Chi-Cheng Cheng

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2,5,7,8-Tetramethyl-2-(2'-carboxyethyl)-6-hydroxychroman (alpha-CEHC), the water-soluble metabolite of alpha-tocopherol (alpha-TOH) with a shortened side chain but an intact hydroxychroman structure, has been identified in human urine and are thought to be produced in significant amount at excess intake of alpha-TOH. In previous studies, CEHCs in biological(More)
The mechatronic design process usually covers two different engineering domains: structure design and system control. The relationship between these two domains is very tight. In order to reduce the disturbance caused by parameters in either one, the domain knowledge from those two different fields needs to be integrated. So the technique of multilevel(More)
Visual servo can be achieved by extracting motion information from the optical flow, defined as the apparent motion of brightness patterns of an image. Control performance using this technique fully depends on accurate estimation of the flow velocities. It appears that most correct values of the optical flow usually locate at the regions with image(More)
Incorporating a third CCD camera into a conventional binocular is verified to be very helpful to solve translational motion. The extra device not only provides more image information, but also plays a significant role regarding the solution issue. In this paper, a novel algorithm to recover parameters for translational motion using such a parallel(More)
Predictive control employs future and past information to maintain servo performance and stability in uncertain environment. Nevertheless, nonlinear friction and unknown disturbances still challenge application of predictive control to precision positioning in typical electromechanical transmission systems due to strict demands on accuracy and control(More)
How can the compound eye of insects capture the prey so accurately and quickly? This interesting issue is explored from the perspective of computer vision instead of from the viewpoint of biology. The focus is on performance evaluation of noise immunity for motion recovery using the single-row superposition-type planar compoundlike eye (SPCE). The SPCE owns(More)
This paper addresses a direct adaptive control approach to the problems of adaptive stabilization of a class of multivariable nonlinear systems affected by timevarying uniformly bounded affine perturbations, which are confined to a characterized class. The proposed framework is Lyapunov-based, and the nominal control has augmented with a robustifying(More)
In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems with exogenous bounded disturbances and ez Disturbances. The proposed adaptive controller addresses adaptive stabilization and disturbance rejection. For bounded energy disturbances the proposed method guarantees a nonexpansivity constraint on the closed-loop(More)
In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems with exogenous bounded disturbances. The proposed adaptive controller addresses adaptive stabilization. The framework is Lyapunovbased and the adaptive laws are characterized by Kronecker calculus. Finally, two numerical examples are provided.