CACS 2017 PROGRAM SCHEDULE. Time: 08:30 09:50, Nov. 13, 2017 Prof. Shun-Feng Su MM-1. Paper ID Paper Title Author(s)

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1 CACS 2017 PROGRAM SCHEDULE n Session Name: Computational Intelligence and Symbolic Data Processing for Weather Data Time: 08:30 09:50, Nov. 13, 2017 Prof. Shun-Feng Su MM A Hybrid Approach for Rainfall Forecasting Chen-Chia Chuang, Jin-Tsong Jeng, Min-Yeh Hsieh Hybrid Machine Learning Approaches of Weather Data with Distribution-Valued Based on Wasserstein Distance Weather Forecast Based on Improved Trend Classification Mode Authorization-Sensitive Image Encryption Based on Moving Shuffling in Bit-Level via Using Hyper Chaotic Systems A Novel Vehicle Model Classification and License Plate Number Recognition with Deep Learning Zhi-Qian Wang, Jin-Tsong Jeng, Chen-Chia Chuang Shun-Feng Su, Ming-Chang Chen, I-Hsum Li, Yang-Chung Chang Miguel Angel Benalcázar Hernández, Chin-Sheng Chen, Shun-Hung Tsai, Shih-Yu Li Yu-Hsuan Shen, Kuan-Ying Huang, Hsiang-Chieh Chen, Wen-June Wang n Session Name: Intelligent Home Environment and Safety Evaluation Systems Time: 08:30 09:50, Nov. 13, 2017 Prof. Bing-Fei Wu & Jau-Woei Perng MM Application of Multi-Sensor Fusion to Develop a Personal Location and 3D Mapping System Development Toward Intelligent Homecare-Assisted Robot with IoT Ya-Wen Hsu, Shiang-Shuang Huang, Jau-Woei Perng Chi-Hong Wu, Jun-Hong He, Chao-Wei Yu, Hsin-Han Chiang, Yen-Lin Chen 1021 Remote Monitoring System Using Multiple Wireless Sensors Peng Yu Cheng, Cho Yi Tong, Shigeyuki Tateno 1078 A Secure Firmware Upgrade Scheme with Private-Tracker-Governed and Smart-Contract-Driven Design for Blockchain-Enabled IoT Devices Ching-Hu Lu, Chi-Hsien Liu 1040 Performance and Electromagnetic Compatibility of a Photovoltaic Power Converter C. Jettanasen, C. Pothisarn

2 n Session Name: Robotics System and Control I MM-3 Time: 08:30 09:50, Nov. 13, 2017 Prof. Michael N. Mayer 1001 A General Kinematic Method for R-θ Type Manipulator Based on Screw Theory Using Dual-Quaternion Rule Bai, Zhifeng Liu 1003 Mechanical and System Design of Egg Shape Robot Chun-Chi Wang, Michael N. Mayer, Rui-Yuan Lin, Li-Yang Lu Development of a Lightweight Biped Adult-size Humanoid Robot with Connecting Lever Structure in RoboCup Fault Tolerant Tracking Control of Unmanned Aerial Vehicle Using Linear Quadratic Gaussian with Integral Reconfiguration Control Yi-Tsun Lin, Chia-Hsien Lee, Tzu-Hao Kao, Michael N. Mayer Umm-e-Aimen, Muwahida Liaquat 1120 Development of Autonomous Hexapod Rolling Robot Michael N. Mayer, Jia-Jun Tsai, Ting-Han Chen n Session Name: Intelligent Endoscope Robot in Minimally Invasive Surgery MA-1 Time: 15:20 16:20, Nov. 13, 2017 Prof. Yung-Yaw Chen Long Range Gaze Estimation with Multiple Near-Infrared Emitters Computation of Liver Deformations with Finite Element Model Image Based Contactless Blood Pressure Assessment using Pulse Transit Time Zheng-Hong Ma, Zhi-Xiang Liu, Ming-Chih Ho, Jia-Yush Yen, Yung-Yaw Chen Chih-Chien Chien, Yi-Fan Chang, Ming-Chih Ho, Jia-Yush Yen, Yung-Yaw Chen Po-Wei Huang, Chun-Hao Lin, Meng-Liang Chung, Tzu-Min Lin, Bing-Fei Wu 1014 An Affective Mood Booster Robot Based on Emotional Processing Unit Kun-Yu Tien, Jui-Hua Liu, Hooamn Samani

