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彭士瑋： 12/15/06-12/22/06

彭士瑋： 12/15/06-12/22/06. Tasks performed last week Research Read the paper Robotic Homework ER-7 Robotic quiz 2 Courses Special topic on control technology   Advanced linear systems Robotics Optimal control Seminar EE seminar (12/18/06) Control seminar ( 12/22/06 ) Meeting

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彭士瑋： 12/15/06-12/22/06

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  1. 彭士瑋：12/15/06-12/22/06 Tasks performed last week Research Read the paper Robotic Homework ER-7 Robotic quiz 2 Courses Special topic on control technology   Advanced linear systems Robotics Optimal control Seminar EE seminar (12/18/06) Control seminar (12/22/06) Meeting Lab meeting (12/22/06) Group meeting (12/22/06) Tasks planned next week Research Read some papers Courses Special topic on control technology Advanced linear systems Robotics Optimal control Seminar EE seminar Control seminar Meeting Lab meeting Group meeting

  2. Research: 12/15/06-12/22/06 Research Robotic Homework ER-7 用C++程式寫出，控制ER-7的程式，並利用RS232，將命令送到ER-7的controller 上，完成用影像當sensor抓取積木，並排起來。 Robotic quiz 2 名詞解釋 Hierarchical paradigm Reactive paradigm Hybrid deliberative Read the paper B. Roy, A. Basmajian, H. H. Asada, “Repositioning of a Rigid Body With a Flexible Sheet andIts Application to an Automated Rehabilitation Bed, ” IEEE Trans. Autom. Sci. Eng. Vol. 2, No. 3 pp. 300-307, July 2005 Framing of problem Control the body location under the following conditions The body does not slip on the sheet The body is in quasi-static equilibrium at all tines The sheet is inextensible The body is assumed to be a rigid cylinder with a smooth, uniform cross section Using free body diagram to analysis tension Friction analysis

  3. Courses: 12/15/06-12/22/06 Special topic on control technology Teacher Prof. Feng-Li Lian Date 10/24/06 Text book Applied nonlinear control by Slotine Li Subject of this week 因為課本的式子，有時候會跳很快，所以需要推導一次，才能知道為什麼會這樣。 The internal dynamics of linear system are related to through a one to one transformation (and thus can serve as states for the system ) 沒辦法操縱到的state，是internal dynamic 下禮拜負責pp.238~ 239

  4. Courses: 12/15/06-12/22/06 • Advanced linear systems • Teacher • Prof. I-Kong Fong • Date • 10/25/06 • Subject of this week • System solution • Periodic case A(t)=A(t+T) for some T>0 • Floquet decomposition • Corollary：A(t) is periodic and commute with • 系統矩陣式periodic，不代表任一個initial condition帶入其solution也會是periodic • 也不是所有periodic solution，都會有initial condition • 共振：系統與input有相同的pole會造成共振，造成不是periodic solution • Time varying System properties • Controllability

  5. Courses: 12/15/06-12/22/06 • Robotics • Teacher • Prof. Li-Chen Fu • Subject of this week • Path Planning • What’s the best way there? • Where have I been? • Where am I? • Spatial Memory • Landmarks • Natural landmark • Artificial landmark • Characteristics of Landmarks • Recognizable • Perceivable for the task • Gateway • Topological Navigation: • Relational • Associative • Spatial Hierarchy • Distinctive Place • Detected from a nearby region • Local Control Strategy • Associative Methods • converts sensor observations into the direction • 機器人學第二次小考 • 名詞解釋 • Hierarchical paradigm • Reactive paradigm • Hybrid deliberative

  6. Courses: 12/15/06-12/22/06 • Optimal control • Teacher • Prof. Fan-Ren Chung • Subject of this week • Free final state closed loop control • Solve Riccati equation • Riccati equation • Numerical • Analytic • Numerical Runny Kutta method • 1st part ：numerical compute • 2nd part ：given initial condition to solve state • 3rd part： • Analytic solution of Riccati equation • Consider Hamiltionian matrix • Proof the solution of Hamiltionian matrix is also the solution of Riccati equation • Review LQR problem • Zero input andLLapunov equation

