In this paper, an integral fuzzy terminal sliding mode control (IFTSMC) scheme is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach, integral sliding-mode control and fuzzy logic control which can drive the posture error and velocity error to zero at finite time. All the simulation results demonstrate the effectiveness of the proposed control method.
{"title":"Design of Integral Fuzzy Terminal Sliding-Mode Controller for Omni-directional Mobile Robots","authors":"Chi-Hua Liu, S. Tsai, Yu-An Chen, Chin-Sheng Chen, Chih-Chin Wen, Ming-Ying Hsiao","doi":"10.1109/RVSP.2013.51","DOIUrl":"https://doi.org/10.1109/RVSP.2013.51","url":null,"abstract":"In this paper, an integral fuzzy terminal sliding mode control (IFTSMC) scheme is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach, integral sliding-mode control and fuzzy logic control which can drive the posture error and velocity error to zero at finite time. All the simulation results demonstrate the effectiveness of the proposed control method.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"29 1","pages":"190-195"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78021004","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}
In recent years, lots of portfolio analysis methods been proposed one after another. The investors care about how much money they can earn, and the companies need to know how much performance they gain. In this paper, a new stock portfolio construction strategy using Investment Satisfied Capability Index (ISCI) and Interactive Artificial Bee Colony (IABC) is proposed. Two-year daily Return on Investment (ROI) data is used in the experiment to test the performance of our proposed method. The experimental results are compared with the investment result from Taiwan broader market and Taiwan Top 50 Tracker Fund of Taiwan Yuanta Securities. The results are positive.
{"title":"Applying Interactive Artificial Bee Colony to Construct the Stock Portfolio","authors":"Jui-Fang Chang, Tsai-Wei Yang, Pei-wei Tsai","doi":"10.1109/RVSP.2013.36","DOIUrl":"https://doi.org/10.1109/RVSP.2013.36","url":null,"abstract":"In recent years, lots of portfolio analysis methods been proposed one after another. The investors care about how much money they can earn, and the companies need to know how much performance they gain. In this paper, a new stock portfolio construction strategy using Investment Satisfied Capability Index (ISCI) and Interactive Artificial Bee Colony (IABC) is proposed. Two-year daily Return on Investment (ROI) data is used in the experiment to test the performance of our proposed method. The experimental results are compared with the investment result from Taiwan broader market and Taiwan Top 50 Tracker Fund of Taiwan Yuanta Securities. The results are positive.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"10 1","pages":"129-132"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74311326","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}
Y. Ni, Z. Deng, Xiang Wu, Junbao Li, Wei Huang, Long Li
Displacement amplification ratio and input stiffness are significant design characteristics for an ultra-precision positioning flexure-based compliant mechanism. Early and accurate performance prediction models can significantly improve the reliability and availability of product in the field of ultra-precision positioning, but Existing theoretic models cannot predict its characteristics accurately and make it very difficult to error compensation by means of these models. This paper provides a set of uncanonical linear homogeneous equations for calculating a classic bridge-type mechanical amplifier performance, these closed-form equations are established based on the thought of statically indeterminate structure, including Force Method, Maxwell-Mohr Method and deformation compatibility. Subsequently, case studies involving the calculation results compared with FEA, geometric parameters' influence discussion and modal analysis using FEA simulation are presented. This proposed analytical model is applicable and reliable to the bridge-type micro-displacement amplifier design and verification. Furthermore, the present model can be used in any other over-constrained flexure-based amplifier.
