Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606774
Chung-Wen Hung, K. Hsia, Yu-Ming Guan, Shih-Ting Yu
A wireless control mobile hoist system is proposed in this paper. Users can control the mobile hoist easily with a smartphone/tablet application through the Bluetooth low energy (BLE). The energy status of the battery of the mobile hoist can be shown via the APP. The mobile hoist also has a rehabilitation function, and the rehabilitation activity can be confirmed via buttons on the APP. All of the operation data will be recorded and transmitted to the cloud database, and the history can be queried on the website. The integration of the mobile hoist and smartphone/tablet APP not only increases the ability of the mobile hoist system but also is more convenient for users.
{"title":"A Wireless Control Mobile Hoist System","authors":"Chung-Wen Hung, K. Hsia, Yu-Ming Guan, Shih-Ting Yu","doi":"10.1109/CACS.2018.8606774","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606774","url":null,"abstract":"A wireless control mobile hoist system is proposed in this paper. Users can control the mobile hoist easily with a smartphone/tablet application through the Bluetooth low energy (BLE). The energy status of the battery of the mobile hoist can be shown via the APP. The mobile hoist also has a rehabilitation function, and the rehabilitation activity can be confirmed via buttons on the APP. All of the operation data will be recorded and transmitted to the cloud database, and the history can be queried on the website. The integration of the mobile hoist and smartphone/tablet APP not only increases the ability of the mobile hoist system but also is more convenient for users.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"308 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114807799","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}
Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606757
Jonqlan Lin, R. Chu
Twisted string were used in constructions, military, and other areas applications. Such twisted string actuation impression allows the install of simple mechanism, intrinsic compliance, low weight, cheap, and high transmission ration. Nowadays, twisted string actuators (TSA) have been confirmed to be an efficient illumination for generating linear motion with huge tensile force. Thus, the main goal of this proposal is concentrated on deign of mobile platform based on Twisted String Actuator (TSA) to meet low cost and simple structure demand request. A string pair is linked in parallel and attached to the servomotor, and the other end to the payload to be actuated. The rotation intruded to the strings by the servomotor diminishes their length, producing a linear motion at the payload side. Moreover, a thin film potentiometer is equipped to measure the actuation elongation. However, in case of the presence of several unmodeled effects such as the string friction and radius variation due to elasticity, specific consideration has been given in confirming the robustness of the control system against measurement noise and parameter uncertainties. Hence, the new measurement methodology which takes into account fiber tension compensation terms is proposed for modify the positioning tasks. Experimental results confirm that such design is reliable and possesses low implementation cost.
{"title":"A Novel Measurement Model of Twisted String Actuating System","authors":"Jonqlan Lin, R. Chu","doi":"10.1109/CACS.2018.8606757","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606757","url":null,"abstract":"Twisted string were used in constructions, military, and other areas applications. Such twisted string actuation impression allows the install of simple mechanism, intrinsic compliance, low weight, cheap, and high transmission ration. Nowadays, twisted string actuators (TSA) have been confirmed to be an efficient illumination for generating linear motion with huge tensile force. Thus, the main goal of this proposal is concentrated on deign of mobile platform based on Twisted String Actuator (TSA) to meet low cost and simple structure demand request. A string pair is linked in parallel and attached to the servomotor, and the other end to the payload to be actuated. The rotation intruded to the strings by the servomotor diminishes their length, producing a linear motion at the payload side. Moreover, a thin film potentiometer is equipped to measure the actuation elongation. However, in case of the presence of several unmodeled effects such as the string friction and radius variation due to elasticity, specific consideration has been given in confirming the robustness of the control system against measurement noise and parameter uncertainties. Hence, the new measurement methodology which takes into account fiber tension compensation terms is proposed for modify the positioning tasks. Experimental results confirm that such design is reliable and possesses low implementation cost.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122263581","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}
Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606762
L. Liao, Y. Tseng, H. Chiang, Wei-Yen Wang
Establishing an appropriate control technique with high accuracy has become the central issue for robotic applications to achieve anthropomorphic functions. The electromyography (EMG) method, which approaches various human motions by adjusting signals in the manipulator control scheme, is especially gaining popularity among assistive robotics. In this study, an EMG-based classification method is incorporated to control an assistive robot arm and perform interaction in human arm movements. The system is implemented based on a support-vector machine (SVM); it classifies motions of upper human limbs according to EMG signals recorded from the brachioradialis, the biceps and the anterior deltoid as the input features. With the proposed method, six categories of human arm movements can be identified, and the classification results can thus be remotely transmitted to control an assistive robot to mimic motions of the human arm. The performance of the proposed classification method was evaluated using 72 segments in 5 second EMG signals from two subject. The overall accuracy rate can reach 94% based on the selected EMG features for each measured muscle. The results suggest the importance of feature selection according to the morphology of EMG waveforms recorded from different muscle bundles. The performance of the proposed method has been quantitatively evaluated, and an assistive robot arm can be remotely controlled using EMG signals with a high accuracy rate.
