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Application of Instantaneous Cantilever Frequency Fluctuation in Atomic Force Microscope Control Loop |
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Peter I-Tsyuen Chang, Zi-Cheng Shu(National Taiwan University of Science and Technology, Taiwan) |
| Transient signal captured from Atomic Force Microscopy system is studied in this paper for its instantaneous frequency component, through Empirical Model Decomposition, where this signal contains rich information of the contact dynamics and atomic force interaction between the sample surface and probe. A feedback control loop is applied to the said signal for frequency feedback and opening new possibilities to this area through simulation. |
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Adaptive Tracking Control for Quadrotor System with Dynamic Uncertainty |
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Yen-Chen Liu, Tsung-Wei Ou(National Cheng Kung University, Taiwan) |
| In this paper, we propose an adaptive backstepping control for quadrotor system to follow a trajectory in
the presence of dynamic uncertainty. Nonlinear tracking controller for quadrotor system has been developed previously with the assumption of known system parameters; however, these parameters are difficult to obtain accurately. In this paper, adaptive control algorithms are developed with backstepping control to ensure stability and tracking performance of quadrotors without the knowledge of dynamic parameters. |
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Interactive Reinforcement Learning based Socially Assistive Robot for the Emotional Support of Children |
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Edwinn Gamborino, Li-Chen Fu(National Taiwan University, Taiwan) |
| In this work, we explore the feasibility of using a robot to socially engage with children and improve their mood. Facial features of the child are used to determine their emotional reaction to a behavior performed by the robot. Leveraging the expertise of a human trainer, the action-planning module learns which actions have the largest impact on the child's mood. We validated the impact of the robot on elementary school aged children. Results show that the robot can learn online which actions have the greatest impact and that this method can be used as a therapy tool for children in distress. |
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A numerical study of nonlinear dynamics in electric power systems |
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Der-Cherng Liaw, Hung-Tse Lee, Yun-Hua Huang(National Chiao Tung University, Taiwan) |
| Dynamical analysis of the electric power systems is presented in the paper. Based on a preliminary study (Liaw et al, 2005), we re-visit the possible nonlinear behavior occurred in the power system dynamics. It is achieved by using a different example system and numerical simulations. The effect of the tap changer ratio on the occurrence of bifurcation phenomena related to the voltage collapse of power systems are obtained, which reveals the importance of the setting value of the tap changer ratio. |
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