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Publication list
of Kai-Tai Song

1.Journal Paper:

[1] H. Van Brussel, J. De Schutter and Kai-Tai Song , ¡§Motion Control of Free-navigation Automatic Guided Vehicles(AGVs),¡¨ Journal A Benelux Quarterly Journal on Automatic Control , Vol. 31, No. 3, pp.109-115, Sep. 1990.

[2]  Kai-Tai Song and C. E. Li, ¡§ Tracking Control of a Free-ranging Automatic Guided Vehicle, ¡¨ IFAC Journal Control Engineering Practice , Vol. 1, No. 1, pp. 163-169, Feb. 1993.

[3]  Kai-Tai Song and J. S. Chuang, ¡§ Design and Experimental Study of a Force Controlled Robot Gripper, ¡¨ Journal of Control Systems and Technology , Vol. 1, No. 3, pp. 197-207, July, 1993.

[4]  Kai-Tai Song and J. C. Tai, ¡§ Application of Virtual Concepts and Fuzzy Control for Mobile Robot Navigation, ¡¨ Proceedings of the NSC - Part A: Physical Science and Engineering , Vol. 18, No. 4, pp. 400-411, July, 1994.

[5]  Kai-Tai Song and H. P. Li, ¡§ Design and Experiment of a Fuzzy Force Controller for an Industrial Robot, ¡¨ Proceedings of the NSC -- Part A: Physical Science and Engineering , Vol. 19, No. 1, pp. 26-36, Jan. 1995.

[6]  Kai-Tai Song and W. H. Tang, ¡§ Environment Perception for a Mobil Robot Using Double Ultrasonic Sensors and a CCD Camera, ¡¨ IEEE Trans. on Industrial Electronics , Vol. 43, No. 3, pp. 372-379, June, 1996.

[7]  C. C. Chang and Kai-Tai Song, ¡§ Ultrasonic Sensor Data Integration and Its Application to Environment Perception, ¡¨ Journal of Robotic Systems , Vol. 13, No. 10, pp. 664-677, Oct. 1996.

[8]  Kai-Tai Song and C. C. Chen, ¡§ Application of Heuristic Asymmetric Mapping for Mobile Robot Navigation Using Ultrasonic Sensors, ¡¨ Journal of Intelligent & Robotic Systems , Vol. 17, No. 3, pp. 243-264, Nov. 1996.

[9]  Kai-Tai Song and Y. H. Suen, ¡§Design and Implementation of a Path Tracking Controller with the Capacity of Obstacle Avoidance,¡¨ Journal of Control Systems and Technology , Vol. 4, No. 3, pp.151-160, Sep. 1996.

[10]  C.C. Chang and Kai-Tai Song, ¡§Environment Prediction for a Mobile Robot in a Dynamic Environment,¡¨ IEEE Trans. on Robotics and Automation , Vol.13, No.6 pp. 862-872, Dec. 1997.

[11]  Kai-Tai Song and T.S. Chu, ¡§Reinforcement Learning and Its Application to Force Control of Industrial Robots,¡¨ IFAC Journal Control Engineering Practice , Vol. 6, Issue 1, pp. 37-44, Jan. 1998.

[12]  Kai-Tai Song and W.Y. Sun, ¡§Robot Control Optimization Using Reinforcement Learning,¡¨ Journal of Intelligent and Robotic Systems , Vol. 21, No. 3, pp. 221-238, Mar. 1998.

[13]  Kai-Tai Song and C.C. Chang, ¡§Navigation Integration of a Mobile Robot in Dynamic Environments,¡¨ Journal of Robotic Systems , Vol. 16, No. 7, pp. 387-404, 1999.

[14]  KAI-TAI Song and C.C. Chang, ¡§Reactive Navigation in Dynamic Environment Using a Multisensor Predictor,¡¨ IEEE Trans. on Systems, Man and Cybernetics , Part B, Vol. 29, No. 6, pp. 870-880, 1999.

[15]  Kai-Tai Song and Y.S. Lin, ¡§Landmark-based Guidance of an Autonomous Vehicle Using Fuzzy Logic Velocity Control and Real-time Computer Vision,¡¨ Journal of the Chinese Fuzzy Systems Association , Vol.5, No. 1, pp. 43-51,1999.

[16]  Kai-Tai Song and Y. H. Chen, ¡§ Development of Multiple Sensor Fusion Experiments for Mechatronics Education,¡¨ Proceedings of the National Science Council, Republic of China , Part D: Mathematics, Science and Technology Education , Vol. 9, No. 2, pp.56-64, 1999.

