Browsing by Author "Kuan, CP"

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High-reliability Ta2O5 metal-insulator-metal capacitors with Cu-based electrodes
(2006)
Tsai, KC
;
Wu, WF
;
Chao, CG
;
Kuan, CP
;
材料科學與工程學系
The properties of tantalum oxide (Ta2O5) metal-insulator-metal (MIM) capacitors with Al/Ta/Cu/Ta bottom electrodes were investigated. An ultrathin Al film successfully suppresses oxygen diffusion in the Ta2O5 MIM capacitor with the Cu-based electrode. The electrical characteristics and reliability of Ta2O5 MIM capacitors are improved by addition of ultrathin Al films. Ta2O5 MIM capacitors have low leakage current density (1 nA/cm(2) at 1 MV/cm) and high breakdown field (5.2 MV/cm at 10(-6) A/cm(2)). The decrease in leakage current is attributed to the formation of a dense and uniform Al2O3 layer, which has self-protection property and stops further oxygen diffusion into the tantalum contact. The dominant conduction mechanism of leakage current is the Poole-Frenkel effect at electric fields above 1.5 MV/cm. (c) 2006 The Electrochemical Society.
Reinforcement learning and robust control for robot compliance tasks
(1998-10-01)
Kuan, CP
;
Young, KY
;
電控工程研究所
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Institute of Electrical and Control Engineering
The complexity in planning and control of robot compliance tasks mainly results from simultaneous control of both position and force and inevitable contact with environments. It is quite difficult to achieve accurate modeling of the interaction between the robot and the environment during contact. In addition, the interaction with the environment varies even for compliance tasks of the same kind. To deal with these phenomena, in this paper, we propose a reinforcement learning and robust control scheme for robot compliance tasks. A reinforcement learning mechanism is used to tackle variations among compliance tasks of the same kind. A robust compliance controller that guarantees system stability in the presence of modeling uncertainties and external disturbances is used to execute control commands sent from the reinforcement learning mechanism. Simulations based on deburring compliance tasks demonstrate the effectiveness of the proposed scheme.
VR-based teleoperation for robot compliance control
(2001)
Kuan, CP
;
Young, KY
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feel physically present at the remote site. When the telerobotic system is used to execute compliance tasks in which simultaneous control of both position and force may be demanded and inevitable contact with environments is encountered, information about the interactions between the robot manipulator and the environment are especially crucial for the operator to make proper decisions. This paper proposes a VR-based telerobotic system for such compliance tasks. The proposed system provides both visual and haptic information. A local intelligence controller, capable of surface tracking and force regulation, is equipped on the robot manipulator to tackle the time-delay problem usually present in teleoperation and to share control load with the operator. The proposed telerobotic system is developed in a virtual environment due to recent gains in the capabilities and popularity of virtual reality to generate realistic telepresence. Experiments based on the surface-tracking and peg-in-hole compliance tasks demonstrate the effectiveness of the proposed system.