{"title":"Quasi-static and Modal Analysis of Bridge-Type Compliant Mechanism with Flexure Hinges","authors":"Y. Ni, Z. Deng, Xiang Wu, Junbao Li, Wei Huang, Long Li","doi":"10.1109/RVSP.2013.30","DOIUrl":"https://doi.org/10.1109/RVSP.2013.30","url":null,"abstract":"Displacement amplification ratio and input stiffness are significant design characteristics for an ultra-precision positioning flexure-based compliant mechanism. Early and accurate performance prediction models can significantly improve the reliability and availability of product in the field of ultra-precision positioning, but Existing theoretic models cannot predict its characteristics accurately and make it very difficult to error compensation by means of these models. This paper provides a set of uncanonical linear homogeneous equations for calculating a classic bridge-type mechanical amplifier performance, these closed-form equations are established based on the thought of statically indeterminate structure, including Force Method, Maxwell-Mohr Method and deformation compatibility. Subsequently, case studies involving the calculation results compared with FEA, geometric parameters' influence discussion and modal analysis using FEA simulation are presented. This proposed analytical model is applicable and reliable to the bridge-type micro-displacement amplifier design and verification. Furthermore, the present model can be used in any other over-constrained flexure-based amplifier.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"45 1","pages":"102-106"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78819089","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}
Evolutionary robotics is an approach that employs evolutionary computation to develop a controller for an autonomous robotic system. Evolutionary computing usually operates depending on a population of candidate controllers, initially selected from a random distribution. The population is iteratively modified according to the fitness function. In this paper, an automatic control system is designed for quadruped robots using an Evolutionary Neural Network (ENN) and the performance is measured in terms of the distance travelled by the robot from its origin. The evolved neural controllers are analyzed in the simulation environment and the results are implemented in a real quadruped robot. The comparison between the simulated and real robot shows the performance of the quadruped robot in terms of number of iterations over the distance covered in the desired direction. The developed ENN helps the robot to choose the best possible solution to achieve the maximum distance.
{"title":"Evolution of Neural Controllers for Simulated and Real Quadruped Robots","authors":"S. Farooq, Kyung-Joong Kim","doi":"10.1109/RVSP.2013.73","DOIUrl":"https://doi.org/10.1109/RVSP.2013.73","url":null,"abstract":"Evolutionary robotics is an approach that employs evolutionary computation to develop a controller for an autonomous robotic system. Evolutionary computing usually operates depending on a population of candidate controllers, initially selected from a random distribution. The population is iteratively modified according to the fitness function. In this paper, an automatic control system is designed for quadruped robots using an Evolutionary Neural Network (ENN) and the performance is measured in terms of the distance travelled by the robot from its origin. The evolved neural controllers are analyzed in the simulation environment and the results are implemented in a real quadruped robot. The comparison between the simulated and real robot shows the performance of the quadruped robot in terms of number of iterations over the distance covered in the desired direction. The developed ENN helps the robot to choose the best possible solution to achieve the maximum distance.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"45 18 1","pages":"295-298"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75807771","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}
In this paper aims on adaptive resource allocation in maximize system throughput under total power and target bit error rate (BER) constraints propose the algorithms of adaptive resource allocation on OFDM-based (Orthogonal Frequency Division Multiplexing) cooperative communication systems. For single-source, destination and relay node environment. the optimal power allocation for the sub carriers of the source node. The proposed used Lagrange multiplier with KKT (Karush-Kuhn-Tucker) conditions to solve the optimal power allocation for the sub carriers of the source node. Due to high computational complexity, a sub optimal algorithm about sub carrier power allocation of the source node was designed to maximize system throughput and reduce computational complexity. In order to reduce the computational complexity and maximize system output volume, followed by good design of our algorithm. The simulation results goal of to maximize the total system throughput by power allocation at the sub carriers of the source node.
{"title":"Adaptive Resource Allocation for OFDM-Based Single-Relay Cooperative Communication Systems over Rayleigh Fading Channels","authors":"Chuan-Wang Chang, Hong-Jin Lai, Tien-Szu Pan, Yung-Chen Wu, Chien-Lung Huang, H. Tsui, Chen-Ping Ho, Chung-Hsien Chen","doi":"10.1109/RVSP.2013.57","DOIUrl":"https://doi.org/10.1109/RVSP.2013.57","url":null,"abstract":"In this paper aims on adaptive resource allocation in maximize system throughput under total power and target bit error rate (BER) constraints propose the algorithms of adaptive resource allocation on OFDM-based (Orthogonal Frequency Division Multiplexing) cooperative communication systems. For single-source, destination and relay node environment. the optimal power allocation for the sub carriers of the source node. The proposed used Lagrange multiplier with KKT (Karush-Kuhn-Tucker) conditions to solve the optimal power allocation for the sub carriers of the source node. Due to high computational complexity, a sub optimal algorithm about sub carrier power allocation of the source node was designed to maximize system throughput and reduce computational complexity. In order to reduce the computational complexity and maximize system output volume, followed by good design of our algorithm. The simulation results goal of to maximize the total system throughput by power allocation at the sub carriers of the source node.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"24 1","pages":"214-219"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74621843","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}
This paper proposes a method of constituting the formation of a multi-robot system for exploration and monitoring. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we constitute monitoring formation, which is realized by enclosing behavior of multi-robot. Finally, we discuss the effectiveness of the proposed method through several simulation results.