{"title":"EMG-based Control Scheme with SVM Classifier for Assistive Robot Arm","authors":"L. Liao, Y. Tseng, H. Chiang, Wei-Yen Wang","doi":"10.1109/CACS.2018.8606762","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606762","url":null,"abstract":"Establishing an appropriate control technique with high accuracy has become the central issue for robotic applications to achieve anthropomorphic functions. The electromyography (EMG) method, which approaches various human motions by adjusting signals in the manipulator control scheme, is especially gaining popularity among assistive robotics. In this study, an EMG-based classification method is incorporated to control an assistive robot arm and perform interaction in human arm movements. The system is implemented based on a support-vector machine (SVM); it classifies motions of upper human limbs according to EMG signals recorded from the brachioradialis, the biceps and the anterior deltoid as the input features. With the proposed method, six categories of human arm movements can be identified, and the classification results can thus be remotely transmitted to control an assistive robot to mimic motions of the human arm. The performance of the proposed classification method was evaluated using 72 segments in 5 second EMG signals from two subject. The overall accuracy rate can reach 94% based on the selected EMG features for each measured muscle. The results suggest the importance of feature selection according to the morphology of EMG waveforms recorded from different muscle bundles. The performance of the proposed method has been quantitatively evaluated, and an assistive robot arm can be remotely controlled using EMG signals with a high accuracy rate.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"169 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134123431","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}
Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606766
Shih-Yu Li, Kai-Ren Gu, Chin-Sheng Chen
A chaos-based fault-detection strategy is developed in this paper, which attempts to do the chaos mapping process of the input data. The data of different states in ball-bearing system are feed into the proposed system to generate different kinds of 3D phase portraits for further classification. Simulation result shows that the developed strategy has good performance.
{"title":"Chaos-based Fault-Detection Strategy for Ball-Bering System","authors":"Shih-Yu Li, Kai-Ren Gu, Chin-Sheng Chen","doi":"10.1109/CACS.2018.8606766","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606766","url":null,"abstract":"A chaos-based fault-detection strategy is developed in this paper, which attempts to do the chaos mapping process of the input data. The data of different states in ball-bearing system are feed into the proposed system to generate different kinds of 3D phase portraits for further classification. Simulation result shows that the developed strategy has good performance.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"472 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133209483","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}
Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606759
N. Chou, I. Wu, Yinsheng Liao, A. H. Li
Currently automated external defibrillator devices have been frequently equipped in public. However, few people feel comfortable using it when needed. Most people will wait for the paramedical personnel to operate the device, and it will lose the golden period for resuscitation. For the high-risk patients, cardiac events often happen unexpectedly. According to this scenario, we design a prototype system as a portal AED, which can display 5 different physiological information on the smart devices and release the electrical shock wave by the electrode pad patching on the patient by the remote control. This device can monitor the high risk patients under the surveillance of telemedical professionals and initiate the electrical shock if required.
