Kai-Tai Song

National Yang Ming Chiao Tung University

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Chia-How Lin

National Yang Ming Chiao Tung University

Chi‐Yi Tsai

Tamkang University

Fu-Sheng Huang

National Yang Ming Chiao Tung University

Jen‐Chao Tai

Minghsin University of Science and Technology

Chia-How Lin

National Yang Ming Chiao Tung University

Jung-Wei Hong

National Yang Ming Chiao Tung University

Ching‐Po Lin

National Yang Ming Chiao Tung University

Szu-Chen Ou

National Yang Ming Chiao Tung University

Chih-Ching Tang

National Yang Ming Chiao Tung University

Hanyoung Park

Daegu Gyeongbuk Institute of Science and Technology

Cooperative Institutions

National Yang Ming Chiao Tung University

Industrial Technology Research Institute

National Health Research Institutes

Minghsin University of Science and Technology

National Taiwan University of Science and Technology

Chinese Academy of Medical Sciences & Peking Union Medical College

Taiwan Semiconductor Manufacturing Company (Taiwan)

Weatherford College

ORCID

Capital Medical University

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Mobile robot intruder detection based on a Zigbee sensor network

Conference proceedings/Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics (2008)

Chia-How Lin Su-Hen Yang Hong-Tze Chen Kai-Tai Song

This paper presents an intruder detection system which consists of a Zigbee sensor network and an autonomous mobile robot. Multiple Zigbee sensor modules installed in the environment can detect intruders and abnormal conditions. Sensor nodes transmit intrusion alarm to the monitoring center as well as the mobile robot via Zigbee wireless mesh network. The robot can navigate in the environment autonomously and approach to a target place using onborad localization system. If any possible intruder is detected, the robot immediately moves to that location and transmits images to remote mobile devices such as PDA or smart phone of security guards and users, in order to determine and response to the situation in real time.

Mobile phone

10.1109/icsmc.2008.4811718

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Citations (13)

Traffic monitoring based on real-time image tracking

Ching‐Po Lin Jen‐Chao Tai Kai-Tai Song

This paper presents a study on a stand-alone image tracking system for automatic traffic monitoring. The proposed image tracker consists of three parts: an edge detection module, an image tracking module and a traffic monitoring module. The edge-detection module is a special designed circuit board, which features fast CCD image processing and feature extraction. Frame rate (60 Hz) edge detection of an image with resolution of 320/spl times/240 pixels is obtained on-board. The image tracking module performs the vehicle tracking in real time. Adopting active contour models and Kalman filtering techniques, we successfully achieved real-time image tracking of multi-lane moving vehicles. The traffic-monitoring module determines the traffic information from the tracked locations of vehicles. The current system provides three types of traffic information: the velocity of multi-lane vehicles, the number of vehicles and car accident detection. Experimental results are presented to demonstrate the real-time tracking of vehicles on an urban artery.

Tracking (education)

Feature (linguistics)

Tracking system

Frame rate

10.1109/robot.2003.1241902

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Citations (39)

Agent-Based Robot Control Design for Multi-Robot Cooperation

Chia-How Lin Kai-Tai Song Gray T. Anderson

This paper presents an agent-based robot control (ARC) architecture. ARC features a flexible real-time control system, which is suitable for multi-robot cooperative tasks. It also provides an efficient platform for building up a multi-robot system consisting of heterogeneous robots. In this paper, an experimental study of this architecture is investigated. A cooperative exploration using two mobile robots will be demonstrated. In this experiment, one robot explores the environment by looking for a color-coded target and the other is responsible for task execution at the target position. While exploring in an unknown environment, the first robot, which is equipped with ultrasonic sensors for exploration, records its position as it sees deployed checkpoints. In a later phase, the second robot plans a path to the target directly using information passed from the first robot and get to the target position in an efficient way.