{"title":"Cooperative Formation of Multi-robot Based on Spring Model","authors":"N. Kubota, Y. Toda, Shintaro Suzuki","doi":"10.1109/RVSP.2013.24","DOIUrl":"https://doi.org/10.1109/RVSP.2013.24","url":null,"abstract":"This paper proposes a method of constituting the formation of a multi-robot system for exploration and monitoring. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we constitute monitoring formation, which is realized by enclosing behavior of multi-robot. Finally, we discuss the effectiveness of the proposed method through several simulation results.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"4 1","pages":"72-77"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81712984","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}
In order to generate or tune fuzzy rules, Neuro-Fuzzy learning algorithms with Gaussian type membership functions based on gradient-descent method are well known. In this paper, we propose a new learning approach, the Quaternion Neuro-Fuzzy learning algorithm. This method is an extension of the conventional method to four-dimensional space by using a quaternion neural network that maps quaternion to real values. Input, antecedent membership functions and consequent singletons are quaternion, and output is real. Four-dimensional input can be better represented by quaternion than by real values. We compared it with the conventional method by several function identification problems, and revealed that the proposed method outperformed the counterpart: The number of rules was reduced to 5 from 625, the number of epochs by one fortieth, and error by one tenth in the best cases.
{"title":"Quaternion Neuro-fuzzy Learning Algorithm for Fuzzy Rule Generation","authors":"Ryusuke Hata, M. Islam, K. Murase","doi":"10.1109/RVSP.2013.22","DOIUrl":"https://doi.org/10.1109/RVSP.2013.22","url":null,"abstract":"In order to generate or tune fuzzy rules, Neuro-Fuzzy learning algorithms with Gaussian type membership functions based on gradient-descent method are well known. In this paper, we propose a new learning approach, the Quaternion Neuro-Fuzzy learning algorithm. This method is an extension of the conventional method to four-dimensional space by using a quaternion neural network that maps quaternion to real values. Input, antecedent membership functions and consequent singletons are quaternion, and output is real. Four-dimensional input can be better represented by quaternion than by real values. We compared it with the conventional method by several function identification problems, and revealed that the proposed method outperformed the counterpart: The number of rules was reduced to 5 from 625, the number of epochs by one fortieth, and error by one tenth in the best cases.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"37 1","pages":"61-65"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90634839","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}
In the four arithmetic operations of ECC, multiplication is the most important arithmetic operation. Efficient hardware implementation of arithmetic operations, specially multiplication operation, over the finite field using Gaussian normal basis is attractive. In this paper, we proposed a digit-serial Gaussian normal basis multiplier in GF(2m). The proposed multiplier is based on the subquradtic Toeplitz matrix-vector product approach. We use Tensor product to design 4-way splitting method of TMVP. The main advantage of the proposed multiplier is can be designed and implementation in a small size.