3 n Session Name: Sensing and Control for Collaborative Robots Using the Cloud MA-2 Time: 15:20 16:20, Nov. 13, 2017 Prof. Kai-Tai Song 1061 An Immersive 3D Interface for Industrial Robot Manipulators Chia-Wen Tsai, Yu-Hsuan. Su, Kuu-Young Young, Chun-Hsu Ko 1083 Trajectory Modification of a Cloud Learning Robot Kai-Tai Song, Shao-Huan Song, Hung-Shen Liu 1084 Scheduling and Control of a Cloud Robot for Reception and Guidance Kai-Tai Song, Yu-Heng Chiu, Shao-Huan Song, Kateryna Zinchenko 1089 A VM Memory Scheduler Based on Task Behaviors Ho-Ban Hsu, Wen-Lin Sun, Yu-Lun Huang n Session Name: Control System Design and Applications MA-3 Time: 15:20 16:20, Nov. 13, 2017 Prof. Chun-Liang Lin 1048 A Nearly Optimal Control Approach for Uncertainty Input-Delay Systems Based on Adaptive Dynamic Programming Yu-Chen Lin, Hsin-Chang Chen, Chih-Kai Peng 1049 Mobile Robot Localization Using Particle Filtered Fusion Ching-Yu Chou, Chia-Feng Juang of StarGazer Sensor and Encoders 1085 New Design of Integrated Driving and Braking Control System for Electric Vehicles En-Ping Chen, Chia-Hung Tu, Wen-Cheng Yu, Chun-Liang Lin, Yu-Chan Chen 1105 Biometrics Authentication Using ECG Measurement Yang-Yi Chen, Chun-Liang Lin, Chun-Liang Chen

4 n Session Name: Best Conference Paper Competition MA-4 Time: 16:30 18:00, Nov. 13, 2017 Prof. Tzuu-Hseng S. Li 1044 Learning Human-Robot Task with Reinforcement Learning Hsien-I Lin, Xuan-Anh Nguyen Single Object Localization Using Ultrasonic Array with Improved TOF Estimation Algorithm A Novel Adaptive Iterative Learning Control for Continuous-Time Nonlinear Systems with Iteration-Varying Uncertainties Time-Optimal S-Curve Velocity Planning for Multiple Line Segments Under Axis Constraints Adaptive Force Tracking Control of Redundant Robot Manipulator for Task-space Robust Control of a Single-Phase Bidirectional Inverter Using Polynomial Fuzzy Systems Jwu-Sheng Hu, Chung-Wei Juan Chiang-Ju Chien, Ying-Chung Wang, Meng-Joo Er Tzyy-Chyang Lu, Shyh-Leh Chen Chia-Hung Chu, Ching-Hung Lee Meng-Hsueh Hsieh, Gwo-Ruey Yu, Chia-Yu Liu, Chih-Hao Chang n Session Name: Best Student Paper Competition MA-5 Time: 16:30 18:00, Nov. 13, 2017 Prof. Li-Chen Fu Effective Control for Wireless Sensor and Mobile Actuator Network in Regulation of Environmental Density Function Online Motion Adjustment Using Compliance Control for a Multi-Axis Robot Manipulator Hybrid EEG-fNIRS Based Quadcopter Control Using Active Prefrontal Commands Multi-Robot Coordination Strategy for 3 vs. 3 Teen-Sized Humanoid Robot Soccer Game Mu-Tai Lin, Tseng-Chang Lin, Yen-Chen Liu Tesheng Hsiao, Daniel Alberto Reyes Uquillas Keum-Shik Hong, Muhammad Jawad Khan, Amad Zafar Nien-Chu Fang, Ting-Nan Tsai, Li-Fan Wu, Chuan-Han Cheng, Chian-Yi Huang, Chun-Yuan Liu, Tzuu-Hseng S. Li Intelligent Adaptive Sliding-Mode Formation Control Using ORIT2FNN and Incremental Hierarchical Sliding-Mode 1106 Control for Uncertain Networked Fourth-Order Underactuated Multi-Agent Systems 1107 Endoscope Holder Control for Human Environment Feng-Chun Tai, Ching-Chih Tsai Jia-Yush Yen, Ching-Yuan Chen, Sung-Chi Chiang