Mobile Robot Navigation

Personal robot

Social robot

Position (finance)

10.1109/icsmc.2005.1571202

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Citations (12)

Design and implementation of a path tracking controller with the capacity of obstacle avoidance

Kai-Tai Song Y. H. Suen

Obstacle avoidance

Tracking (education)

Source

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Citations (11)

Learning for cooperation in multirobot team competitions

Kai-Tai Song Chih-Ching Tang

We propose a learning architecture for cooperation in multirobot team competitions. This is a fully distributed, behavior-based software architecture, which facilitates flexible and reliable coordination of a team of robots performing tasks that may be subverted by another team of robots. Through the use of genetic algorithms, the robot team learns from past task execution experiences and improves its cooperation between the robots. The team performance in a game competition can be effectively improved. The feasibility of this architecture is demonstrated through simulation and practical experiments on a team of robots performing 3-on-3 robot soccer game.

10.1109/cira.2001.1013216

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Citations (2)

A compliance control design for safe motion of a robotic manipulator

Kai-Tai Song Chieh-Hsun Hsu

For domestic and service robots, the robotic manipulator may cause danger or damage to surrounding objects and people if the manipulator does not understand the details about the environment. To cope with this problem, we investigate compliance motion controller design in order to develop a dependable and safe robot. This paper presents a novel safe motion strategy together with its experimental study for a robot arm. Taking into account a manipulator in a home environment, we divide manipulator behaviors into standby mode and motion mode. For standby mode, a compliant motion design has been developed for force guide-through motion. In motion mode, the proposed safety motion strategy ensures safe execution of tasks. Experimental results of a 4-DOF manipulator constructed in the lab validate the developed safe motion strategy.

Mobile manipulator

Manipulator (device)

Motion controller

Mode (computer interface)

Robot manipulator

10.1109/wcica.2011.5970650

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Citations (2)

Tracking control of mobile robots using saturation feedback controller

Ti-Chung Lee Kai-Tai Song Ching‐Hung Lee Ching‐Cheng Teng

A general tracking control problem with saturation constraint for nonholonomic mobile robots is proposed and solved using the backstepping technique. A global result is given in which some artificial assumptions about the linear and the angular velocities of mobile robots from recent literature are dropped. The proposed controller can simultaneously solve both the tracking problem and the regulation problem of mobile robots. With the proposed control laws, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching to the origin using a single controller. Computer simulations are presented which confirm the effectiveness of the tracking control laws. Moreover, practical experimental results concerning the tracking control are reported with saturation constraint for mobile robots.

Nonholonomic system

Tracking (education)

10.1109/robot.1999.773996

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Citations (21)

Mixed Reality Robot Programming Using Hand Gestures

Kai-Tai Song Shih‐Wei Chiu

10.1109/aris62416.2024.10680008

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Citations (0)

A neural network controller based on autotuning the gain of the activation function

Kai-Tai Song Sang-Hang Shieh

A design of neural network controller based on autotuning the gain of the activation function of neurons is accomplished. Such a gain-tuning procedure is combined with the conventional weight-tuning backpropagation algorithm in the learning phase to provide more efficient and faster learning of a neural network. Satisfactory results are obtained when using this method to control a nonlinear plant.

Backpropagation

Activation function

10.1109/ijcnn.1993.714302

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Citations (0)

Sound direction recognition using a condenser microphone array

Kai-Tai Song Jianliang Chen

This paper presents a sound direction recognition system for intelligent mobile robots. We studied the analysis, design, and circuit realization of a standalone sound recognition system using multiple condenser microphones. Sound signals from three condenser microphones are integrated in a circuit to resolve the source direction. The minimum recognition angle of a triangular configuration is derived. A new decode method is proposed in this paper to resolve the sound direction. The proposed scheme uses a circuit to obtain direction information, an improvement to the conventional computer-based approaches. The recognition circuitry has been implemented using UMC 0.5/spl mu/m IC chip fabrication technology. Both simulation and practical experiments validate the desired performance. Experimental results show that the system recognizes sound direction with an accuracy of /spl plusmn/5/spl deg/. The sound recognition system has been integrated to a multi-robot system to investigate various robot control applications using whistle sound in a noisy environment. Experimental results demonstrate the effectiveness of the proposed method.

Realization (probability)

Condenser (optics)

10.1109/cira.2003.1222210

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Citations (7)