{"title":"Digit-Serial GNB Multiplier Based on TMVP Approach over GF(2m)","authors":"Chun-Sheng Yang, Jeng-Shyang Pan, Chiou-Yng Lee","doi":"10.1109/RVSP.2013.35","DOIUrl":"https://doi.org/10.1109/RVSP.2013.35","url":null,"abstract":"In the four arithmetic operations of ECC, multiplication is the most important arithmetic operation. Efficient hardware implementation of arithmetic operations, specially multiplication operation, over the finite field using Gaussian normal basis is attractive. In this paper, we proposed a digit-serial Gaussian normal basis multiplier in GF(2m). The proposed multiplier is based on the subquradtic Toeplitz matrix-vector product approach. We use Tensor product to design 4-way splitting method of TMVP. The main advantage of the proposed multiplier is can be designed and implementation in a small size.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"30 1","pages":"123-128"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90648453","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}
Lossless data hiding is a newly developed topic in information security researches. With the term of 'lossless', secret information is embedded into original image with methods developed by researchers at the encoder, and marked image is produced. Correspondingly, at the decoder, users are capable of perfectly separating the embedded secret and original image from the marked image, based on the reasonable amount of side information, and it is the major reason for the name of 'lossless'. In this paper, we propose an optimized method based on hybrid prediction for lossless data hiding. With the characteristics of the original image, the predicted image can be produced firstly. Then, difference values between the two are utilized for the embedding of secret information. And finally, the marked image can be obtained by adding back the modified difference values. With the properly designed fitness function to control the error between original image and marked one, enhanced amount of secret information can be embedded. Besides, the amount of side information is reasonable for decoding. With the optimization of genetic algorithm, simulation results have revealed that with the same quality of marked images, increased amount of secret information can be observed with our algorithm. It also provides the flexibility in the design of fitness function to meet the needs for practical implementations.
{"title":"Lossless Data Hiding with Genetic-Based Hybrid Prediction","authors":"Hsiang-Cheh Huang, Ting-Hsuan Wang, Feng-Cheng Chang","doi":"10.1109/RVSP.2013.9","DOIUrl":"https://doi.org/10.1109/RVSP.2013.9","url":null,"abstract":"Lossless data hiding is a newly developed topic in information security researches. With the term of 'lossless', secret information is embedded into original image with methods developed by researchers at the encoder, and marked image is produced. Correspondingly, at the decoder, users are capable of perfectly separating the embedded secret and original image from the marked image, based on the reasonable amount of side information, and it is the major reason for the name of 'lossless'. In this paper, we propose an optimized method based on hybrid prediction for lossless data hiding. With the characteristics of the original image, the predicted image can be produced firstly. Then, difference values between the two are utilized for the embedding of secret information. And finally, the marked image can be obtained by adding back the modified difference values. With the properly designed fitness function to control the error between original image and marked one, enhanced amount of secret information can be embedded. Besides, the amount of side information is reasonable for decoding. With the optimization of genetic algorithm, simulation results have revealed that with the same quality of marked images, increased amount of secret information can be observed with our algorithm. It also provides the flexibility in the design of fitness function to meet the needs for practical implementations.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"43 1","pages":"5-8"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86140252","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}
In the past decades, with the rapid development and growth of educational technology and mobile communication technology, many prior studies show that the teaching approaches of English as a second language (ESL) have shifted from in-class instruction, to computer-assisted instruction (CAI), to mobile-assisted language learning (MALL). This study aims to establish a mobile-assisted language teaching (MALT) model by analyzing two small scale studies involving the mobile application, LINE, to assist in ESL learners' general and English for specific purposes (ESP) learning. Regardless of length of the mobile-assisted language instructions in the two cases, the results show that the students made progress in their English performance and their English learning motivation, thus enhancing their attitudes. The MALT model generated from the two cases can aid teachers and researchers in the fields of ESL, ESP, TESOL, and educational technology in enhancing their teaching efficiency and students' learning performance.
{"title":"Establishment of a Mobile-Assisted Language Teaching Model for English Teachers of Technological Universities and Colleges","authors":"Ru-Chu Shih, Charles Papa, Tsai-Feng Cheng","doi":"10.1109/RVSP.2013.40","DOIUrl":"https://doi.org/10.1109/RVSP.2013.40","url":null,"abstract":"In the past decades, with the rapid development and growth of educational technology and mobile communication technology, many prior studies show that the teaching approaches of English as a second language (ESL) have shifted from in-class instruction, to computer-assisted instruction (CAI), to mobile-assisted language learning (MALL). This study aims to establish a mobile-assisted language teaching (MALT) model by analyzing two small scale studies involving the mobile application, LINE, to assist in ESL learners' general and English for specific purposes (ESP) learning. Regardless of length of the mobile-assisted language instructions in the two cases, the results show that the students made progress in their English performance and their English learning motivation, thus enhancing their attitudes. The MALT model generated from the two cases can aid teachers and researchers in the fields of ESL, ESP, TESOL, and educational technology in enhancing their teaching efficiency and students' learning performance.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"103 1","pages":"144-147"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77688114","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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