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

FPGA realisation of inverse kinematics for biped robot based on CORDIC

[[abstract]]An FPGA realisation structure based on CORDIC is proposed to implement inverse kinematics for a biped robot. First, the angle equations of inverse kinematics for the biped robot are described. Based on these equations represented by the inverse tangent function, the FPGA structure based on two CORDIC operators of circular vectoring and hyperbolic vectoring is proposed and implemented on an FPGA chip. Finally, the comparison of the proposed FPGA realisation and the software realisation to calculate these angle equations is presented to illustrate the effectiveness of the proposed structure.[[notice]]補正完

Soccer robot design for FIRA mirosot league

[[abstract]]In this paper, a soccer robot design method for FLRA MiroSot League is proposed. A control IP that conforms the functionality of the robot soccer game is designed by using VHDL, and the design control IP is implemented on a FPGA chip. The control IP include the following functions: baud rate generator, serial to parallel data extractor based on RS232 protocol, control command decoder, ID selector of soccer robot, plus width modulation (PWM) generator, and motor feedback signal analysis. Some simulation results of the MAX+PLUSII are given to demonstrate the functionality of the control IP. From practical test, we can see that the implemented robot indeed meets the basic terms of multi-function and high efficiency for the robot soccer game.[[conferencetype]]國

Realization of linear defuzzified output via mixed fuzzy logics

The realization of a linear defuzzified output of a fuzzy controller by appropriate choice of each component of the fuzzy controller is discussed. The fuzzy controller with a simplified fuzzy reasoning method is described. The linear defuzzified output of the fuzzy controller is discussed, where arbitrary numbers of triangular fuzzy numbers are employed to fuzzify the linguistic variables in fuzzy control rules. Using three mixed fuzzy logics, the author shows that the defuzzified output can be precisely equivalent to a linear function of all the inputs to the fuzzy controller[[abstract]]The realization of a linear defuzzified output of a fuzzy controller by appropriate choice of each component of the fuzzy controller is discussed. The fuzzy controller with a simplified fuzzy reasoning method is described. The linear defuzzified output of the fuzzy controller is discussed, where arbitrary numbers of triangular fuzzy numbers are employed to fuzzify the linguistic variables in fuzzy control rules. Using three mixed fuzzy logics, the author shows that the defuzzified output can be precisely equivalent to a linear function of all the inputs to the fuzzy controller[[conferencetype]]國際[[conferencedate]]19930328~19930401[[booktype]]紙本[[conferencelocation]]San Francisco, United State

Remote controlled game platform by USB joysticks

[[abstract]]In this paper, a designed and implemented method of a robot soccer game platform is proposed. This platform includes three main parts: (a) four joysticks and each with an USB connector, (b) a transmission electric board with four USB connection ports, and (c) four omni-directional mobile robots with three-wheel mechanism. Players can control the omni-directional robot to play a soccer game by using USB joysticks through the wireless communication.[[conferencetype]]國際[[conferencelocation]]Taipei, Taiwa

Omnidirectional Vision-based Robot Localization on Soccer Field by Particle Filter

[[abstract]]An omnidirectional vision-based localization method based on the particle Alter is proposed to achieve the location of robot on a soccer field in this paper. Two kinds of sensor information are considered in the method to let the robot on the soccer field can estimate its location and then to decide an appropriate strategy. One is the robot action sensor information obtained by the motor's feedback and the other is the observation sensor information obtained by the image captured by an omnidirectional vision system. The action sensor information is used to expect the robot location distribution. The location distribution is represented by particles. The omnidirectional image is used to observe the environment information. The differences between these particles location's environment information and the robot observation environment information are considered to calculate the belief values of particles. Then the posture of the particle with the highest belief is used to be the estimated posture of the robot. Some experimental results are presented to illustrate the effectiveness of the proposed method.[[conferencetype]]國際[[conferencedate]]20100818~20100821[[iscallforpapers]]Y[[conferencelocation]]Taipei, Taiwa

Static Balancing Control of Humanoid Robot based on Accelerometer

[[abstract]]A static balancing control method is proposed and implemented on a humanoid robot so that the robot can stand and balance on a plane. A small-size humanoid robot named TWNHR-IV with 26 degree-of-freedom (DOF) is implemented. A 3-axis accelerometer is installed on TWNHR-IV to obtain the x-axis, y-axis, and z-axis accelerations of TWNHR-IV. Based on the obtained information from the 3-axis accelerometer, a system structure with two two-input-and-one-output fuzzy systems is proposed. The acceleration and the accelerationpsilas variation of the x-axis obtained by the 3-axis accelerometer are considered to be the inputs of forward-and-backward fuzzy system. The acceleration and the accelerationpsilas variation of the y-axis are considered to be the inputs of right-and-left fuzzy system. Some practical tests are presented to illustrate the proposed method can let the humanoid robot stand and balance on a plane.[[conferencetype]]國際[[conferencelocation]]Tokyo, Japa

Design of fuzzy control systems with a switching grey prediction

[[abstract]]A switching grey prediction fuzzy control system structure is proposed in this paper. In the design of the switching grey predictor, we divide the system response into some regions and propose a switching mechanism so that different forecasting step-size is given in the different region to simultaneously improve the transient and steady state responses of the controlled system. Moreover, we apply simulated annealing to find the appropriate parameter values so that the controlled system has a high control performance. Finally, simulation results of the inverted pendulum system are provided to prove the efficiency of the proposed methods[[conferencetype]]國際[[conferencedate]]19980504~19980509[[conferencedate]]Anchorage, AK, USA[[iscallforpapers]]