{"title":"Wearable wireless physiological monitoring and emergency system","authors":"N. Chou, I. Wu, Yinsheng Liao, A. H. Li","doi":"10.1109/CACS.2018.8606759","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606759","url":null,"abstract":"Currently automated external defibrillator devices have been frequently equipped in public. However, few people feel comfortable using it when needed. Most people will wait for the paramedical personnel to operate the device, and it will lose the golden period for resuscitation. For the high-risk patients, cardiac events often happen unexpectedly. According to this scenario, we design a prototype system as a portal AED, which can display 5 different physiological information on the smart devices and release the electrical shock wave by the electrode pad patching on the patient by the remote control. This device can monitor the high risk patients under the surveillance of telemedical professionals and initiate the electrical shock if required.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129998339","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}
Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606761
Motoi Igarashi, Hisakazu Nakamura
Human assist control for a system driven by a human operator has attracted much attention. Also, a quadratic programming method using a control barrier function has been proposed. The human assist control using the control barrier function guarantees the safety of the system; however, the control is the minimum among safety inputs. In this research, we propose a method of human assist control for a two-wheel mobile robot using a control barrier function. The effectiveness of the method was demonstrated in a computer simulation.
{"title":"Collision avoidance assist control for two-wheel vehicle robots by control barrier function","authors":"Motoi Igarashi, Hisakazu Nakamura","doi":"10.1109/CACS.2018.8606761","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606761","url":null,"abstract":"Human assist control for a system driven by a human operator has attracted much attention. Also, a quadratic programming method using a control barrier function has been proposed. The human assist control using the control barrier function guarantees the safety of the system; however, the control is the minimum among safety inputs. In this research, we propose a method of human assist control for a two-wheel mobile robot using a control barrier function. The effectiveness of the method was demonstrated in a computer simulation.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"38 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120928695","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}
Along with the rapid development of wireless sensor networks, various applications are getting widespread. Since some of the applications involve with vibration signal, image or video transmissions, sensor nodes with different load burdens and the resulted energy holes should be taken into account. Considering the node energy uniformity of the deployment field and the prolongation of the network lifetime, an optimal mobile sink path planning problem for wireless sensor networks with heterogeneous nodes is investigated. By using the load balance and relay node techniques, a path for mobile sink moving to efficiently collect the measured data, including temperature, humidity (sensed by light-load nodes) and vibration (sensed by heavy-load nodes). Simulation results indicate that the proposed method is able to extend the network lifetime by increasing the energy uniformity, in the presence of light-load nodes and heavy-load nodes.
{"title":"Optimal Mobile Sink Path Planning for Heterogeneous Wireless Sensor Networks","authors":"Chwan-Lu Tseng, Che-Shen Cheng, Yu-Hsien Hsu, Bing-Hung Yang, Chia-Chih Chung","doi":"10.1109/CACS.2018.8606779","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606779","url":null,"abstract":"Along with the rapid development of wireless sensor networks, various applications are getting widespread. Since some of the applications involve with vibration signal, image or video transmissions, sensor nodes with different load burdens and the resulted energy holes should be taken into account. Considering the node energy uniformity of the deployment field and the prolongation of the network lifetime, an optimal mobile sink path planning problem for wireless sensor networks with heterogeneous nodes is investigated. By using the load balance and relay node techniques, a path for mobile sink moving to efficiently collect the measured data, including temperature, humidity (sensed by light-load nodes) and vibration (sensed by heavy-load nodes). Simulation results indicate that the proposed method is able to extend the network lifetime by increasing the energy uniformity, in the presence of light-load nodes and heavy-load nodes.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123239987","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}
Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606733
G. Xu, G. Zhai, Chi Huang
This paper establishes a necessary and sufficient condition for designing formation in third-order multi-agent systems which are networked by digraphs. We assume that the control input of each agent is constructed based on weighted difference between its states and those of its neighbor agents, and define the desired time-varying formation with piecewise continuously differentiable vectors. By transforming the formation problem into a consensus problem and using Hurwitz polynomials with complex coefficients, we obtain the necessary and sufficient condition for the multi-agent systems to achieve the desired formation.
