Browsing by Author "Tang, WH"

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Environment perception for a mobile robot using double ultrasonic sensors and a CCD camera
(1996-06-01)
Song, KT
;
Tang, WH
;
電控工程研究所
;
Institute of Electrical and Control Engineering
To move efficiently in an unknown or uncertain environment, a mobile robot must use observations taken by various sensors to construct information for path planning and execution, A reasonably accurate representation of the external world would also be very useful for robot self-localization. One of the merits of applying multiple sensors to a mobile robot is the enhancement of environment recognition. In this paper, we propose to use sensory information combined from double ultrasonic sensors and a CCD camera. We developed an algorithm based on a dual-transducer design to eliminate errors resulting from the beam opening angle of ultrasonic sensors. An extended discrete Kalman filter (EDKF) was designed to fuse raw sensory data and to reduce the influence of specular reflection of ultrasonic type transducers, thereby providing a more reliable representation for enviroment perception. Computer simulation as well as practical experimental results demonstrate that this sensory system can provide useful and comprehensiv,.e environment perception for intelligent robotics.
Environment perception for a mobile robot using double ultrasonic sensors and a CCD camera
(1996-06-01)
Song, KT
;
Tang, WH
;
交大名義發表
;
電控工程研究所
;
National Chiao Tung University
To move efficiently in an unknown or uncertain environment, a mobile robot must use observations taken by various sensors to construct information for path planning and execution, A reasonably accurate representation of the external world would also be very useful for robot self-localization. One of the merits of applying multiple sensors to a mobile robot is the enhancement of environment recognition. In this paper, we propose to use sensory information combined from double ultrasonic sensors and a CCD camera. We developed an algorithm based on a dual-transducer design to eliminate errors resulting from the beam opening angle of ultrasonic sensors. An extended discrete Kalman filter (EDKF) was designed to fuse raw sensory data and to reduce the influence of specular reflection of ultrasonic type transducers, thereby providing a more reliable representation for enviroment perception. Computer simulation as well as practical experimental results demonstrate that this sensory system can provide useful and comprehensiv,.e environment perception for intelligent robotics.
Idea with FMOP method for evaluating the performance of R&D projects in Taiwan
(2004)
Tzeng, GH
;
Chiou, HK
;
Tang, WH
;
科技管理研究所
;
Institute of Management of Technology
In this paper, we proposed all alternative approach for dealing with imprecise data ill Data Envelopment Analysis. First, we transfer the evaluated data to upper and lower bounds for performance estimation. Second, utilizing fuzzy multiple objective programming method estimate the relative efficiency score of decision making units (DMU). The proposed approach adopted to improve the discriminating power of DEA with imprecise data. The performances of government funded R&D projects in Taiwan applied to illustrate the merit of our approach. Finally, we categorize the performance of twenty technology applications called DMU in three clusters, four are absolutely efficient, eleven are weak efficient and five are inefficient.