[17]  Kai-Tai Song and L.H. Sheen, ¡§Heuristic Fuzzy-neuro Network and its Application to Reactive Navigation of a Mobile Robot,¡¨ Fuzzy Sets and Systems , Vol.110, No.3, pp. 331-340, 2000.

[18]  Kai-Tai Song, T.T. Tang, J.Y. Lin, H.T. Chen, and G.G. Chen, ¡§ Application of Multiple Robot Cooperation System on Robot Soccer,¡¨ Technical Journal of Digital Signal Processing , March 2000, Vol. 1, pp. 70-78, 2000

[19]  T. C. Lee, Kai-Tai Song, C. H. Lee and C. C. Teng, ¡§Tracking Control of Unicycle-Modeled Mobile Robots Using Saturation Feedback Controller,¡¨ IEEE Trans. on Control Systems Technology , Vol. 9, No. 2, pp.305-318, 2001

[20]  Jen-Chao Tai, Shung-Tsang Tseng, Ching-Po Lin, and Kai-Tai Song, ¡§ Real-Time Image Tracking for Automatic Traffic Monitoring and Enforcement Applications,¡¨ Image and Vision Computing, Vol. 22, pp. 485-501, 2004

[21]  Ti-Chung Lee, Chi-Yi Tsai and Kai-Tai Song , ¡§Fast Parking Control of Mobile Robots: a Motion Planning Approach and Experimental Validation,¡¨ IEEE Trans. on Control Systems Technology , Vol. 12, No. 5, pp. 661-676, 2004

[22]  Kai-Tai Song and Hunh-Tin Chen, ¡§ Multi-Robot Cooperative Edge Detection Using Kalman Filtering,¡¨ Journal of Intelligent Automation and Soft Computing , Vol. 10, No.2, pp. 1-12, 2004.

[23]  Kai-Tai Song and Chen-Chu Chien, ¡§Visual Tracking of a Moving Person for a Home Robot,¡¨ Journal of Systems and Control Engineering , Vol. 219, No. 14, pp. 259-269, 2005.

[24]  Kai-Tai Song and Jen-Chao Tai, ¡§Dynamic Calibration of Pan-Tilt-Zoom Cameras for Traffic Monitoring,¡¨ IEEE Trans. on Systems, Man and Cybernetics, Part B , Vol. 36, No. 5, pp. 1091-1103, 2006.

[25]  Chi-Yi Tsai and Kai-Tai Song, ¡§ Heterogeneity-Projection Hard-Decision Color Interpolation Using Spectral-Spatial Correlation ,¡¨ IEEE Trans. on Image Processing, Vol. 16, No. 1, pp. 78-91, 2007.

[26]  Kai-Tai Song and Jen-Chao Tai, ¡§Image-Based Traffic Monitoring with Shadow Suppression,¡¨ Proceedings of IEEE , Vol. 95, Issue. 2, pp. 413-426, 2007.

[27]  Chi-Yi Tsai and Kai-Tai Song, ¡§ A New Edge-Adaptive Demosaicing Algorithm for Color Filter Arrays ,¡¨ Image and Vision Computing , Vol. 25, No 9, pp.1495-1508, 2007

[28]  Kai-Tai Song and Jen-Chao Tai, ¡§Real-Time background Estimation of Traffic Imagery Using Group-Based Histogram,¡¨ Journal of Information Science and Engineering , Vol. 24, No. 2, pp.411-428, 2008.

[29]  Meng-Ju Han , Jing-Huai Hsu Kai-Tai Song and Fuh-Yu Chang , ¡§ A New Information Fusion Method for Bimodal Robotic Emotion Recognition ,¡¨ Journal of Computers, Vol 3. No. 7, pp. 39-47, 2008.

[30]  Chi-Yi Tsai and Kai-Tai Song, ¡§Visual Tracking Control of a Wheeled Mobile Robot with System Model and Velocity Quantization Robustness,¡¨ Accepted for publication in IEEE Trans. on Control Systems Technology, 2008.

[31]  Chi-Yi Tsai and Kai-Tai Song, ¡§ D ynamic Visual Tracking Control of a Mobile Robot with Image Noise and Occlusion Robustness ,¡¨ Accepted for publication in Image and Vision Computing , 2008

2. Conference Paper:

[1] K.T. Song, J. De Schutter and H. Van Brussel, "Design and Implementation of a Path-following Controller for an Autonomous Mobile Robot," in Proc. of Intelligent Autonomous Systems-2, Amsterdam, Dec. 1989, pp. 253- 263.