{"title":"Formation Design for Third-Order Multi-Agent Systems","authors":"G. Xu, G. Zhai, Chi Huang","doi":"10.1109/CACS.2018.8606733","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606733","url":null,"abstract":"This paper establishes a necessary and sufficient condition for designing formation in third-order multi-agent systems which are networked by digraphs. We assume that the control input of each agent is constructed based on weighted difference between its states and those of its neighbor agents, and define the desired time-varying formation with piecewise continuously differentiable vectors. By transforming the formation problem into a consensus problem and using Hurwitz polynomials with complex coefficients, we obtain the necessary and sufficient condition for the multi-agent systems to achieve the desired formation.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126925805","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}
After a large-scale events, trash (e.g., bottles and cans) often accumulates at the event venue. Manually cleaning this trash can be labor and time intensive. To aid environmental protection and reduced pollution, we designed a robot to categorize items for recycling. It automatically identifies objects and their locations on the basis of the depth image, grabs them with its mechanical arm, and finally, places them in the corresponding recycling bin. The robot is based on depth imaging technology with a deep learning algorithm for recognition and categorization.
{"title":"The robot for recycling based on machine learning","authors":"Yu-Ping Liao, Ruei-Chang Lu, Sheng-Ying Wu, Ping-En Cheng, Guo-Cheng Xu","doi":"10.1109/CACS.2018.8606758","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606758","url":null,"abstract":"After a large-scale events, trash (e.g., bottles and cans) often accumulates at the event venue. Manually cleaning this trash can be labor and time intensive. To aid environmental protection and reduced pollution, we designed a robot to categorize items for recycling. It automatically identifies objects and their locations on the basis of the depth image, grabs them with its mechanical arm, and finally, places them in the corresponding recycling bin. The robot is based on depth imaging technology with a deep learning algorithm for recognition and categorization.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114982410","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}
Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606745
Juwei Huang, Hongwei Wang, Long Cui, Shen Tian, Feng Zhang
Flexible snake-like robot is the research frontier of minimally invasive surgical robot system. In this paper, we discussed the structure of a notched continuum flexible snake –like robot. According to the constant curvature hypothesis, the kinematics model has been established, and its workspace was estimated. When the robot has equal stiffness, due to the effect of internal and external factors, the deformation does not reach the arc state. In order to improve the deformation, and make closer to the arc, we use the method of changing the stiffness of Robot in structure. Verification by finite element analysis and experiment, the results show that the notch continuum flexible snake-like robot variable stiffness makes the deformation is closer to the l / 2 arc, it is proved that the effectiveness of the improved snake robot is verified.
{"title":"Modeling of notched variable stiffness continuum flexible Snake-like Robot","authors":"Juwei Huang, Hongwei Wang, Long Cui, Shen Tian, Feng Zhang","doi":"10.1109/CACS.2018.8606745","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606745","url":null,"abstract":"Flexible snake-like robot is the research frontier of minimally invasive surgical robot system. In this paper, we discussed the structure of a notched continuum flexible snake –like robot. According to the constant curvature hypothesis, the kinematics model has been established, and its workspace was estimated. When the robot has equal stiffness, due to the effect of internal and external factors, the deformation does not reach the arc state. In order to improve the deformation, and make closer to the arc, we use the method of changing the stiffness of Robot in structure. Verification by finite element analysis and experiment, the results show that the notch continuum flexible snake-like robot variable stiffness makes the deformation is closer to the l / 2 arc, it is proved that the effectiveness of the improved snake robot is verified.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124141968","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}
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