ISASP Laboratory



Design and Application of Agricultural Equipment in Tillage Systems,
M. Ucgul and C. L. Chang, Agriculture, March 2023.


Automated Guided Robot with Backstepping Sliding Mode Control and Its Path Planning in Strip Farming,
J. C. Chien, C. L. Chang*, C. C. Yu, International Journal of iRobotics, Oct. 2022.

Design and Implementation of Artificial Intelligence of Things for Tea (Camellia sinensis L.) Grown in a Plant Factory,
C. L. Chang*, C. C. Huang, H. W. Chen, Agronomy, Oct. 2022. (

Drip-tape-following approach based on machine vision for a two-wheeled robot trailer in strip farming,
C. L. Chang*, H. W. Chen, Y. H. Chen, C. C. Yu, Agriculture, Mar. 2022. (


Artificial intelligence approaches to predict growth, harvest day, and quality of lettuce (Lactuca sativa L.) in an IoT-enabled greenhouse system,
C. L. Chang*, S. C. Chung, W. L. Fu, C. C. Huang, Biosystems Engineering, Dec. 2021. (doi:10.1016/j.biosystemseng.2021.09.015)

Mechanical control with a deep learning method for precise weeding on a farm,
C. L. Chang*, B. X. Xie, S. C. Chung, Agriculture, Oct. 2021. (


Visual guidance and egg collection scheme for a smart poultry robot for free-range farms,
C. L. Chang*, B. X. Xie, C. H. Wang, Sensors. Nov. 2020. (doi: 10.3390/s20226624).


Design and implementation of bio-inspired snake bone-armed robot for agricultural irrigation application,
C. C. Huang, C. L. Chang*, IFAC-PaperOnline. Dec. 2019. (doi: 10.1016/j.ifacol.2019.12.504).

Testing of various monochromatic LED lights used in supplemental irradiation of lettuce in modern urban rooftop polytunnels,
C. L. Chang*, K. P. Chang, W. L. Fu, Applied Engineering in Agriculture. June 2019. (doi: 10.13031/aea.13192).


Smart agricultural machine with a computer vision-based weeding and variable-rate irrigation scheme,
C. L. Chang*, and K. M. Lin, Robotics, Special issue on Agricultural and Field Robotics, July 2018. (

Design and implementation of a knowledge-based nutrient solution irrigation system for hydroponic applications,
C. L. Chang*, G. F. Hong, W. L. Fu, Transactions of the ASABE, April 2018. (doi: 10.13031/trans.11564).


Design and implementation of a cloud-based LED lighting control system for protected horticulture,
C. L. Chang*, K. P. Chang, G. B. Song, Applied Engineering in Agriculture, December 2016. (doi: 10.13031/aea.32.11003).

Two-stage guideance control scheme for high-precision straight-line navigation of four-wheeled planting robot in a greenhouse,
C. L. Chang*, G. B. Song, K. M. Lin, Transactions of the ASABE, November 2016. (doi: 10.13031/trans.59.11801).

Modified compressive sensing approach for GNSS signal reception in the presence of interference,
C. L. Chang, GPS Solutions, April 2016. (doi:10.1007/s10291-014-0429-x).

Design of a mowing robot and implementation of its dead reckoning system,
C. Yang and C. L. Chang*, International Journal of Control Theory and Applications, April 2016.


Using a novel wireless-networked decentralized control scheme under unpredictable environmental conditions,
C. L. Chang*, Y. M. Huang, and G. F. Hong, Sensors, Nov. 2015. (doi:10.3390/s151128690).

Design and implementation of a bionic mimosa robot with delicate leaf swinging behavior,
C. L. Chang* and J. L. Shie, Micromachines, Jan. 2015. (doi: 10.3390/mi6010042).


The growth response of leaf Lettuce at different stages to multiple wavelength-band light-emitting diode lighting,
C. L. Chang* and K. P. Chang, Scientia Horticulturae, Nov. 2014. (doi:10.1016/j.scienta.2014.09.013).

A supplementary lighting and regulatory scheme using a multi-wavelength light emitting diode module for greenhouse application,
C. L. Chang*, G. F. Hong, and Y. L. Li, Lighting Research & Technology, Sept. 2014. (doi:10.1177/1477153513495403).

Low-complexity spatial-temporal filtering method via compressive sensing for interference mitigation in a GNSS receiver,
C. L. Chang* and G. S. Huang, International Journal of Antennas and Propagation, May. 2014. (doi:10.1155/2014/501025).

(Editorial) Modern phased arrays and their hybrid intelligent processing,
C. L. Chang*, J. J. Liou, H. T. Hui, and C. E. Chen, International Journal of Antennas and Propagation, June 2014. (doi:10.1155/2014/780324).


Performance of lifting-circular wavelet scheme for signal acquisition in GNSS receivers,
C. L. Chang*, H. N. Shou, and J. C. Juang, International Journal of Control Theory and Applications, 6(1): 1-14, June 2013.

Outdoor mobile field robot navigation (Part I),
C. L. Chang*, B. H. Wu, and Y. C. Huang, Coordinates, July 2013.

Outdoor mobile field robot navigation (Part II),
C. L. Chang*, B. H. Wu, and Y. C. Huang, Coordinates, Aug. 2013.

A dynamic cooperative scheme with multiple antennas for indoor mobile robot localization,
C. L. Chang* and B. H. Wu, Abstract and Applied Analysis, Aug. 2013. (doi: 10.1155/2013/972371).

Design and implementation of actuator for the swing mechanism of interactive bio-mimosa robot,
C. L. Chang* and J. L. Shie, Journal of the Chinese Society of Mechanical Engineers, 34(2):137-142, April 2013.


A multistaged fuzzy logic scheme in a biobotanic growth regulation system,
C. L. Chang* and M. F. Sie, Hortscience, June 2012.

Multiplexing scheme for anti-jamming global navigation satellite system receivers,
C. L. Chang, IET Radar, Sonar & Navigation, July 2012. (doi:10.1049/iet-rsn.2011.0151).


Development of a multisensor-based bio-botanic robot and its implementation using a self-designed embedded board,
C. L. Chang*, M. F. Sie, and J. L. Shie, Sensors, Special issue on Control Systems and Robotics in Bioengineering, December 2011. doi:10.3390/s111211629

To be continued..


Environment Control Apparatus for Cultivating Plants,
C. L. Chang, US Patent No. 8,555,657. (TW Patent No. I375512.)

Imitating Plant Device,
C. L. Chang and M. F. Sie, US Patent No. 8,597,070. (TW Patent No. I403348.)

GNSS Signal Retrieving Method Using Fuzzy Calculations,
C. L. Chang, TW Patent No. I397713.

Satellite Signal Tracking Device and Method Thereof,
C. L. Chang, TW Patent No. I434524.

Farmer Machine,
C. L. Chang and B. R. Lai, TW Patent No. I482586.

Plant Nurturing System,
C. L. Chang, C. F. Lin, C. H. Tsai, Y. L. Li, TW Patent No. I505773

A Drilling Vehicle with Auto Movement,
C. L. Chang, J. H. Zhu, TW Patent No. I551215

A Farming Vehicle,
C. L. Chang, TW Patent No. I567578

Supplementary Light System for Plant Cultivation,
C. L. Chang, J. M. Miao, TW Patent No. I559849

Intelligent Cultivation Apparatus,
C. L. Chang, Kuan-Ming Lin, TW Patent No. I659192

System for Intelligent Environmental Control and Management Control,
C. L. Chang, TW Patent No. I666982

System for Intelligently Controlling Growth of Plants,
C. L. Chang, TW Patent No. I685813