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SICE Annual Conference 2010, Proceedings of

Date 18-21 Aug. 2010

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Displaying Results 1 - 25 of 721
  • [Title page]

    Publication Year: 2010 , Page(s): 1
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  • [Copyright notice]

    Publication Year: 2010 , Page(s): 1
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  • Welcome to SICE 2010 in Taipei, Taiwan

    Publication Year: 2010 , Page(s): 1 - 33
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  • Committees

    Publication Year: 2010 , Page(s): 5 - 7
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  • Nanoscale servo control

    Publication Year: 2010 , Page(s): 1 - 125
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  • Interactive session I

    Publication Year: 2010 , Page(s): 1 - 14
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  • Short span seeking control system of hard disk drives based on pivot friction compensation

    Publication Year: 2010 , Page(s): 1 - 6
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (758 KB) |  | HTML iconHTML  

    In this paper, we propose a precise short-span seeking control system based on the pivot friction compensation. The proposed compensator consists of the feed forward compensation with perfect tracking control method and feedback compensation with optimum friction compensation. The effectiveness of the proposed compensator is verified by using numerical simulation. View full abstract»

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  • Torque disturbance rejection improvement by voltage mode control using current driver

    Publication Year: 2010 , Page(s): 7 - 8
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (136 KB) |  | HTML iconHTML  

    This paper introduces an alternative method of voltage based actuator control providing a driver for DC motor or Voice Coil Motor (VCM) with current source and local voltage feedback by activating the back electromotive voltage. The existing method also proposed by the author provides a voltage source and a local current feedback reducing the VCM impedance in appearance in order to suppress the torque disturbances such as nonlinear friction of pivot bearing, flexible cable tension, and spinning disk windage. This method allows servo controller designers to choose either of a voltage source or a current source for the driver in order to target sub-nano meter positioning accuracy. View full abstract»

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  • Friction compensation based on the LuGre friction model

    Publication Year: 2010 , Page(s): 9 - 12
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (175 KB) |  | HTML iconHTML  

    This article proposes two types of simple disturbance observers for friction compensation. The proposed observers are based on the LuGre friction model. One observer directly uses the LuGre model as a design base, where the LuGre model is locally linearized and observer gains are derived from the linearized model. The other one is based on a type-1 disturbance observer with the LuGre model. In the later case, the LuGre model is used in a feedforward manner. Simple simulation to evaluate positioning accuracy of observer-based state feedback control systems were conducted, and the results showed that both observers worked well for cancelling friction force in the presence of plant parameter perturbations. View full abstract»

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  • FIR optimization control for external vibration in self servo track writer

    Publication Year: 2010 , Page(s): 13 - 17
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (2243 KB) |  | HTML iconHTML  

    In hard disk drive manufacturing, the servo tracks are written with the equipment of servo track writer. External vibrations during servo track writing process give rise to servo track writing error. The servo track writing error can cause some critical errors during data writing operation. This paper proposes two control schemes using an effective Finite Impulse Response (FIR) compensator to attenuate external vibrations based on optimization technique. The former aims to decrease the error in each frequency by minimizing the sensitivity transfer function from command/disturbance to error. It is constructed in a feedback control loop without any sensor to detect vibrations. The latter is also designed in the frequency domain with a slightly different objective function. Here the designed compensator is constructed in a feedforward scheme with a use of accelerometer to measure vibrations. Without a mathematical model of the system, the FIR compensator from the two structures can be practically designed by using the experimental data of the system. The more number of gains used in the compensator design, the better the performance. Weighting functions are applied to emphasize on the addressed frequencies where the vibrations usually dominate. View full abstract»

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  • Final-state control satisfying jerk continuity

    Publication Year: 2010 , Page(s): 18 - 21
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (170 KB) |  | HTML iconHTML  

    This paper proposes FSC and FFSC methods in which the jerk continuity is satisfied at the final time only. Since the method does not impose the jerk continuity at the initial time, a settling performance can be improved without a significant increase of the maximum absolute value of control input. The effectiveness of the proposed method is evaluated by simulations by comparing with the conventional method. View full abstract»

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  • Precision motion control of a nano stage using repetitive control and double-feedforward compensation

    Publication Year: 2010 , Page(s): 22 - 29
    Cited by:  Papers (6)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (1167 KB) |  | HTML iconHTML  

    This article presents precision motion control of an XY nano stage using repetitive control and double-feedforward compensation. The XY nano stage is composed of two piezoelectric actuators within a leaf spring mechanism. This study applies a repetitive controller and a Proportional-Integral-Derivative controller to achieve precision trajectory tracking. Moreover, the investigation applies a double-feedforward compensation approach that integrates a Zero-Phase-Error-Tracking-Controller, based on an inverse Prandtl-Ishlinskii model, to improve tracking control performance further. Performance analysis and comparison with experimental results demonstrate that the proposed control structure improves dynamic tracking accuracy of the XY nano stage. View full abstract»

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  • Device collaboration in smarthomes as service delivery