[2] K. T. Song, "A Motion Control System for an Autonomous Mobile Robot," in Proc. of 13th National Symposium on Automatic Control, Taipei, Dec. 1989, pp.144-152.

[3] H. Van Brussel, J. De Schutter and K.T. Song, "Hierarchical Control of Free-Navigation AGVs," in Proc. of the Int. workshop on Information Processing in Autonomous Mobile Robot-Methodology and Application, Munchen, Mar. 1991, pp. 105-119.

[4] K.T. Song, J.S. Young, " Mobile Robot Localization based on multiple sensors," in Proc. of the 4th Automation Technology Conference, Taipei, Taiwan, July 1991,pp. 329-338 (in Chinese).

[5] K.T. Song, C.Y. Chen and C.C. Chang, "On-line Motion Planning of an Autonomous Mobile Robot Based on Sensory Information," in Proc. of IEEE IROS'91, Osaka, Nov. 1991, pp. 423-428.

[6] K. T. Song and C. E. Li, "Tracking Control of a Free-ranging AGV," in Proc. of IFAC-INCOM'92, Toronto, May 1992, pp. 337-342.

[7] K. T. Song and J. C. Tai, "Fuzzy Navigation of a Mobile Robot," in Proc. of IEEE/RSJ IROS'92, Raleigh, July 1992, pp. 621-627.

[8] K. T. Song and J. S. Chuang, "Force Control of a Robot Gripper," in Proc. of 1993 National Symposium on Automatic Control, Tainan, Taiwan, 1993, pp.113-117.

[9] K. T. Song and C. C. Chang, "Ultrasonic Sensor Data Fusion for Environment Recognition," in Proc. of IEEE IROS'93, Yokohama, July 1993, pp. 384-390.

[10] K. T. Song and J. H. Shieh, "A Neural Network Controller Based on Auto-tuning the Gain of the Activation Function," in Proc. of IJCNN'93, Nagoya, , Oct. 1993 pp. 2787-2790.

[11] C. C. Chang and K. T. Song, "Autonomous Operation of Satellites Using a Blackboard Architecture," in Proc. of 33th Conf. on Aero. and Astro. ROC, Chung-li, Nov. 1993, pp. 785-792.

[12] K. T. Song and H. P. Li, "A Fuzzy Adaptive Control Design for Compliant Motion of a Manipulator," in Proc. of IEEE IECON'94, Bologna, Sep. 1994, pp. 702-706.

[13] K. T. Song and W.H. Tang, "Environment Recognition for a Mobile Robot Using Double Ultrasonic Sensors and a CCD Camera," in Proc. of IEEE MFI'94, Las Vegas, Oct. 1994, pp. 715-722.

[14] K. T. Song and C. C. Chen, "Application of Heuristic Asymmetric Mapping for A Mobil Robot in Unknown Environment," in Proc. of ICARCV'94, Singapore, Nov. 1994, pp.1243-1247.

[15] C. C. Chang and K. T. Song, "A Neural Network Predictor for Mobile Robot Navigation Among Moving Obstacles," in Proc. of ISANN'94, Tainan, 1994, pp. 722-727.

[16] K. T. Song and T. S. Chu, "An Experimental Study of Force Tracking Control by Reinforcement Learning," in Proc. of ISANN'94, Tainan, 1994, pp. 728-734.

[17] K. T. Song and S. H. Chen, "Intelligent Grasp Force Control Design for a Mechanical Gripper," in Proc. of 11th National Conf. of Chinese Soci. of Mech. Engr., Taichong, Taiwan, 1994, pp. 1-7

[18] C. C. Chang. and K. T. Song, "Dynamic Navigation Among Moving Obstacles Using Virtual Force Guidance," in Proc. of 11th National Conf. of Chinese Soci. of Mech. Engr., Taichong, Taiwan, 1994, pp. 245-250.

[19] K. T. Song and L. H. Sheen, "Fuzzy-Neuro Control Design for Obstacle Avoidance of a Mobil Robot," in Proc. of FUZZ-IEEE/IFES'95, Yokohama, 1995, pp. 71-76.

[20] K. T. Song and Y. H. Suen, "Design and Implementation of a Path Tracking Controller with the Capacity of Obstacle Avoidance," in Proc. of 1996 ROC Auto. Control Conf., Taipei, Mar. 1996, pp. 134-139.

