Optimal PID Controller Design for AVR System

99學年度翁慶昌研究獎補助論文[[abstract]]In this paper, a real-valued genetic algorithm (RGA) and a particle swarm optimization (PSO) algorithm with a new fitness function method are proposed to design a PID controller for the Automatic Voltage Regulator (AVR) system. The proposed fitness function can let the RGA and PSO algorithm search a high-quality solution effectively and improve the transient response of the controlled system. The proposed algorithms are applied in the PID controller design for the AVR system. Some simulation and comparison results are presented.We can see that the proposed RGA and PSO algorithm with this new fitness function can find a PID control parameter set effectively so that the controlled AVR system has a better control performance.[[notice]]補正完畢[[incitationindex]]EI[[booktype]]紙

Obstacle Avoidance Design for Humanoid Robot Based on Four Infrared Sensors

[[abstract]]A behavior strategy of humanoid robot for obstacle avoidance based on four infrared sensors is proposed and implemented on an autonomous humanoid robot. A mechanical structure with 26 degrees of freedom is design so that an implemented small-size humanoid robot named TWNHR-Ⅲ is able to accomplish five walking motions. Three walking experiments are presented to illustrate that the proposed biped structure lets TWNHR-Ⅲ can move forward, turn, and slip. One electronic compass and four infrared sensors are mounted on TWNHR-Ⅲ to obtain the head direction of the robot and detect obstacles, respectively. Based on the obtained information from these sensors, a decision tree method is proposed to decide one behavior from five movements: walk forward, turn right and left, and slip right and left. Two MATLAB simulations and one real experiment are presented to illustrate that the robot can avoid obstacles autonomously and go to the destination effectively.[[notice]]補正完畢[[incitationindex]]EI[[booktype]]紙

Design and implementation of vision-based fuzzy obstacle avoidance method on humanoid robot

100學年度研究獎補助論文[[abstract]]A vision-based fuzzy obstacle avoidance method is designed and implemented on a humanoid robot so that it can avoid obstacles successfully and arrive at the terminal area effectively. A humanoid robot with 23 degrees of freedom is implemented so that it can execute six basic walking motions. One vision system and one electronic compass are installed on the robot to obtain the environment information so that it can obtain the environment information to be an autonomous mobile robot. In order to avoid obstacle successfully, the minimal distance between the robot and the obstacles in the moving direction measured from the captured image of the vision system is considered as a dangerous factor in the moving direction. In order to attend at the terminal area effectively, the angle difference between the goal direction and the moving direction of the robot measured from the electronic compass is considered as a helpful factor in the moving direction. The dangerous factor and the helpful factor are considered to be two inputs of the proposed fuzzy system to evaluate the feasibility of each motion so that one of the six motions with a highest value is selected to be the next motion in every decision. Some simulation results in four different environments by placing different number of obstacles and one practical experiment of a difficult environment are presented to illustrate the effectiveness of the proposed method.[[incitationindex]]SCI[[booktype]]紙

Design and implementation of an autonomous robot soccer system

[[abstract]]A design and implementation method of a robot soccer system with three vision-based autonomous robots is proposed in this paper. A hierarchical architecture with four independent layers: (a) information layer, (b) strategy layer, (c) tactic layer, and (d) execution layer, is proposed to construct a flexible and robust vision-based autonomous robot soccer system efficiently. Five mechanisms, including (a) two-dimensional neck mechanism, (b) dribble mechanism, (c) shoot mechanism, (d) aim mechanism, and (e) flexible move mechanism, are proposed to let the robot with multiple functions to win the game. A method based on the obtained data from a compass and a vision sensor is proposed to determine the location of the robot on the field. In the strategy design, a hierarchical architecture of decision based on the finite-state transition mechanism for the field players and the goalkeeper is proposed to solve varied situations in the robot soccer game. Three vision-based robots are implemented and some real competition results in FIRA Cup are presented to illustrate the validity and feasibility of the proposed method in the autonomous robot soccer system design.[[notice]]補正完畢[[incitationindex]]SCI[[incitationindex]]EI[[booktype]]紙本[[booktype]]電子

Switching-type PD-PI controller design by HEA for AVR system

[[abstract]]In this paper, a switching-type PD-PI controller (SWPD-PI) is proposed and a parameter selection method based on a hybrid evolution algorithm (HEA) is used to select the control parameters effectively for an automatic voltage regulator (AVR) system. The proposed switching-type PD-PI control structure combines improved transient response and reduction of steady state error to produce good global response. In the selections of parameters, HEA is applied to select an appropriate switching value and the control parameters in PD and PI controllers so that the controlled system may have good performance. In the selection of the fitness function, a new evaluation method for system performance is applied so that evolution algorithms can effectively find an appropriate parameter set. Finally, the proposed method is applied in the AVR system. From some simulation and comparison results, we can see that the proposed parameter selection method can effectively find a parameter set for the proposed switching-type PD-PI controller to yield better control performance.[[incitationindex]]SCI[[booktype]]紙本[[booktype]]電子

Fuzzy balancing control of a small-size humanoid robot based on accelerometer

[[abstract]]A fuzzy balancing control method is proposed and implemented on a small-size humanoid robot named TWNHR-IV in this paper. The robot TWNHR-IV is able to stand and balance on an inclined plane by the proposed method. A 3-axis accelerometer is mounted on the robot TWNHR-IV, which has 26 degrees-of-freedom (DOFs), for obtaining the 3-axis accelerations of TWNHR-IV. The proposed fuzzy method includes two two-input-and-one-output fuzzy systems, the forward-and-backward fuzzy system and the right-and-left fuzzy system. Based on the obtained information from the 3-axis accelerometer, the proposed method is able to modify the feet posture to balance TWNHR-IV. Some practical experiments with different inclining situations are presented to illustrate the efficiency of the proposed fuzzy balancing control method.[[notice]]補正完畢[[journaltype]]國內[[incitationindex]]SCI[[incitationindex]]EI[[ispeerreviewed]]Y[[booktype]]紙本[[countrycodes]]TW

A Novel Image-Based Object Orientation Algorithm for Robotic Manipulator Applications.

[[booktype]]電子