    Publication Year: 2010 , Page(s): 30 - 34
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (646 KB) |  | HTML iconHTML  

    Research in having a service robot resides in a home setting is now a common practice, and the interaction between a robot and its environment becomes an important issue. A smart home is considered a natural setting for a robot to interact with. Providing services in a smart home is one of many challenges associated with digital homes concerning better ways to control devices. This research introduces an example of using service-oriented computing in a smart home setting. The devices in the smart home are treated as basic services, and the services provided to the users are composite services based on such basic services. The system architecture is implemented with OSGi, and the service composition is based on planning approach that is common in artificial intelligence. We then propose a way to extend such design to incorporate a robot in this environment. View full abstract»

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  • Using U-Bot for RoboCup@home

    Publication Year: 2010 , Page(s): 35 - 36
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (1122 KB) |  | HTML iconHTML  

    In 2006 the RoboCup@home league was founded as part of the RoboCup competition. Different from other robot competitions the venue is placed in an everyday human environment, where the robot has to perform a set of service tasks. Basing on the mobile U-Bot platform manufactured by the Taiwanese Industrial Technology Research Institute (ITRI) we design an integrated mobile robot in order to participate at this competition. One principle of our team is to use only open source software. View full abstract»

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  • A visual surveillance system for mobile robot using omnidirectional and PTZ cameras

    Publication Year: 2010 , Page(s): 37 - 42
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (1621 KB) |  | HTML iconHTML  

    This paper presents a visual surveillance system for mobile robots using omnidirectional and PTZ cameras. By combining the advantages of these two types of cameras, it provides not only the surveillance of the surrounding area of the robot, but also observe every corner of the indoor environment. Furthermore, the system is mounted on a mobile robot platform, which is able to move around the environment under the user's command. The applications of the presented system are the detection and tracking of moving object in the environment. Since the omnidirectional camera can observe the surrounding regions of the robot, the detection and tracking are more stable. When the omnidirectional camera detects the object, the PTZ camera is used to detect the object's face. The mobile robot can then follow the object for navigation. View full abstract»

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  • A humanoid robot designed for HuroCup competition

    Publication Year: 2010 , Page(s): 43 - 47
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (951 KB) |  | HTML iconHTML  

    About human capability, running is not faster than leopards, force is not stronger than elephants, and son on. But compared with total capability, human is the best in the world. Therefore, HuroCup league in FIRA (Federation International Robotics Association) aims at design of humanoid robot for a full capability like human. Until FIRA2010 in Korea, HuroCup organizes eight events including Sprint, Penalty Kick, Basketball, Weight Lifting, Obstacle Run, Lift and Carry, Marathon, and Wall Climbing [4]. All of the teams pursue to have a full capability humanoid robot under the roadmap of HuroCup league. In this paper, the Humanoid robot designed by the team from National Kaohsiung First University of Science and Technology (NKFUST) is described. NKFUST team got the second place of FIRA 2010 HuroCup in Korea. The running of HuroCup competition is also included. View full abstract»

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  • T-S fuzzy control for magnetic levitation systems using quantum particle swarm optimization

    Publication Year: 2010 , Page(s): 48 - 53
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (143 KB) |  | HTML iconHTML  

    This paper proposed the design of T-S fuzzy control for magnetic levitation systems. The maglev systems are linearized at the equilibrium point first. Then the error state equations are derived and the proportional integral (PI) controller is applied to eliminate the steady-state tracking error. The nonlinear dynamic equations of the magnetic levitation systems are represented by a T-S fuzzy model. The optimal gains are found by using particle swarm optimization (PSO) and quantum particle swarm optimization (QPSO) respectively. The stability of the system is guaranteed by linear matrix inequalities (LMI) from Lyapunov approach. Computer simulations demonstrate the effectiveness of this design. View full abstract»

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  • Feature extraction of visual evoked potentials using state-space model

    Publication Year: 2010 , Page(s): 54 - 57
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (141 KB) |  | HTML iconHTML  

    Recently, there are many studies on brain computer interface (BCI) system and some use EEG response at oddball paradigms. The aim of this study is to extract the features from the EEG signal speedy and safety. In this paper, we construct the state-space model of the EEG signal, and report the results to extract the features from the EEG signal included (or not included) VEP. It is confirmed that a significant difference about signal-to-noise ratio (SNR) between the measured EEG signal included VEP and one not included VEP. Effective information is obtained from the EEG signal near of the occipital area. View full abstract»

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  • Feature extraction from EEG signals in SSVEP spelling system

    Publication Year: 2010 , Page(s): 58 - 62
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (781 KB) |  | HTML iconHTML  

    It is known that Electroencephalograph (EEG) signal shows specific responses according to the event (e.g. visual stimulus, cognition and motor imagery). Especially, by classifying short time EEG signal, features are used to control an electronic device (such system is called brain computer interface: BCI). In this study, we tried to construct SSVEP type EEG spelling system which uses response with cycle visual stimulus. Feature extraction methods from EEG signal during visual stimulus are discussed. View full abstract»