[21] C. C. Chang and K. T. Song, "Dynamic Motion Planning Based on Real-Time Obstacle Prediction," in Proc. of IEEE ICRA'96, Minneapolis, 1996, pp. 2402-2407.

[22] K. T. Song and M. J. Tan, "A Neuro-Estimator for Adaptive Force/Position Control of Robot Manipulators," in Proc. of the Fourth IASTED Int. Conf. Rob. and Manu., Honolulu, Aug. 1996, pp. 239-242.

[23] K. T. Song and J. M. Chang, "Experimental Study of Robot Visual Tracking Using a Neural Controller," in Proc. of IEEE IECON'96, Taipei, Aug. 1996, pp. 1850-1855.

[24] C.C. Chang and K. T. Song, "Sensor-Based Motion Planning of a Mobile Robot in a Dynamic Environment," in Proc. of IEEE IECON'96, Taipei, Aug. 1996, pp. 766-771.

[25] K. T. Song and W.Y. Sun, "Control Optimization of Robotic Manipulators Using Reinforcement Learning," in Proc. of Int. Conf. on Arti. Intel.--ICS'96, Kaohsiung, Dec. 1996, pp. 70-76.

[26] K. T. Song and Y. S. Lin, "Landmark-based Guidance of an Autonomous Vehicle Using Fuzzy Logic Velocity Control and Real-time Computer Vision," in Proc. of 1997 Fifth National Conf. on Fuzzy Theory and Applications--Fuzzy'97, Tainan, Dec. 1997, pp.405-410.

[27] K. T. Song and F.C. Sheu, "Visual Guidance Control Based on Velocity Mapping," in Proc. of 3rd IFAC Symposium on Intelligent Autonomous Vehicles, Madrid, Mar. 1998, pp. 193-198.

[28] K. T. Song and Y.D Lee, "Design and Implementation of Multiple Sensor Fusion for Path Tracking Control of an Autonomous Vehicle," in Proc. of 1998 ROC Automatic Control Conference, Yunlin, Apr. 9-10, 1998, pp. 523-528.

[29] K. T. Song and J.Y. Leu, "On-line Emissivity Compensation for Temperature Measurement of Semiconductor Wafers," in Proc. of 1998 ROC Automatic Control Conference, Yunlin, pp. 9-10, 1998, pp. 529-534.

[30] K. T. Song and R.S. Huang, "Motion Control Design of an Intelligent Autonomous Vehicle Employing Voice Recognition," in Proc. of 1998 ROC Automatic Control Conference, Yunlin, Apr. 9-10, 1998, pp. 541-546.

[31] K.T. Song, "Development of Intelligent Autonomous Vehicles," in Proceedings of NSC Workshop of Mechantronic Research, Yunlin, Apr. 9-10 1998, pp. 107-130.

[32] K. T. Song, Y. S. Lin and Y. H. Chen, "Behavior Integration for Landmark Tracking and Real-time Obstacle Avoidance," in Proc. of 2rd IEEE Intl. Conf. on Intelligent Processing Systems, Gold Coast, Australia, Aug. 4-7, 1998, pp.594-598.

[33] K.T. Song and C.C. Chang, "Robot Reactive Control Using a CCD Camera and Multiple Ultrasonic Sensors," in Proc. of 1998 International Conference on Mechatronic Technology, Hsinchu, Nov. 30-Dec.2. pp.397-402.

[34] T. C. Lee, K. T. Song, C.H. Lee, C.. C. Teng, "Tracking Control of Mobile Robots Using Saturation Feedback Controller," in Proc. of 1999 IEEE Intl. Conf. on Robotics and Automation, Detroit, Michigan, May 10-15, 1999, pp. 2639-2644.

[35] K. T. Song and Y. H. Chen, "An Intelligent Path-Tracking System for Autonomous Vehicles," to appear in Proc. of 1999 ROC Automatic Control Conference, Taichong, Mar. 19-20, 1999. pp257-262.

[36]. K. T. Song, K. C. Ho and C.L Chang, "Adaptive Controller Design for a Hexaglide," in Proc. of the 11th Automation Technology Conference, Ja-Yi, Taiwan , 1999, pp. 603-610, ( in Chinese).

[37]. K.T. Song and T.Z. Wu, 1999, Visual Servo Control of a Mobile Manipulator Using One-Dimensional Windows, in Proc. Of IEEE IECON'99, San Jose, CA, USA, Nov. 30-Dec.2, 1999, pp. 547-552.