5 n Session Name: IoT Technology in Intelligent Factory and Office MA-6 Time: 16:30 18:00, Nov. 13, 2017 Prof. Kuang-Yow Lian 1082 Cooperative Visual Simultaneous Localization and Mapping by Using Multiple Cameras Jhen-Wei Ruan, Shih-Yu Shih, Cheng-Hsin Lin, Po-Yen Chang, Cheng-Ming Huang 1096 Multi-Sensor Based Glove Control of An Industrial Mobile Li-Hu Jhang, Carlo Santiago, Robot Arm Chian-Song Chiu 1101 Design and Implementation of Wireless Sensor Networks with Piezoelectric Energy-Harvesting Modules and Its Application to Motor Monitoring Chwan-Lu Tseng, Che-Shen Cheng, Jie-Han Zheng, He Chou, Ying-Hao Chen 1104 An Enhanced Sliding Mode Control for Wheeled Mobile Robot Trajectory Tracking Mei-Yung Chen, Bing-Gang Jhong 1115 Indoor Environment Comfort Control Based on PMV Index Kuang-Yow Lian, Yi-Chen Chen, Wei-Hsiu Hsu, Yong-Jie Hong 1041 Actual Measurement on Regenerative Elevator Drive and Kun-Yu Lin, Kuang-Yow Lian Energy Saving Benefits

6 n Session Name: Mechatronic Systems TM-1 Time: 08:30 09:50, Nov. 14, 2017 Prof. Mei-Yung Chen Integration and Implementation of a Lane Keeping System with the Vehicle Dynamics Control Implementation of Phase Lead Controller for Lane Following System based on Identified Vehicle Lateral Model Optimization of Dynamic Anti-windup for Non-linear Robot Systems with Actuator Saturation Jin-Yan Hsu, Kun-Lung Ku, Tong-Kai Jhang, Hung-Pang Lin, Chih-Jung Yeh Jin-Yan Hsu, Kun-Lung Ku, Tong-Kai Jhang, Chih-Jung Yeh, Hung-Pang Lin M. Kanamori, T. Kurahashi, M. Noguchi 1062 Proposal of Magnetic Suspension with Elastic Ferromagnetic Substance for Vibration Isolation System Masaya Takasaki, Yuji Ishino, Takeshi Mizuno, Megumi Namai 1012 Apply Forced Dynamic Control and State Feedback Mechanism for Motor Position Control J. R. Wu, C. C. Hsu, C. L. Chen, M. C. Tsai n Session Name: Modeling and Signal Processing TM-2 Time: 08:30 09:50, Nov. 14, 2017 Prof. Chwan-Lu Tseng 1055 A Subdivision Method for Improving Resolution of Analog Ming-Tzu Ho, Chin-Wei Chang, Encoders Chao-Yi Wu License Plate Detection and Recognition Algorithm for Vehicle Black Box Synchronous Hand-Held Reaction Force Control for Pilot and Co-pilot in Flight Simulator Ung-Hwan Kim, Sun-Kyu Kim, Sang-Hyuk Lee, Tae-Min Lee, Joonhong Lim Chin-Sheng Chen, Zhe-Wei Chang, Li-Yeh Chen 1069 Accuracy Improvement of Submersible Charging Station Stabilization on Various Depths S.A. Gayvoronskiy, T. Ezangina, I. Khozhaev

