Modeling and Control for a Thermal Barrel in Plastic Molding Processes

[[abstract]]In this paper, a new approach is proposed to model and control the temperature of a thermal barrel of a plastic molding machine. Usually the thermal barrel behavior is expressed in terms of a parameterized linear model to be used in control strategies design. We establish a new model based on the structure of a Takagi-Sugeno fuzzy system, and utilize the clustering method to generate the rule base of the fuzzy system. The proposed methodology is shown to be more effective than a conventional method in constructing system models. Meanwhile, the developed fuzzy model may provide a more accurate output prediction than conventional linear models suggested in the literature. In order to evaluate the control performance, the thermal models are integrated into the Internal Model Controller to control the temperature of a thermal barrel. The system is subjected to a step input and the responses depict the control performance of the models. The fuzzy model shows excellent performance in the step response, while the linear model has an oscillatory output at steady state. The proposed fuzzy model has the capability of application to control temperature in a plastic molding process.[[incitationindex]]EI[[booktype]]紙

Design of an Action Select Mechanism for Soccer Robot Systems Using Artificial Immune Network

[[abstract]]In a small-size robot soccer game, the game strategy is implemented by two major procedures, namely, Role Selection Mechanism (RSM) and Action Select Mechanism (ASM). In role-select procedure, a formation is planned for the soccer team and a role is assigned to each individual robot. In action-select procedure, each robot executes an action provided by an action selection mechanism to fulfill its role-playing. The RSM was often designed efficiently by using the geometry approach. However, the ASM developed based on geometry approach will become a very complex procedure. In this paper, a novel ASM for soccer robots is proposed by using the concepts of artificial immune network (AIN). This AIN-based ASM provides an efficient and robust algorithm for robot role select. Meanwhile, a reinforcement learning mechanism is applied in the proposed ASM to enhance the response of the adaptive immune system. Simulation and experiment are carried out in this paper to verify the proposed AIN-based ASM and the results show that the proposed algorithm provide an efficient and applicable algorithm for mobile robots to play soccer game.[[notice]]補正完畢[[incitationindex]]EI[[booktype]]紙

Dynamic Object Tracking Control for a Non-Holonomic Wheeled Autonomous Robot

[[abstract]]This paper is devoted to design and implement a non-holonomic wheeled mobile robot that possesses dynamic object-tracking capability by using real-time image processing. Two motion control laws are proposed using Lyapunov’s direct method and computed-torque method. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the mobile robot developed in this paper is composed of a Windows based personal computer, Programmable Interface Controllers, a mobile robot, and an omni-directional vision system. Finally, the image-based real-time implementation experiments of the mobile robot demonstrate the feasibility and effectiveness of the proposed schemes.[[incitationindex]]EI[[booktype]]紙本[[booktype]]電子

Monocular SLAM for a Small-size Humanoid Robot

100學年度研究獎補助論文[[abstract]]The paper presents a algorithm of visual simultaneous localization and mapping (vSLAM) for a small-size humanoid robot. The algorithm includes the procedures of image feature detection, good feature selection, image depth calculation, and feature state estimation. To ensure robust feature detection and tracking, the procedure is improved by utilizing the method of Speeded Up Robust Features (SURF). Meanwhile, the procedures of image depth calculation and state estimation are integrated in an extended Kalman filter (EKF) based estimation algorithm. All the computation schemes of the visual SLAM are implemented on a small-size humanoid robot with low-cost Window-based PC. Experimentation is performed and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM in the environments.[[notice]]補正完畢[[incitationindex]]EI[[booktype]]紙

Data Association and Map Management for Robot SLAM using Local Invariant Features

[[abstract]]To build a persistent map with visual landmarks is one of the most important steps for implementing the visual simultaneous localization and mapping (SLAM). The corner detector is a common method utilized to detect visual landmarks for constructing a map of the environment. However, due to the scalevariant characteristic of corner detection, extensive computational cost is needed to recover the scale and orientation of corner features in SLAM tasks. The purpose of this paper is to build the map using a local invariant feature detector, namely speeded-up robust features (SURF), to detect scale- and orientation-invariant features as well as provide a robust representation of visual landmarks for SLAM. The procedures of detection, description and matching of regular SURF algorithms are modified in this paper in order to provide a robust data-association of visual landmarks in SLAM. Furthermore, the effective method of map management for SURF features in SLAM is also designed to improve the accuracy of robot state estimation.[[notice]]補正完畢[[conferencetype]]國際[[conferencedate]]20130804~20130807[[booktype]]電子版[[iscallforpapers]]Y[[conferencelocation]]Takamatsu, Japa