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  • Asymptotic stability of neutral functional differential equation model of genetic regulatory networks with time-varying delays

    Publication Year: 2010 , Page(s): 63 - 68
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (156 KB) |  | HTML iconHTML  

    In this paper we study the asymptotic stability of neutral functional differential equation (NFDE) model of genetic regulatory networks (GRNs) with time-varying delays. It is assumed that time varying delays belong to the predefined intervals. SUM regulatory logic was used for the modeling of the effects from other genes. We consider not only time delayed concentration of messenger ribonucleic acid (mRNA) and protein but also the derivative of time delayed concentration of mRNA. We derive sufficient stability conditions in forms of linear matrix inequalities (LMI) for given GRNs system. Simulation results and illustrative examples are included. View full abstract»

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  • Estimation of noisy gene regulatory networks

    Publication Year: 2010 , Page(s): 69 - 74
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (182 KB) |  | HTML iconHTML  

    Biological systems possess highly complex characteristics which are usually nonlinear and stochastic. How to estimate the states of that kind of systems is attractive to control engineers when the sensors are unavailable to measure desired information. In this paper, a robust estimation scheme based on the extended Kalman filter to estimate the state variables of a class of noisy gene regulatory networks are presented while the protein concentration is not individually measured. A numerical simulation is provided to confirm the proposed method. View full abstract»

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  • An OP-based potantiostat used in electrochemical bio-detection systems

    Publication Year: 2010 , Page(s): 75 - 79
    Cited by:  Papers (3)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (592 KB) |  | HTML iconHTML  

    In the paper, the electrochemical sensor consists of the potantiostat with glucose test strip electrode and the automatic test system to readout the electronic signal related to the concentration of Glucose is proposed. The structure of an Op-based potentiostat is improved, analyzed, and implemented. The working operations are very complicated, and having some processing property. These performances will directly influence to oxidation-reduction reaction through the cyclic voltammetry bounded from 0.4V to -1.4V is added on the three-electrode. The readout circuit of potentiostat is successfully designed and simulated by HSPICE. The readout data is automatically accessed by the NI DAQ card and the coordinated Labview programming the test schedule to control the related instrumentation with GPIP to obtain the experiment result for various glucose concentrations. The glucose detection system associated with the improved Op-based potentiostat and an automatic test system is realized. The objective of this paper was to investigate the improved OP-based three-electrode potentiostat used in electrochemical glucose biosensor system to obtain the measurement results with high-linearity response. The experiment result show that the potentiostat is produced more linearity output range of voltage from 4.4V to 0.6V corresponding to the measured concentration of glucose due to 50-600mg/dl, respectively. The architecture of the potentiostat can be intergraded for VLSI design. There have a great potential in the biological detection system for the health-care and bio-medicine applications. View full abstract»

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  • Optimal mapping of torus self-organizing map for forearm motion discrimination based on EMG

    Publication Year: 2010 , Page(s): 80 - 83
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (495 KB) |  | HTML iconHTML  

    This paper describes an optimal mapping of the torus self-organizing map for a human forearm motion discrimination based on the myoelectric signal. The high precision motion discrimination is necessary for the artificial hand control. This study proposes the mapping method of SOM that the learning result of the same motion concentrates on one place and the learning result group of each motion separates. As a result, the variance in the same motion group becomes small, and the variance between each motion groups becomes big. Some experiments on the myoelectric hand simulator show the effectiveness of the proposed motion discrimination method. View full abstract»

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  • Cell segmentation from phase-contrast images using hybrid watershed and region growing algorithm for genomic drug discovery

    Publication Year: 2010 , Page(s): 84 - 88
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (1007 KB) |  | HTML iconHTML  

    Currently the existing computer analysis system for genomic drug discovery does not take it in to account that when cells are examined microscopically, excitation light or phosphor that is used on this occasion affects them adversely. We focused attention on phase microscope which can observe cells noninvasively. Until now, phase-contrast image has been difficult to process because recognition rate varies according to conditions, and for this, appropriate analyzing system has not been established. The study succeeded location of almost all cells. Moreover, we could segment 70 or 80 percent of those cells using hybrid watershed and region growing algorithm. View full abstract»

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  • 3-Dimensional analysis of nystagmus using video and image processing

    Publication Year: 2010 , Page(s): 89 - 91
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (1135 KB) |  | HTML iconHTML  

    Vertigo is a common disease, however the cause is very complex and wide-ranged. So, high knowledge and skills are indispensable to diagnose vertigo accurately. Based on these backgrounds, this study aims at developing simple method for diagnosing vertigo, which analyzes nystagmus by image processing. The algorithm for analyzing nystagmus can be divided into three stages: 1. Detect pupil, 2. Extract iris pattern, 3. Calculate rotation angle of torsional nystagmus by phase only correlation. By this proposal method, we succeeded to track three-dimensional eye movement. View full abstract»

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