2014.7097158","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097158","url":null,"abstract":"Most of traditional robust problems focus on developing a robust controller to stabilize the dynamic system when system parameters perturb in certain bounded range. However, this paper studies the robust inverse problem, that is to say studying robust stability's inverse problem (RSIP) for linear systems. In other words, it needs to find at least a stable system parameters' perturbation space (SSPPS) for any given stable controller. A robust stability's inverse theorem is proposed for linear systems, and SSPPS of stable controllers can be determined by inverse theorem. SSPPS is investigated by inverse theorem when system parameters appear perturbations. Numerical example and results are shown correctness and effectiveness of robust stability's inverse theorem.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117113684","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
Implementation issues of unbiased minimum-variance state estimation for systems with unknown inputs 未知输入系统无偏最小方差状态估计的实现问题
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097210
C. Hsieh, M. Majidi
{"title":"Implementation issues of unbiased minimum-variance state estimation for systems with unknown inputs","authors":"C. Hsieh, M. Majidi","doi":"10.1109/CACS.2014.7097210","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097210","url":null,"abstract":"In this paper, a filtering performance degradation problem of the globally optimal unbiased minimum-variance filter (GOUMVF) for systems with unknown inputs has been explored. The main problem encountered in the GOUMVF lies in the fact that its gain matrix is in some degeneration forms, which are defined as those that are not fully connected to the process noise and the measurement noise covariances; in such cases, the filter may not preserve the minimum-variance property. To remedy this problem, a parameterized augmented system reformation approach has been proposed, and the parameterized augmented RTSKF (PARTSKF) is proposed to give a tradeoff between the unbiasedness and the minimum variance in a practical unknown input filtering. An illustrative example is given to show the usefulness of the proposed results.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132850645","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
Robust adaptive output feedback controller design for uncertain jumping systems 不确定跳变系统鲁棒自适应输出反馈控制器设计
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097206
Cheng-Fa Cheng, Shu-Han Yang
{"title":"Robust adaptive output feedback controller design for uncertain jumping systems","authors":"Cheng-Fa Cheng, Shu-Han Yang","doi":"10.1109/CACS.2014.7097206","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097206","url":null,"abstract":"In this paper, the problem of adaptive output feedback stabilization of uncertain systems is investigated. A systematic algorithm for obtaining the adaptive output feedback control gain which guarantees the boundedness of all state variables is proposed. And then when both the considered system and its corresponding adaptive law are with state-dependent impulse disturbances, sufficient conditions will be derived such that the uncertain system will be robustly practically stable. Furthermore, requiring only the motor position for feedback, the adaptive scheme will be applied to construct the controllers for permanent magnet (PM) and variable reluctance (VR) stepper motors. Finally, simulation studies are presented to validate the controller performance.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120953940","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 vision-based helper robotic system for the elderly in household environments 一种基于视觉的家庭环境中老年人辅助机器人系统
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097208
Wen-Chung Chang, Chia-Hung Wu, Huan-Chen Ling
{"title":"A vision-based helper robotic system for the elderly in household environments","authors":"Wen-Chung Chang, Chia-Hung Wu, Huan-Chen Ling","doi":"10.1109/CACS.2014.7097208","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097208","url":null,"abstract":"In this paper, a vision-based helper robotic system is proposed that can help the elderly in household environments. Specifically, a mobile robot equipped with an onboard camera is capable of following the elderly. The system can visually identify the elderly by using Camshift algorithm and thus determines appropriate commands to drive the mobile robot to follow the elderly. A practical function of the proposed system is to help the elderly search household items. The elderly can command the system to record the image of the item by giving voice commands. When the elderly is unable to locate a specific item, the system can project the recorded image of the item upon recognizing the voice command. Meanwhile, the images from onboard camera also can be sent to tablet PCs wirelessly to let remote family members check the status of the elderly. This system has been successfully experimented with a mobile robot equipped a camera and a projector to validate the required practical functions in household environments.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127825602","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
