Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606752
Ching-Chang Wong, Y. Lai, Jianliang Lyu, Chi-An Jiang
In this paper, a dual-arm robot with two 7-DOF redundant robot manipulators and its motion control system are implemented, and a collision detection method is proposed to improve the safety of motion control of the dual-arm robot. Some results are presented to illustrate the proposed method makes the dual-arm robot move correctly and safely.
{"title":"Motion Control System and Collision Detection for Dual-Arm Robot","authors":"Ching-Chang Wong, Y. Lai, Jianliang Lyu, Chi-An Jiang","doi":"10.1109/CACS.2018.8606752","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606752","url":null,"abstract":"In this paper, a dual-arm robot with two 7-DOF redundant robot manipulators and its motion control system are implemented, and a collision detection method is proposed to improve the safety of motion control of the dual-arm robot. Some results are presented to illustrate the proposed method makes the dual-arm robot move correctly and safely.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"55 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":"131763156","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.2018.8606751
Cun-Hong Yan, Kai-Lun Chang, Yun-Jia Tsai, Chao-Yu Wu, Meng-Che Wu, Chin-Yuan Su, Chin-Yuan Lin, Ying-Pyng Lin, Bing-Yuh Lu
Somatic controlled switches using relaxing and grabbing fingers have been implemented by the Leap Motion detections. The system included color circles that appeared in virtual reality, a Leap Motion sensor module, an Arduino UNO controller module, a solid state relay module, color bulbs, and an alternating current power source. The system can control any AC or DC electrical devices, but not only bulbs in this study. Some flashes and errors occurred, therefore, the 20-ms time delay and 100 μF bypass capacitors were inserted in the program and the I/O pins of the Arduino, respectively. After 100 times of the combination of time delay and bypass capacitors, the results show that the use of 100 μF bypass capacitors without time delay performed the least error (less than 5%). Consequently, the further applications of the switch system will facilitate the operating interface between VR and the physical world.
{"title":"Somatic Controlled Switches Using Relaxing and Grabbing Fingers","authors":"Cun-Hong Yan, Kai-Lun Chang, Yun-Jia Tsai, Chao-Yu Wu, Meng-Che Wu, Chin-Yuan Su, Chin-Yuan Lin, Ying-Pyng Lin, Bing-Yuh Lu","doi":"10.1109/CACS.2018.8606751","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606751","url":null,"abstract":"Somatic controlled switches using relaxing and grabbing fingers have been implemented by the Leap Motion detections. The system included color circles that appeared in virtual reality, a Leap Motion sensor module, an Arduino UNO controller module, a solid state relay module, color bulbs, and an alternating current power source. The system can control any AC or DC electrical devices, but not only bulbs in this study. Some flashes and errors occurred, therefore, the 20-ms time delay and 100 μF bypass capacitors were inserted in the program and the I/O pins of the Arduino, respectively. After 100 times of the combination of time delay and bypass capacitors, the results show that the use of 100 μF bypass capacitors without time delay performed the least error (less than 5%). Consequently, the further applications of the switch system will facilitate the operating interface between VR and the physical world.","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":"133604790","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.2018.8606780
Van‐Phong Vu, Wen-June Wang
A new approach for designing a decentralized observer to estimate the un-measurable states of a discrete-time large-scale Takagi-Sugeno (T-S) fuzzy system is considered in this paper. The interconnection terms of the large-scale system in this study is with an arbitrary nonlinear form and unnecessary to satisfy the bounded constraints. On the basis of the Lyapunov theory, the conditions for observer design which are expressed under the framework of LMIs are derived in the main theorems. Finally, an example is introduced to show the effectiveness of the proposed method.
{"title":"Decentralized Observer Synthesis for A Discrete-Time Large-scale T-S Fuzzy System","authors":"Van‐Phong Vu, Wen-June Wang","doi":"10.1109/CACS.2018.8606780","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606780","url":null,"abstract":"A new approach for designing a decentralized observer to estimate the un-measurable states of a discrete-time large-scale Takagi-Sugeno (T-S) fuzzy system is considered in this paper. The interconnection terms of the large-scale system in this study is with an arbitrary nonlinear form and unnecessary to satisfy the bounded constraints. On the basis of the Lyapunov theory, the conditions for observer design which are expressed under the framework of LMIs are derived in the main theorems. Finally, an example is introduced to show the effectiveness of the proposed method.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"7 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":"122523377","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.2018.8606739
Anruo Cheng, Kun-Li Wen
The aims of the paper is presented significant in rough set to identity the voice in difference order, Firstly, the paper uses voice recognition method to trans late the voice into digital type. Secondly, based on the calculated data that to get the Mel cepstrum parameter of the voice. Thirdly, through the significant in rough set method to identity which one is the mostly close? In the real example, the paper presents to four of dogs as the analysis object, record their barking voice, then, uses significant in rough set to find which dog is the most closest to the inspected dog. Through the actual verification, it can find that the method in our paper in the dog barking identification is quite feasible.
{"title":"The Identification of Dog’s Identity via Rough Set Method","authors":"Anruo Cheng, Kun-Li Wen","doi":"10.1109/CACS.2018.8606739","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606739","url":null,"abstract":"The aims of the paper is presented significant in rough set to identity the voice in difference order, Firstly, the paper uses voice recognition method to trans late the voice into digital type. Secondly, based on the calculated data that to get the Mel cepstrum parameter of the voice. Thirdly, through the significant in rough set method to identity which one is the mostly close? In the real example, the paper presents to four of dogs as the analysis object, record their barking voice, then, uses significant in rough set to find which dog is the most closest to the inspected dog. Through the actual verification, it can find that the method in our paper in the dog barking identification is quite feasible.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"19 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":"127927261","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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