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Intelligent Adaptive Motion Control for Uncertain Seatless Electric Unicycles
Ching-Chih Tsai,Hong-Seng Yap 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper presents an intelligent adaptive steering control using backstepping, aggregated hierarchical slidingmode control approach and fuzzy basis function networks (FBFN) for seatless electric unicycles. The backstepping hierarchical sliding-mode control approach is used to simultaneously achieve self-balancing and speed control, while the FBFN is employed to on-line learn uncertainties caused by different riders and unknown frictions between the wheel and the terrain surfaces. The performance and merit of the proposed method are well exemplified by conducting two simulations on a laboratory-built electric unicycle. Experimental results show consistent steering performance of the proposed controller for distinct riders and terrain surfaces.
Interval Type-2 Fuzzy Maximum Power Point Tracking for Solar Photovoltaic Power Charging Systems
Ching-Chih Tsai,Chao-Chun Huang 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper presents an interval type-2 fuzzy maximum power point tracking (IT2FMPPT) control method for a solar photovoltaic (PV) power generation systems with a DC/DC buck converters and a battery charging system. After the brief model descriptions of the solar PV power charging system, the maximum power and its optimal voltage of the system at different illuminations are numerically solved using a Newton-Raphson method. Via the DC/DC buck converter and the current feedback control technique, the proposed MPPT controller is synthesized using PI control and IT2 fuzzy control logics. The asymptotical stability of the overall closed-loop system with the proposed IT2FMPPT controller is investigated in some details. The effectiveness and merit of the proposed IT2FMPPT controller are exemplified by conducting simulations via Matlab/Simulink. Through comparative simulations, the proposed IT2FMPPT controller is shown superior in comparison with a conventional PI MPPT controller and a conventional fuzzy MPPT controller.
Mediating Strategy of Learning for Children of Culturally Diverse and Disadvantage
Ching-Chih Kuo,Lan-Wan Chang,Man-Na Wang 대한사고개발학회 2008 The International Journal of Creativity & Problem Vol.18 No.1
This paper reports a study conducted for a group of students who possessed the learning potential of the gifted but not being identified. The participants of the study comprised twelve aboriginal and six international students of the Chinese ethnicity. They were students in schools in Taiwan. A dynamic assessment model was adopted to enhance strategy learning ability of the students. This model incorporated the graduated prompting assessment model and included the pretest_ mediation_ posttest process. The assessment instruments comprised the New Edition of Chinese Intelligence Battery, the Manual for Dynamic Assessment, and the Recording Sheets. Findings showed that the participants had a wider zone of potential of development (ZPD) in the areas of figural reasoning, visual memory, figural integration and logical reasoning but a narrower ZPD in the aspects of verbal relations, verbal memory and mathematical reasoning. The mean ZPD was 1.5 SD in IQ score. The proposed dynamic assessment seemed to be feasible for discovering the learning potential of culturally diverse gifted and talented students.
Ching-Chih Tsai,Hsiao-Lang Wu 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Passivity and its applications to mechatronic systems have been widely investigated and continuously improved for many years. This paper presents methodologies for adaptive global stabilization and disturbance attenuation of a class of weekly minimum-phase nonlinear uncertain systems, which can be either of nonlinear affine or of relative degree 1. Adaptive passivity-based control (PBC) methods are developed to achieve adaptive stabilization and disturbance attenuation for the systems with some unknown but constant parameters. Sufficient conditions and state regulations are established for showing the closed-loop system to be globally stable. The merit and performance of the proposed methods are exemplified by conducting several simulations on a 2-linked manipulator. The developed techniques may be of interest to professionals working in the field of nonlinear passive control and its applications.
Indirect Adaptive Nonlinear Self-Balancing and Station Keeping for Omnidirectional Riding Chair
Ching-Chih Tsai,Yi-Ping Ciou,Feng-Chun Tai,Hsiao-Lang Wu 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper presents indirect adaptive self-balancing and station keeping control methods using recurrent Wavelet Fuzzy CMAC (RWFCMAC) for an omnidirectional ball-driven chair in presence of significant system uncertainties. By backstepping, sliding-mode control and RWFCMAC, the self-balancing controller is synthesized to follow the rider’s inclination angles in both two axes (x-z and y-z axis), and the station-keeping controller is designed to allow the rider to maintain the vehicle at the same place. The RWFCMAC is designed to online learning the uncertainties caused by riders’ weights and different unknown frictions between the ball and terrain surfaces. The superior performance and merit of the proposed control methods are well exemplified by comparing to two existing controllers.