7 n Session Name: Machine Vision and Visual Servoing TM-3 Time: 08:30 09:50, Nov. 14, 2017 Prof. Cheng-Ming Huang 1015 A Survey on Methods of Image Processing in Noisy Environment Kun-Yu Tien, Jui-Hua Liu, Hooamn Samani 1030 Object Volume Estimation Based on 3D Point Cloud Ya-Hui Tsai, Wen-Chung Chang, Chia-Hung Wu, Wei-Yao Chiu 1043 Vision-Based 3-D Object Pick-and-Place Tasks of Industrial Ming-Yang Cheng, Guor-Yieh Luo, Manipulator Chia-Ling Chiang 1123 Application of Three-Dimensional Vision for Verification of Turning Insert Specifications Pei-Ju Chiang, Geng-Hao Ping 1018 Virtual Reality Survival First Person Shooting Game Shao-Hung Yu, Ya-Wen Hsu, Guan-Yan Chen, Jau-Woei Perng n Session Name: Emerging Technology TA-1 Time: 14:00 15:00, Nov. 14, 2017 Prof. Peter Liu Numerical Computation for Control System Design Using Smart Devices Integration of Visual IoT and Satellite Positioning Tracker of Harvest for Farming and Management Assistance in Intelligent Agriculture Application Hiromasa Hashimoto, Masanobu Koga Zhi-Rui Tam, Yi-Lun Wu, Yung-Jhe Yan, Horng-Yuh Guo, Shiou-Gwo Lin, Shuen-De Wu, Yen-Chieh Ouyang, Chein-I Chang, Mang Ou-Yang 1086 Study of OpenCL Parallel Computing for Surveillance Yu-Chieh Tseng, Sendren Sheng-Dong Xu 1053 Cooperative Sensing-Perception and Deep Learning for Advanced Self-Driving Intelligent Vehicles Feng-Li Lian

8 n Session Name: Design of Ping-Pong Robots TA-2 Time: 14:00 15:00, Nov. 14, 2017 Prof. Tsu Tian Lee and Chun-Fei Hsu 1079 Simulation for 7-DOF Redundant Robot Manipulator 1080 Design and Implement of Mobile Manipulator System Tsu-Tian Lee, Chih-Cheng Liu, Sheng-Ru Xiao, Yi-Chung Lin, Sin-Hong Guo Tsu-Tian Lee, Yin-Tien Wang, Chih-Cheng Liu, Yi-Chung Lin, Sheng-Ru Xiao, Tsung-Hsun Chen 1081 Prediction of the Ball Trajectory for the Table Tennis Robot Shih-An Li, Guan-Ting Yan, Li-Hsiang Chou 1103 Prediction of Ball Trajectory for Ping-Pong Robots Chung-Hsun Sun, Sheng-Mao Wang, Hsuan Chen, Hsian-Chieh Chen n Session Name: Intelligent Multi-Robot Systems TA-3 Time: 14:00 15:00, Nov. 14, 2017 Prof. Ching-Chih Tsai To Build a Smart Unmanned Restaurant with Multi-Mobile Robots Traffic Sign Detection and Recognition Using Deep Learning and Image Features Integral Terminal Sliding-Mode Finite-Time Consensus Formation Control of Hybrid Heterogeneous Swedish-Wheeled Multi-Robots Guo-Shing Huang, Yan-Jie Lu Shu-Chun Huang, Chih-Yi Li, Huei-Yung Lin, Wen-Lung Tai Hsiao-Lang Wu, Ching-Chih Tsai 1132 Knowledge Sharing Approaches Based on Reinforcement Learning for Distributed Agents System Kao-Shing Hwang, Wei-Cheng Jiang

