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

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Design and control of a flexible surface vehicle 柔性地面车辆的设计与控制
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097198
Chih-Yung Cheng, Chia-Nung Tseng, Jinlei Guo
{"title":"Design and control of a flexible surface vehicle","authors":"Chih-Yung Cheng, Chia-Nung Tseng, Jinlei Guo","doi":"10.1109/CACS.2014.7097198","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097198","url":null,"abstract":"The paper is aimed to design and construct a robot vehicle prototype which is suitable for water surface rescue operations such as helping the drowning people or cleaning the ocean. A characteristic of the design is the vehicle's variable body structure controlled with switching control laws for high performance navigation. The robot vehicle is also equipped with visual servoing capability for various autonomous tasks. The project is for a two-year period. In the first stage, emphasis is on the robot's maneuverability, robust stability, and autonomous capability. In the second stage, the project enhances the intelligence of the robot vehicle via guidance and trajectory planning in order to execute the tasks such as cruising and target tracking.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"55 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":"133644644","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
Modeling, optimization and analysis of hydronic networks with decentralized pumping 分散泵送水循环网络的建模、优化与分析
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097200
J. Dostál, V. Havlena
{"title":"Modeling, optimization and analysis of hydronic networks with decentralized pumping","authors":"J. Dostál, V. Havlena","doi":"10.1109/CACS.2014.7097200","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097200","url":null,"abstract":"A new concept of decentralized pumping in residential heating and cooling systems has been proposed in recent years and it is generally declared to save pumping energy. A set of tools has been derived in order to verify this proposition. A graph modeling method altogether with a network flow solver and pumping energy optimization solver are presented in the paper. The center-point, however, lies in a power consumption analysis of throttling (supply oriented, central) systems and decentralized pumping (demand oriented, distributed) systems. A pumping strategy comparison for a sample residential hydronic network illustrates the modeling approach and power optimization results.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"62 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":"114320679","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 visual guided robot using CAD models and fuzzy controller for industrial manipulation 一种基于CAD模型和模糊控制器的工业操作视觉引导机器人
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097167
Ching-Chang Chen, Chun-Ming Wen, Chia-Yu E. Wang, Yi-cheng Chen
{"title":"A visual guided robot using CAD models and fuzzy controller for industrial manipulation","authors":"Ching-Chang Chen, Chun-Ming Wen, Chia-Yu E. Wang, Yi-cheng Chen","doi":"10.1109/CACS.2014.7097167","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097167","url":null,"abstract":"A visual positioning method is proposed to use the CAD model of an object to determine its position and orientation in real-time. Vision oriented features are generated off-line from the CAD model of the object by taking into account the camera intrinsic parameters. The proposed method can successfully identify the pose of the object even though some part of the object cannot be seen by the camera during manipulation. In addition to the CAD model based visual positioning method, a fuzzy controller is adopted to visually guide an EPSON robot for industrial manipulation and/or assembly. The controller can successfully stabilize and smoothly move the robot to the target object in experiments.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"11 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":"124066868","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
Energy balance based verification for hybrid vehicle models 基于能量平衡的混合动力汽车模型验证
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097160
K. Miyamoto, K. Sawada, Seiichi Shin
{"title":"Energy balance based verification for hybrid vehicle models","authors":"K. Miyamoto, K. Sawada, Seiichi Shin","doi":"10.1109/CACS.2014.7097160","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097160","url":null,"abstract":"Recently, automobile industry requires energy saving technology for reducing the environment burden and operational costs. Hybrid engines are environmental friendly, but hybrid heavy-duty trucks have not been still sold in the Japanese market, as their development has posed considerable problems. To solve these problems, the automobile industry has begun to develop simulation models of actual vehicles. Nevertheless, at the moment, the simulators are still unreliable and the developers cannot obtain accurate results. Compared to automobiles with combustion engines, the recent hybridization complicates the verification of the simulation results, because a hybrid vehicle is a complex system composed of mechanical systems, electric systems, control units and so on. Motivated by this, this paper shows a new verification method which focuses on the energy balance between the various components. Since the energy conservation law holds for both the mechanical systems and the electric systems, our proposed method allows us to verify complex models like hybrid vehicles. In this paper, a mathematical model for a hybrid heavy-duty truck is developed and the approach based on energy balance is verified.","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":"130356708","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
Dual-arm object manipulation by a hybrid controller with Kalman-filter-based inputs fusion 基于卡尔曼滤波输入融合的混合控制器双臂目标操纵
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097207
C. Chou, Wu-Te Yang, Pei-Chun Lin
{"title":"Dual-arm object manipulation by a hybrid controller with Kalman-filter-based inputs fusion","authors":"C. Chou, Wu-Te Yang, Pei-Chun Lin","doi":"10.1109/CACS.2014.7097207","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097207","url":null,"abstract":"Grasping and manipulation of various objects by arms are essential robotic tasks. The dual-arm system in comparison with a single-arm system can grasp objects with larger sizes and shape variations owing to its high degree of task-space redundancy. We report on the development of a dual-arm manipulation strategy suitable for object holding and moving. The controller has master-slave structure. It hybridizes effects of the desired position trajectory (spatial relation) and the force interaction between the arm and the object (compliance), which includes maintaining adequate surface contact and normal force. The compensations of the position and force errors from the two controllers are fused in a Kalman filter to yield the control input for final motion correction. A dual-arm robot is built. The performance of the controller is experimentally evaluated, and the results conclude that the proposed control strategy can deal with position error, external force disturbance, and object weight variation.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"17 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":"129841893","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: 7