  7. Seminar: 12/15/06-12/22/06 EE seminar Title DBS衛星電視天線之演進 Speaker 詹長庚 Location 博理103 Date 12/18/06 Key thoughts DBS衛星電視接收系統 Satellite Antenna UVB Satellite Model PC TRDTV Transponders 傳統的單波碟形天線 放大：25dB gain 降頻：950~2150 MHz 近九年的發展 Multiple output LNBF Multiple satellite reception Feed aperature large enough for 2 or 3 LNDB Gain Reduction Ka/Ku Dual Band Requirement Dual integrated feed horm ROD Antenna Flat Plate Antenna 頻寬的需求，提供衛星服務 未來的趨勢 Ka band & Multi-Satellite Co-located multi-band satellite reception Signal separation cross Isolation Low cast Flat antenna for car application Auto tracking flat antenna Conclude RFF IFA RFA

  8. Courses: 12/15/06-12/22/06 • Multi room & PVB Requirement Multiple output LNDB • More channels & HDTV  More band \width  Multi-sat & Ka • Easier for installation & bandwidth saving  One cable • Car application Flat antenna

  9. Seminar: 12/15/06-12/22/06 • Control seminar • Title • Human centric robot assisted recovery environment ---Robot for rehabilitation the upper extremities • Speaker • W. W. Wang • Date • 12/20/06 • Key thoughts • Introduction • 為了乳癌復建，所設計的輔具  Motor function recovery • Why need robot aided arm therapy • A course of rehabilitation • Workspace • 手臂抬舉的動作，是最重要的 • Mechanism design • Safety • No sharp edged • Mechanical end stop • Absolute position sensing potentiometers • Current and speed monitoring collision detection • Emergency stop bouttons Position sensor Force sensor Joint sensor User interface Controller Motor encoder

  10. Seminar: 12/15/06-12/22/06 • Title • An exact method for the stability analysis of time delayed LTI systems • Speaker • Chun-Pi Lin • Date • 12/20/06 • Key thoughts • Introduction • Time delay is common in control problems and it may cause instability • 穩定與不穩定的區間 • Consider the time delayed LTI system • Observations • 不知道會往哪邊跑 • An exact substitution for transcendental function • An exact substitution proposed by Rekasins • Ruth table • Root tendency • Numerical example • 可以得到在某個區域會穩定，而且是解析解，但是過程計算非常複雜 • Conclusion • 可以確定算出之解是精細解 • 複雜計算 • 出現在虛軸的根是有限的，集點會往哪裡跑，跟一開始即點在哪裡的位置有很大的關係 ？ ？ ？ ？

  11. Meeting: 12/15/06-12/22/06 • Lab meeting • Title A Case Study of Highway Traffic Flow Model with 2-D Gaussian Mixture Modeling • Speaker • Chih-Ming Hsu • Key thoughts • Introduction to traffic flow models • Analytical models • Statistical models • Gaussian Mixture Modeling • Mixture Modeling • Gaussian Mixture Modeling • 2-D Gaussian Mixture Modeling • 在標示圖形時，最清楚越好 • 3-D Histogram Projection • 利用數量越多的地方，其面積越大 • Estimation of the traffic flow model • 演算法似乎哪裡有錯誤，因為中間框起來的區域，誤差很大 • Conclusions and Future Work • All traffic flow patterns were estimated with 2D Gaussian Mixture Modeling • Dimension reduced of traffic flow data by using Projection of 3-D histogram • 下禮拜Meeting暫停一次

  12. Meeting: 12/15/06-12/22/06 • Group meeting • 上瑋；看上次軒正報的那篇paper James Gray, “The Mechanism of Locomotion in Snakes,” Journal of Experimental Biology, Vol.23, pp. 101-120, Dec. 1946 • 士瑋：繼續把上次的paper看完

  13. Class timetable

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