9 n Session Name: Identification and Estimation TA-4 Time: 15:20 16:30, Nov. 14, 2017 Prof. Hsin-Han Chiang Development of Pulse Estimation System Under High-Intensity Exercise Real Time Logistics Monitoring System of Packages During Transportation Using Decision Tree Combined with Clustering Method Development of Motion Recognition System for Rescue Operation Based on Behavioral Cycle Hazard Level Discriminated Fall-Detection System Using Machine Learning Algorithms Based on Wearable-Sensor Network Hiroki Ashikari, Kota Takeda, Shigeyuki Tateno Wu Yu, Wang Zi Ye, Shigeyuki Tateno Toru Tachikawa, Yi-Tong Cho, Yusuke Katafuchi, Shigeyuki Tateno Shigeyuki Tateno, Haoyu Wang, Hao Tian 1090 A New Integer Ambiguity Estimation Algorithm for Single Frequency Precise Point Positioning He-Sheng Wang, Bo-Yu Su, Tzu-Jung Tseng n Session Name: Intelligent Systems for Teen-Size Humanoid Soccer Robots and Their Applications TA-5 Time: 15:20 16:30, Nov. 14, 2017 Prof. Tzuu-Hseng S. Li 1057 The Implementation of Real-Time Object Tracking Control Shun-Hung Tsai, Ta-Chun Lin, for the Wheeled Mobile Robot Hung-Yi Lin, Shih-Yu Li 1111 Teen-Size Humanoid Robot Implementation for RoboCup Soccer Games Kuen-Fong Lin, Ming-Liang Gao, An-Hung Chang, Chung-Hsien Kuo 1131 Deep Reinforcement Learning with a Gating Network Kao-Shing Hwang, Wei-Cheng Jiang 1026 IoT-Based Accompanying Robot Yun-Pin Lee, Yang-Yi Zeng, Guan-Boo Liou, Yin-Jen Chen 1007 The Bearing-Based Multi-Agent Rendezvous Problem On A Circle Minh Hoang Trinh, Hyo-Sung Ahn

10 n Session Name: Design and Implementation of Shelf-Picking Robots TA-6 Time: 15:20 16:30, Nov. 14, 2017 Prof. C.C. Wong ROS-Based Array Type Suction Control for Shelf-Picking Robot Motion Control Design for 7-DOF Redundant Robot Manipulator A Deep Learning-Based Object Detection Algorithm Applied in Shelf-Picking Robot Chun-Fei Hsu, Shao-Yu Chen, Siang-Lin You, Kung-Han Chen, Ching-Chang Wong Hsuan-Ming Feng, Chun-Fei Hsu, Jia-Siang Lyu, Yu-Cheng Lai, Ching-Chang Wong You-Jun Huang, Yu-Cheng Lai, Ren-Jie Chen, Chi-Yi Tsai, Ching-Chang Wong 1075 An Efficient 3D Scene Modeling Algorithm Based on a Pan-Tilt-Driven RGB-D Camera Chi-Yi Tsai, Chih-Hung Huang, Shang-Jhih Jhang

11 n Session Name: Development, Measurement and Clinical Assessment of an Intelligent Cluster POWER Rehabilitation System WM-1 Time: 09:00 10:10, Nov. 15, 2017 Prof. Chung-Hsien Kuo Evaluation of Frailty Syndrome from EEG During the Motor Imagery Task Active Electrical Load Design for a Cluster POWER Rehabilitation System Non-Pre-Process Calibration of Depth Image Based on Fuzzy C-Mean Chung-Lin Hou, Si-Huei Lee, Wei-Hao Peng, Yi-Hung Liu, Chi-Chun Kao Shen-Fu Lee, Yu-Cheng Kuo, Chung-Hsien Kuo Chih-Chie Liang, Shun-Feng Su, Ming-Chang Chen 1137 The Relationship Between Physical Fitness and Functional Si-Huei Lee Outcomes in the Elderly with Frailty Syndrome n Session Name: Machine Learning and Control WM-2 Time: 09:00 10:10, Nov. 15, 2017 Prof. Yu-Te Wu Resilience of Functional Networks: A Potential Indicator for Classifying Bipolar Disorder and Schizophrenia Motion Replaying by Humanoid Robots Based on Segmented and Stable Postures Classification of Prefrontal and Motor Cortex for fnirs-based-bci Using Initial Dips Status Change Revealed by ECG and EEG During Cycling Exercise Po-Shan Wang, Yu-Te Wu, Yen-Ling Chen, Zih-Kai Kao Chi-Wei Hsieh, Jin-Ling Lin Keum-Shik Hong, Muhammad Jawad Khan, Amad Zafar Chii-Wen Jao, Yu-Te Wu, Ching-Sung Yang, Ching-Ting Tseng, Po-Shan Wang