A dimension measurement technique based on camera forward motion 一种基于摄像机前向运动的尺寸测量技术
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-11-01 DOI: 10.1109/CACS.2014.7097191
Yu-Ming Liao, Yu-Yuan Tsou, H. Lin
{"title":"A dimension measurement technique based on camera forward motion","authors":"Yu-Ming Liao, Yu-Yuan Tsou, H. Lin","doi":"10.1109/CACS.2014.7097191","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097191","url":null,"abstract":"This paper present the implementation of an interactive dimension measurement system based on multiple image captures. The objective is to achieve the results comparable to the accurate measurements obtained from other precision measurement instruments while the low cost of the proposed technique. In the system, based on the spatial invariant principle for an object, we use a motion platform to drive a camera to along a linear rail and generate multiple images at different distances. This method is not common stereo vision system. We use a different number of pixels in the image of the object combined with the camera geometric principles to calculate the size of the object. In addition, the thesis introduced barrel distortion correction to make the measurement. The technique presented in this thesis may be used to measure the high-cost, soft and untouchable objects.","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":"127364625","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 experiment of a human-touch robot 触人机器人的设计与实验
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097201
K. Song, Sin-Yi Jiang, Ming-Han Lin, Cheng-Hei Wu, Yi-Fu Chiu, Wei-che Lin, Shang-Yang Wu, Chien-Yu Wu
{"title":"Design and experiment of a human-touch robot","authors":"K. Song, Sin-Yi Jiang, Ming-Han Lin, Cheng-Hei Wu, Yi-Fu Chiu, Wei-che Lin, Shang-Yang Wu, Chien-Yu Wu","doi":"10.1109/CACS.2014.7097201","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097201","url":null,"abstract":"In this paper we propose a shared-control based teleoperation design for a dual-arm omnidirectional mobile robot. The robot not only can adapt its motion to environment autonomously, but also move according to the user's remote commands. To achieve this goal, a shared-control scheme for effective remote control of the mobile robot is developed. For tele-presence and remote control, a user interface is designed for a smart phone/tablet. The proposed controller determines the human and autonomy control gains by computing user's confidence factor. In this approach, the robot assists a user to manipulate its motion from a remote site by compensating local insufficiency of human remote control. Practical experiments validate the proposed design and demonstrate that the proposed shared-control approach of a dual-arm omnidirectional mobile robot can have potential use for future home service tasks.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129314083","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
Enhanced simultaneous localization and map building 增强同步定位和地图建设
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097174
Tung-Yuan Lin, C. Hsu, Wei Yen Wang, Yin-Tien Wang
{"title":"Enhanced simultaneous localization and map building","authors":"Tung-Yuan Lin, C. Hsu, Wei Yen Wang, Yin-Tien Wang","doi":"10.1109/CACS.2014.7097174","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097174","url":null,"abstract":"FastSLAM is a well-known algorithm with its purpose to process the simultaneous localization and mapping (SLAM). There are two main FastSLAM algorithms, i.e., FastSLAM 1.0 and FastSLAM 2.0. However, the speed of execution is too slow due to the superabundant comparisons of every single existing landmarks. Thus computationally efficient SLAM (CESLAM) was presented to deal with the problem and to achieve the goal of real-time processing design. Nevertheless, there is a great possibility that large errors may occur, because the original CESLAM only takes odometer information to estimate the robot's pose in particles. Therefore, this paper not only utilizes the odometer information but also the measurement information from sensors. Finally, simulation results are illustrated that the modified version of CESLAM algorithm can effectively ameliorate the accuracy of localization and mapping.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134620287","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
Development of upper-limb exoskeleton simulator for passive rehabilitation 用于被动康复的上肢外骨骼模拟器的研制
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097212
Jian-Bin Huang, Jing-Chen Hong, K. Young, C. Ko
{"title":"Development of upper-limb exoskeleton simulator for passive rehabilitation","authors":"Jian-Bin Huang, Jing-Chen Hong, K. Young, C. Ko","doi":"10.1109/CACS.2014.7097212","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097212","url":null,"abstract":"Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop a simulator for general types of upper-limb exoskeletons. To make it realistic, this simulator considers kinematics, dynamics, path planning, control, and also human factor. For demonstration, we apply it to our developed upper-limb exoskeleton, HAMEXO-I, which is designed for passive rehabilitation.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117240758","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
Suppression of performance degradation of reconfigurable robot by quantization error based on quantization error observer 基于量化误差观测器的量化误差抑制可重构机器人性能退化
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097199
Taichi Mouri, K. Yubai, D. Yashiro, J. Hirai, R. Oboe
{"title":"Suppression of performance degradation of reconfigurable robot by quantization error based on quantization error observer","authors":"Taichi Mouri, K. Yubai, D. Yashiro, J. Hirai, R. Oboe","doi":"10.1109/CACS.2014.7097199","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097199","url":null,"abstract":"Generally, the ΔΣ modulator is widely used to suppress the influence of the quantization error. This method can shape the quantization error by a differentiator and shift its power to the high frequency range. From this reason, the influence of the quantization error can be suppressed in the low frequency range, where the main components of the control signal should have larger power. However, the quantization error is excessively amplified in higher frequencies, so performance degradation and/or destabilization of the control system may occur. On the other hand, the quantization error observer (QEOB), which is our proposed method, can shape it through a high-pass filter. Thereby, QEOB can shape the quantization error without excessive amplification in the high frequency range. Finally, we apply QEOB to a 2-link reconfigurable robot system and the effectiveness of the proposed method is confirmed by the simulation.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121192867","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
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