Simulation of the PMSG-based wind turbine with direct torque control 基于pmsg的风力机直接转矩控制仿真
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097169
Yuan-Kang Wu, Wenqiang Shu, Hsien-Yang Cheng, Guan-Ting Ye
{"title":"Simulation of the PMSG-based wind turbine with direct torque control","authors":"Yuan-Kang Wu, Wenqiang Shu, Hsien-Yang Cheng, Guan-Ting Ye","doi":"10.1109/CACS.2014.7097169","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097169","url":null,"abstract":"With the advance of power electronic technology, direct driven permanent magnet synchronous generators (PMSG) have increasingly drawn interests to wind turbine manufactures. This paper mainly introduces the basic principle and several traditional control strategies of PMSG. Furthermore, the PMSG model is developed completely based on detail mathematical formulas. In this study, the three-phase electrical system was analyzed in the complex plane by Clarke direct transformation; therefore, the calculation becomes much easier and all the physical quantities are transformed into the space vectors. By using the space vector, the control strategy can be analyzed easily. The control strategy utilized in this work adopts direct torque control, and the performance of the established PMSG wind turbine system is verified according to simulation results.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129132602","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
Using ALC-PSO algorithm with particle growing method path planning in dynamic environments 采用ALC-PSO算法结合粒子生长法进行动态环境下的路径规划
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097170
Hung-Yuan Chung, Yong-An Ye, Jyun-Fu Jiang
{"title":"Using ALC-PSO algorithm with particle growing method path planning in dynamic environments","authors":"Hung-Yuan Chung, Yong-An Ye, Jyun-Fu Jiang","doi":"10.1109/CACS.2014.7097170","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097170","url":null,"abstract":"This paper proposes an optimal path planning algorithm for mobile robots based on Particle Swam Optimization with an Aging Leader and Challengers (ALC-PSO) and Rapidly-exploring Random Tree (RRT), it improved algorithm of ALC-PSO to imitate concept of RRT root node grown into goal point in path planning, and add Danger Degree Map to avoid obstacles, this method is not only overcome the drawback for particle swam optimization which is easy to fall into local optimization in robotic path planning and the basic Rapidly-exploring Random Tree path planning in avoiding the premature convergence problem, but also improve both of algorithm which can't plan in dynamic environment. From the results of simulations, we show that this algorithm can improve the stability of RRT path planning in dynamic environment, and ensure that the path is almost optimal.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125412474","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
A VM-based approach for real-time EtherCAT control 一种基于虚拟机的实时EtherCAT控制方法
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097214
Yu-Lun Huang, Chien-Hao Lu
{"title":"A VM-based approach for real-time EtherCAT control","authors":"Yu-Lun Huang, Chien-Hao Lu","doi":"10.1109/CACS.2014.7097214","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097214","url":null,"abstract":"The paper is aiming at designing and implementing a real-time control platform for distributed motors. With the proposed design, experts can activate a monitor at a remote site, check the states of motor in real time and send proper control parameters to immediately control the motor via its controller. By leveraging the modern virtualization technologies, two designs are presented in the paper. We investigate the real-time performance of the host machine by executing stress test on the virtual machines. We also prove that the realization of our design can obtain a precise response time when issuing a command to an EtherCAT slave device.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122054284","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
Application of DSP speech synthesis system on service robots DSP语音合成系统在服务机器人上的应用
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097179
Guo-Shing Huang, Yan-An Lu
{"title":"Application of DSP speech synthesis system on service robots","authors":"Guo-Shing Huang, Yan-An Lu","doi":"10.1109/CACS.2014.7097179","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097179","url":null,"abstract":"The main purpose of this paper is to perform the voice signal processing and synthesis to apply to service robots using DSP TMS320C6713. In this study, we select the C language program written with DSP; the voice signal is restored to play. The speech synthesis is implemented using linear predictive coding (LPC) approach in the paper. Because the LPC synthesis is a coding technique of time waveform, one can reduce the transmission rate of signal in time domain; save perfect voice messages. It can be obtained a very high naturalness and clarity for the synthesis of a group of words. We scored the synthesis results by subjective listening test ways.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115569562","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
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