12 n Session Name: Systems and Control WM-3 Time: 09:00 10:10, Nov. 15, 2017 Prof. Ming-Li Chiang 1133 Multi-Player Pursuit-Evasion Differential Game with Equal Ahmad Abid Atiya Al-Talabi Speed Fuzzy Actor-Critic Learning Automaton Algorithm for the Pursuit-Evasion Differential Game Robust State Feedback Controllers of Uncertain Time-Delay Systems with Completely Unknown Bounds of Uncertainties Ahmad Abid Atiya Al-Talabi Hansheng Wu 1076 Nonlinear Output Regulation by Feedforward Control Saturated Ming-Li Chiang, Li-Chen Fu n Session Name: Intelligent Control WM-4 Time: 10:30 11:50, Nov. 15, 2017 Prof. Chiang-Ju Chien Robotic Arm Assisted Sonography for Clinical Assessment of the Degree of Stenosis in Fistula An Intelligent Embedded Cloud Monitoring System Design Fuzzy Reinforcement Learning Algorithm for the Pursuit-Evasion Differential Games with Superior Evader Yi-Chun Du, Jheng-Bang Shih, Ming-Jui Wu Bing-Ting Dong, Chin-Min Lee, Ying-Chi Chiu, Yi-Ching Huang Ahmad Abid Atiya Al-Talabi 1094 Progressive Learning Strategies for Multi-class Classification Meng Joo Er, Rajasekar Venkatesan, Chiang-Ju Chien, Ning Wang 1066 Sensorless Permanent Magnet Synchronous Motor Drive Ming-Shyan Wang, Yu-Te Huang, Design By Neural Network Phase-Locked Loop Observer Ruei-Jhih Hong

13 n Session Name: Robotics System and Control Ⅱ WM-5 Time: 10:30 11:50, Nov. 15, 2017 Prof. Shyh-Leh Chen 1027 Design and Modeling of a Vertical Hopping Robot Kuan-Yu Tseng, Chi-Kuan Lin, Chia-Yu Tsai, Pei-Chun Lin 1029 Development of a Multi-Mode Elastic Actuator Pei-Chun Lin, Wei-Jhe Wu 1025 Dynamic Gait Generation for a Leg-wheel Transformable Robot Based on Force Control Yun-Meng Lin, Ting-Hao Wang, Pei-Chun Lin 1059 Contouring Control for Two-Axis Machine Tools with Online Iterative Learning Control Shyh-Leh Chen, Tzu-An Chen, Dao-Viet Tu 1058 Contouring Control of a 5-DOF Robot Arm for Machining Woraphrut Kornmaneesang, Thanana Nuchkrua, Shyh-Leh Chen n Session Name: Power Electronics and Control Time: 10:30 11:50, Nov. 15, 2017 Prof. Gwo-Ruey Yu WM Small Signal Modeling for Paralleling Power Systems Ping-Hui Lee, Yi-Te Chiang 1092 Model-Based Maximum Power Point Tracker (MPPT) for Commercial Photovoltaic (PV) Devices Huan-Liang Tsai Chiu-Keng Lai, Jhang-Shan Ciou, 1100 FPGA-Based Stepper Motor Vector Control System Design Chia-CheTsai 1072 Impedance Control with Force Estimation for a Linear Stage Yu-Sheng Lu, Yu-Yang Yang 1028 Modeling and Analysis of a Reduced-Order Model which Simulates the Frog s Leaping Motion Chi-Kuan Lin, Kuan-Yu Tseng, Chia-Yu Tsai, Pei-Chun Lin

14 n Poster Session (joined with ifuzzy 2017) Room: Howard Banquet Hall (II), 1F, Howard Beach Resort Kenting Time: 09:10 09:50, Nov. 13, M-PCIe Eye Diagram Diagnostic Improvement Tsung-Jen Chuang, Kuang-Yow Lian 1054 Pitch Angle Control for Hovering Tilt Rotor Aircraft One Side Rotor Lift Variation on Yasuhiro Osa, Shigeru Uchikado, Kanya Tanaka