[38]. K.T. Song and C. C. Tang, 1999, A Distributed Architecture for Effective Multirobot Cooperation in Team Competitions, in the Proceedings of IEEE IECON'99, San Jose, CA, USA, Nov. 30-Dec.2, 1999, pp. 686-691.

[39]. K. T. Song and C. H. Hsu, "Computer Vision and its application to Obstacle Avoidance of a Guide robot for Blind Pedestrians," in Proc. of 2000 Automatic Control Conference, Hsinchu, Taiwan, March 9-10, 2000, pp. 605-610, ( in Chinese).

[40]. K. T. Song, C.Y. Lin, "Image System Design and Experiments for Robot Soccer," in Proc. of 2000 Automatic Control Conference, Hsinchu, Taiwan, March 9-10, 2000, pp. 599-604, ( in Chinese).

[41]. K. T. Song and Y. H. Chen, "Robot Control in Dynamic Environments Using a Fuzzy Clustering Network," in Proc. of First IEEE-RAS International Conference on Humanoid Robots, MIT, Cambridge, Sep. 7-8, 2000.

[42]. K.T. Song and C. Y. Lin, "Mobile Robot Control Using Stereo Vision, " in Proc. of 2001 ROC Automatic Control Conference, pp.384-389, 2001.

[43]. K.T. Song and J. H. Huang, 2001, Fast Optical Flow Estimation and Its Application to Real-time Obstacle Avoidance, in Proc. of 2001 IEEE ICRA, pp.2891-2896, 2001.

[44]. W. C. Lou, K.T. Song, J.S. Hsieh, C.L. Chang, " Dynamic Analysis and Control Architecture Design of a Parallel Machine," in Proc. of the 12th Automation Conference, Hu-Wei, Taiwan, pp. 4301B-4, 2001, (in Chinese).

[45]. K.T. Song and C.C. Tang, " Learning for Cooperation in Multirobot Team Competitions," in Proc. of the IEEE CIRA 2001, Banff, Alberta, Canada, pp. 382-387, July, 2001.

[46]. K.T. Song and W. C. Luo, "On the Selection of CMAC Learning Rate, " in the Proc. of 2002 ROC Automatic Control Conference, Tainan, March, 15-16, 2002 pp.735-740.

[47]. K.T. Song and C. M. Lee, "Development of an Image Processing Card and Its Application to Mobile Manipulation, " in the Proc. of 2002 ROC Automatic Control Conference, Tainan, March, 15-16, 2002, pp.819-824.

[48]. K.T. Song and W. C. Luo, " Selection of Optimal Learning Rates in CMAC Based Control Schemes," Accepted for publication in Proc. of the IEEE ISIC02, Vancouver, Canada, Oct, 2002.

[49] Shung-Tsang Tseng and Kai-Tai Song, "Real-time Image Tracking for Traffic Monitoring, " Accepted for publication in Proc. of the IEEE 5th International Conference on Intelligent Transportation Systems, Singapore, Sep. 3-6, 2002.

[50] Kai-Tai Song and Hung-Ting Chen, "Cooperative Map Building of Multiple Mobile Robots, " Accepted for publication in Proc. of the 6th International Conference on Mechatronics Technology, Kitakyushu, Japan, Sep. 29~Oct. 3, 2002.

[51] Jen-Chao Tai and Kai-Tai Song, "Design of a Novel Electrostatic Linear Stepping Micromotor, " Accepted for publication in Proc. of the 6th International Conference on Mechatronics Technology, Kitakyushu, Japan, Sep. 29~Oct. 3, 2002.

3. Book Chapters

[1]. H. Van Brussel, J. De Schutter and K.T. Song, "Hierarchical Control of Free-Navigation AGVs," in Information Processing in Autonomous Mobile Robot, Edited by G. Schmidt, Springer-Verlag, pp.105-119. 1991

[2] K.T. Song and J.C. Tai, "Fuzzy Navigation of a Mobile Robot," in Fuzzy Logic Technology and Application, Edited by R.J. Marks II, IEEE, pp. 141-147, 1992.)

4. Patents (±M§Q)

[1]. K. T. Song, Assigned to NSC, Taiwan, R.O.C. "Real Time Image Processing System and Image Edge Detection GT Method," R.O.C. Patent No. 1000024 , Issued Jan. 11, 1999.

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