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Continuous Finite-Time Fault-Tolerant Control for a Class of Nonlinear Systems |
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Chih-Chiang Chen, Yew-Wen Liang, Lian-Cyun Li(National Chiao Tung University, Taiwan) |
| The paper employs a power integrator technique to study the fault-tolerant control for a class of nonlinear systems. The explicitly presented control law is shown to be continuous and enforces the system states converge to the origin in finite time, even if some allowable actuators experience faults, including total failure, degradation and/or amplification. Due to the continuity characteristic, the chattering drawback resulting from sign-type control law can be effectively attenuated. Application to spacecraft attitude control clearly demonstrate the benefits of the design. |
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Pedestrians and Vehicles Recognition Based on Image Recognition and Laser Distance Detection |
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Sheng Fuu Lin, Chung Han Lee(National Chiao Tung University, Taiwan) |
| In the proposed system, a laser range finder and a webcam are used. A laser range finder which cuts up objects around the car through the breakpoint detection is involved with the distance and azimuth angle information of the surrounding environment. Also, Haar detection is used to extract the related features of the pedestrians and vehicles for image recognition system. It will be more accurate to recognize the pedestrians and vehicles with the information of laser distance. The proposed system can accurately recognize the pedestrians and vehicles according to the experimental results. |
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Learning Human-Robot Collaboration with POMDP |
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Hsien-I Lin, Xuan-Anh Nguyen(National Taipei University of Technology, Taiwan) |
| Modeling and planing a collaborative task for a human and a robot in an unstructured environment is a challenging problem. Most of earlier works simplify the task by assuming exact knowledge of the environment and the human intention, little work has been done on how to plan a collaborative task in the presence of uncertainty. However, there still exists a lot of challenges because of limited perception abilities. To reason explicitly about uncertainty during collaboration between a human and a robot in a household task, we here present a decision making approach for human robot interactivity |
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A Design of IOT platform for Environment Monitoring |
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Der-Cherng Liaw, Jia-Hong Liao, Yu-Chia Chang, Chin-Wen Tung(National Chiao Tung University, Taiwan) |
| In this paper, we propose a design of IOT platform for environment monitoring. It is consisted of five major modules, which include the Bluetooth device interface, Wifi network interface, database and main control board. The web-based App on cell-phone is also developed for the application usage. An example study of laboratory usage demonstrates the success of the proposed design. |
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A Guidance Control Design for Golf-Cart |
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Der-Cherng Liaw, Chih-Hsiang Tsai, Chieh Tsao, Chin-Wen Tung(National Chiao Tung University, Taiwan) |
| In this paper, we adopt our previous design of vehicle guidance control laws from (Liaw et al, 2016) to control the motion of a commercial Golf-cart. Based on the previous designed algorithm, the Golf-cart will be autonomously driven to follow a designated route. The major tasks of this study is to build up the required hardware interfacing and software codes, which will then be used to control the motion of the Golf-cart. Experimental results have demonstrated the success of the design. |
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Hybrid Visual Servoing Design for a Continuum Robot under Visibility Constraint and Voice Commands |
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Kai-Tai Song, Chien-Yu Wu(National Chiao Tung University, Taiwan) |
| This paper presents a method to combine voice control and hybrid visual servoing for a continuum robot. In this design, the continuum robot autonomously tracks the element of interest and maintains its position in the safe region based on image information. A method of hybrid visual servoing is proposed to integrate 2D image-based visual servoing (IBVS) to ensure the elements of interests under visibility constraints and 3D position-based visual servoing (PBVS) to adjust the robot to a desired pose in the constraint region. The robotic camera thus provides stable image while tracking the eleme |
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