Calibration of RGB-D sensors for Robot SLAM

[[abstract]]This paper presents a calibration procedure for a Kinect RGB-D sensor and its application to robot simultaneous localization and mapping (SLAM). The calibration procedure consists of two stages: in the first stage, the RGB image is aligned with the depth image by using the bilinear interpolation. The distorted RGB image is further corrected in the second stage. The calibrated RGB-D sensor is used as the sensing device for robot navigation in unknown environment. In SLAM tasks, the speeded-up robust features (SURF) are detected from the RGB image and used as landmarks for the environment map. The depth image could provide the stereo information of each landmark. Meanwhile, the robot estimates its own state and landmark locations by mean of the extended Kalman filter (EKF). The EKF SLAM has been carried out in the paper and the experimental results showed that the Kinect sensors could provide reliable measurement information for mobile robots when navigating in unknown environment.[[notice]]補正完畢[[journaltype]]國外[[incitationindex]]EI[[ispeerreviewed]]Y[[booktype]]電子版[[countrycodes]]CH

Multiple-Obstacle Avoidance in Role Reassignment of Formation Control

[[abstract]]This paper presents an algorithm for multiple-obstacle avoidance and a procedure of the role reassignment for robot formation control. The obstacle avoidance algorithm contains a bitwise logical operator which is utilized to distinguish between single and multiple obstacles in the immediate environment. The role for each robot must be reassigned during a robot formation being switching and the role reassignment procedure is designed based on the spatial relationship between the robots in the formation. Meanwhile, a motion controller is designed in this research based on the kinematics equation of the robots. The developed algorithm and procedure are applied to control the formation of a group omni-directional driven robots. Simulations and experiments are carried out on a real platform to validate the proposed algorithms. The results show that the performance of the integration of the role reassignment procedure with the multiple-obstacle avoidance algorithm is efficient for robot formation control.[[incitationindex]]SCI[[incitationindex]]EI[[booktype]]紙本[[booktype]]電子

Multiple-Obstacle Avoidance and Role Reassignment in Robot Formation Control

[[abstract]]In the paper, an algorithm for the multiple-obstacle avoidance and a procedure of the role reassignment for multiple-robot formation control based on this algorithm are proposed. In this algorithm, an edge detector is utilized to determine the position of vertical edges of the obstacle in the nearby environment. A role reassignment procedure is also developed for formation control of multiple mobile robots by calculating the character cost of each robot. The character cost is related to the degree of difficulty for a robot been assigned a specified character in a formation. The developed algorithm and procedure are applied to the formation control of robots. Simulation and experiment are performed to verify the proposed algorithm and the results show that the performance of the proposed algorithm for obstacle avoidance and procedure for role reassignment are efficient for robot formation control.[[incitationindex]]SCI[[booktype]]紙本[[booktype]]電子

Aerial Robot Simultaneous Localization and Mapping with a Monocular Vision

[[sponsorship]]IEEE[[notice]]補正完畢[[conferencetype]]國際[[conferencedate]]20150902~20150905[[booktype]]電子版[[iscallforpapers]]

Improving Data Association in Robot SLAM with Monocular Vision

[[abstract]]In the paper, an algorithm is proposed for improving the data association in robot visual Simultaneous Localization and Mapping (SLAM). The detection of speeded-up robust feature (SURF) is employed in the algorithm to provide a robust description for image features as well as a better representation of landmarks in the map of a visual SLAM system. Meanwhile, a likelihood-based tracking window and a nearest-neighbor (NN) method are utilized to match the high-dimensional data sets created for SURF. Experiments are carried out on a hand-held camera to verify the performances of the proposed algorithm for dealing with the data association problem in robot visual SLAM. The results show that the integration of the SURF features, the tracking window and the NN method is efficient in reducing the computational time and increasing the rate of successful feature matching.[[notice]]補正完畢[[journaltype]]國內[[incitationindex]]SCI[[booktype]]紙本[[booktype]]電子版[[countrycodes]]TW