( Ching-chih Lin ),( Ta-wei Liu ),( Ming-lun Yeh ),( Yi-shan Tsai ),( Pei-chien Tsai ),( Chung-feng Huang ),( Jee-fu Huang ),( Wan-long Chuang ),( Chia-yen Dai ),( Ming-lung Yu ) 대한간학회 2021 Clinical and Molecular Hepatology(대한간학회지) Vol.27 No.2
Background/Aims: Growth hormone (GH) is the main regulator of somatic growth, metabolism, and gender dimorphism in the liver. GH receptor (GHR) signaling in cancer is derived from a large body of evidence, although the GHR signaling pathway involved in the prognosis of hepatocellular carcinoma (HCC) in patients with hepatitis C virus (HCV)-related HCC, remains unclear. We aimed to explore the expression of GHR and analyze its association with clinicopathologic features and prognosis of patients with chronic hepatitis C and HCC. Methods: The expression of GHR mRNA was investigated by quantitative real-time polymerase chain reaction in paired tumors and adjacent non-tumorous (ANT) liver tissues of 200 patients with chronic hepatitis C and HCC. Western blotting and immunofluorescence assays using the HCV-infected Huh7.5.1 cell model was performed. Results: GHR mRNA was significantly lower in HCV-HCC tissues than in corresponding ANT liver tissues. GHR mRNA and protein levels also decreased in the HCV-infected Huh7.5.1 cell model. Notably, lower GHR expression was associated with age of >60 years (P=0.0111) and worse clinicopathologic characteristics, including alpha-fetoprotein >100 ng/mL (P=0.0403), cirrhosis (P=0.0075), vascular invasion (P=0.0052), pathological stage II-IV (P=0.0002), and albumin ≤4.0 g/dL (P=0.0055), which were linked with poor prognosis of HCC. Most importantly, the high incidence of recurrence and poor survival rates in patients with a low ratio of tumor/ANT GHR (≤0.1) were observed, indicating that low expression levels of GHR had great risk for development of HCC in patients with chronic hepatitis C. Conclusions: Our study demonstrates a significant down-regulation of GHR expression as a new unfavorable independent prognostic factor in patients with chronic hepatitis C and HCC. (Clin Mol Hepatol 2021;27:313-328)
Chih-Chang Chang,Hsuan-Kan Chang,Chin-Chu Ko,Ching-Lan Wu,Yi-Hsuan Kuo,Tsung-Hsi Tu,Wen-Cheng Huang,Jau-Ching Wu 대한척추신경외과학회 2023 Neurospine Vol.20 No.1
Objective: Pedicle-based dynamic stabilization (DS) has gained popularity outside of America. Although pedicle screw (PS) loosening has always been a concern, it is reportedly innocuous. Cortical bone trajectory (CBT) screw is an emerging option with less invasiveness and similar effectiveness to PS in short-segment lumbar fusion. This study aimed to verify the use of CBT for DS by comparing the outcomes between pedicle- and CBT-based DS. Methods: Consecutive patients with lumbar spondylosis or low-grade spondylolisthesis who underwent 1- or 2-level DS between L3–5 with a minimum follow-up of 24 months were reviewed. Screw loosening was determined by computed tomography and the incidences were compared. Results: A total of 291 patients who underwent Dynesys DS (235 pedicle- and 56 CBT-based, respectively) were compared. The demographics and preoperative conditions were similar. All the clinical outcomes improved at 24-month postoperation, while the CBT-based group had less operation time and blood loss than the pedicle-based group. The rates of screw loosening were lower in the CBT-based (5.4% per screw and 12.5% per patient) than the pedicle-based group (9% per screw and 26.4% per patient). Furthermore, there were no differences in the clinical outcomes and complication profiles. Conclusion: The CBT-based DS for 1- or 2-level lumbar degeneration demonstrated equivalent clinical improvement as the pedicle-based DS. The adaption of CBT-based screws for DS could be a less invasive approach (shorter operation time and less blood loss), with lower chances of screw loosening than the conventional PS-based DS.
Lin, Ching-Kun,Chen, Hsien-Ching,Li, Rong-Kwei,Chen, Ching-Piao,Tsai, Chih-Hung The Korean Society for Quality Management 2009 The Asian Journal on Quality Vol.10 No.1
Face the process yield rate improvements of motherboard, although general enterprises finish deployment goal of each functions by overall quality managements, through quality improvement methods, industry engineering methods, plan-do-check-act (PDCA) methods and other improvement solutions, but it is only can be improved partially and unable to enhance the yield rate of product to the target. It only can takes one step ahead to enhance the process yield rate of motherboard with six sigma ($6{\sigma}$) overall DMAIC process and tactics. This research aimed to use six sigma quality improvement tactics by DMAIC systematic procedure and tactics, and find the key factors that effect to the process yield rate of surface mount technology. It also identified the keys input and process and output index to satisfy customer requirements and internal process index. The results showed that the major effective factors by fishbone and process failure modes and effects analysis (PFMEA). If the index of input and output that can be quantified, the optimum parameter can be found through design of experiment to ensure that the process is stable. If the factor of input and output that cannot be quantified, we found out the effective countermeasure by Mind_Mapping, make sure whole processes can be controlled stably, to reach the high product quality and enhance the customer satisfaction.