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謝育霖： 11/26/06~12/02/06

謝育霖： 11/26/06~12/02/06. Tasks performed last week Research 使用 VMware 研究 Linux red hatˋ fedora core 研究如何灌 cygwin 與 NS2 ER7 實習 Courses DSP 控制系統專題 Robotics Optimal Control Seminar Individual meeting Group meeting Control seminar. Tasks planned next week Research 做 NS2 模擬 讀 DSP

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謝育霖： 11/26/06~12/02/06

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  1. 謝育霖： 11/26/06~12/02/06 Tasks performed last week Research 使用VMware 研究Linux red hatˋ fedora core 研究如何灌cygwin與NS2 ER7實習 Courses DSP 控制系統專題 Robotics Optimal Control Seminar Individual meeting Group meeting Control seminar Tasks planned next week Research 做NS2模擬 讀DSP O.C homework Courses DSP 控制系統專題 Robotics Optimal Control Seminar Individual meeting Group meeting Control seminar

  2. Course： 11/26/06~12/02/06 Course 1 Topic DSP Teacher Prof. Be-Su Chung Textbook Oppenhem and Schafer `Discrete Time Signal Processing ` 1990. Stanley, Dougherty and Dougherty `Digital Signal Processing` Second Edition, 1984. Course formats Final exam: 50% Computer exercise:25% Term papers:25% Content P.126-139 Main operations contained for the CZT algorithm Takabashi, “An extended split radix FFT algorithm”, IEEE signal processing lett. vol. 8. pp. 145-147. May 2000 Ch.6 properties of analog filters Vaxiety of normalized low-pass filters Butterworth type Chebyshev type Inverted chebyshev type Elliptic type Continuous frequency band transformation Homework HW3

  3. Course： 11/26/06~12/02/06 Course 2 Topic SPECIAL TOPICS ON CONTROL TECHNOLOGY  Teacher Prof. Feng-Li Lian Textbook Jean-Jacques E. Slotine, Weiping Li,Applied Nonlinear Control, Prentice-Hall Inc., 1991. Course formats unknown Course website None Content System: s Passive if Lossless if Condition of Input feedforward passive, input strictly passive, output feedback passive, and output strictly passive. Discuss how to study this course Assign individual homework, according to each one’s birthday teamwork is better Homework Page 220-221

  4. Course： 11/26/06~12/02/06 Course 3 Topic Robotics Teacher Prof. Fu-li Chen Textbook Introduction to AI Robotics, by Robin Murphy, MIT Press, 2000.(Textbook) Autonomous Robots, by George A.Bekey, MIT Press, 2005.(Optional)  Course formats Participation:5% HW:35% Midterm: 20% Final Presentation and Report : 40% Course website https://ceiba.ntu.edu.tw/951Fu_Robotics  Subject of this week The reactive paradigm Content SA robot example Obstacle avoidance example Level 0: runaway Level 1: wander Level 2: follow-corridors Potential fields methodologies 5 primitive potential fields Magnitude profiles Combining fields for emergent behavior Local minima solutions Get out of box canyon Pfields-advantages Pfields-disadvantages Pfields summary Homework ER7 實習 Robotics: homework 2 Due: 12/22

  5. Course： 11/26/06~12/02/06 Course 4 Topic Optimal Control Teacher Prof. Fan-ren Chang Textbook Optimal Control-Linear Quadratic Methods by Andusin and Moore Course formats HW 20% Midterm 40% Final 40% Course website unknown Content A factorization result Chang-letov design procedure for the steady-state LQ regulator Introduction of Chapter 3 Homework 2.4-1 2.4-2 2.4-3 Due Dec. 15

  6. Seminar: 11/26/06~12/02/06 Individual meeting Time Tue 14:30 Content 克欣的遙控玩具出爐 NS2進度: 終於成功在windows底下灌好cygwin並成功執行NS2範例模擬 Location 博理620

  7. Seminar: 11/26/06~12/02/06 Group meeting Time Wed 13:30 Speaker Yu-Chien Lin Location 電二254 Topic Travel Time Prediction Using the GPS Test Vehicle and Kalman Filtering Techniques Content Introduction Kalman filter Application Prediction Process Prediction Methodology x(k|k-1)=A*x(k-1|k-1)+w(k) z(k)=x(k)+v(k) P(k|k): error covariance, e(k)=x(k)-x(k|k-1) K(k): kalman gain Results Analysis Performance index Data interpolation Prediction Error Conclusion This paper focuses on the travel time prediction using Kalman filter based on the historic and real-time data. The predicted travel time at current time instant is determined by the observed and predicted travel times at the previous time instants. Experiment Experiment-1,2,3

  8. Seminar: 11/26/06~12/02/06 Control seminar Title Automatic Train Regulation of MRT System Speaker Jih-Wen Shen Location 電二143 Time Wed 15:30-16:10 Content Automatic train operation Automatic train regulation Schedule/ headway regulation Junction management Energy optimazation Traffic model Conditions/ assumptions Fictitious train is always departyre on time System dynamics of train departure time Train regulation LQR Minimum variance Automatic train regulation DHPR Approximate dynamic programming Conclusion DHPR is feasible in real time train regulation

  9. Seminar: 11/26/06~12/02/06 Control seminar Title Feedback Control of Piezo-Based Nanopositioning Systems for Semiconductor Manufacturing Speaker Chun-Hung Liu Location 電二143 Time Wed 16:10-16:40 Content Introduction System description A two-degree-of-freedom optical scanning platform has been developed Control strategies PID controller design LQG controller design Experimental description Simulation results The bandwidth of closed-loop complementary sensitivity function from disturbance (w1) to output (y1) The sensitivity function from disturbance (w1) to output (y1) Summary and conclusions This study shows that the two proposed control techniques are successful for anti

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