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Design of the Multiple-rate Robust Controller for Wireless Networked Control Systems
Chien-Liang Lai,Pau-Lo Hsu 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper integrates the IEEE 802.11g ad-hoc wireless network and the control area network (CAN) in the present network control systems (NCS) or wireless-NCS (WNCS). Both the TCP and the CAN protocols are adopted as the communication gateway in a remote control system. The time delay between the application layer of the client and the application layer of the remote control target has been measured and analyzed in this paper. Experimental results on an AC 400W servo motor indicate that the communication jam mainly causes the instability due to the induced time delay. In this paper, by applying the adaptive Smith predictor with the switching sampling time, satisfactory control performance of WNCS can be obtained even though the time delay seriously increases. Moreover, the feasibility of the proposed WNCS has been proven through experimental results.
The Real-time Video Stabilization for the Rescue Robot
Jen-Pin Hsiao,Cheng-Chung Hsu,Tzu-Chiang Shih,Pau-Lo Hsu,Syh-Shiuh Yeh,Bor-Chyun Wang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
When rescue robots navigate in a rough terrain, significant vibration of the video occurs unavoidably and a video stabilization system is proposed in this paper to reduce the disturbance on the visual system of the present rescue robots. The Kalman filter is applied to estimate the motion vector of the robot and the false estimation occurrence can be thus greatly reduced by applying analysis of correlation and variance of the motion vector estimation. With a hierarchical searching algorithm implemented on the TI DSP 6437, the frame rate can be improved from 10 fps to 28 fps to realize the real-time video stabilization and furthermore, the cooperative mission of multiple rescue robots has been achieved by applying the developed visual servo technique. The proposed virtual bounded motion control algorithm further leads the robots approaching the target precisely with cooperation of multiple rescue robots. The demo video is available at: http://lab816.cn.nctu.edu.tw/DemoVideo/.