Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948249
Jen-Ching Chien, Chung-Liang Chang, Chang-Chen Yu
In the autonomous navigation of agricultural robots in the field, the number of path nodes determines the smoothness of the robot's movement. However, the process of defining node positions is time-consuming and labor-intensive. In this study, a path planning method based on cubic spline interpolation is proposed to reduce the time of node position definition and configuration. At the same time, the use of this method can also maintain the stability of the steering control of agricultural robots, so that the robot can move smoothly. First, select several path nodes in the strip field as control points using cubic spline interpolation. Combines the complete path of a polyline segment by interpolating the path of the start point, control point, and landmark point between the straight path and the turn path. A small number of path node locations are defined by the global navigation satellite system with real-time kinematics (GNSS-RTK) system, and a robot dynamics system is used to actually simulate the feasibility of the proposed model in a strip field environment. The simulation results verify the effectiveness of the proposed algorithm. This method can reduce the number of path node position definitions and maintain the accuracy of the robot's route travel.
{"title":"Fast Path Planning Method for Agricultural Robot Automatic Guidance based on Cubic Spline Interpolation in Strip Farming","authors":"Jen-Ching Chien, Chung-Liang Chang, Chang-Chen Yu","doi":"10.1109/ICSSE55923.2022.9948249","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948249","url":null,"abstract":"In the autonomous navigation of agricultural robots in the field, the number of path nodes determines the smoothness of the robot's movement. However, the process of defining node positions is time-consuming and labor-intensive. In this study, a path planning method based on cubic spline interpolation is proposed to reduce the time of node position definition and configuration. At the same time, the use of this method can also maintain the stability of the steering control of agricultural robots, so that the robot can move smoothly. First, select several path nodes in the strip field as control points using cubic spline interpolation. Combines the complete path of a polyline segment by interpolating the path of the start point, control point, and landmark point between the straight path and the turn path. A small number of path node locations are defined by the global navigation satellite system with real-time kinematics (GNSS-RTK) system, and a robot dynamics system is used to actually simulate the feasibility of the proposed model in a strip field environment. The simulation results verify the effectiveness of the proposed algorithm. This method can reduce the number of path node position definitions and maintain the accuracy of the robot's route travel.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"39 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130968650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948246
Angus Stuttaford-Fowler, H. Samani, Changguo Yang
Animals have evolved over billions of years to adapt to their surroundings via natural selection, ensuring that the most optimal biological systems will survive. Biomimicry solves engineering problems by taking solutions from analogous biological systems. The advent of robotic ubiquity has brought along a need for radical change in the foundations of robotics and taking bioinspiration is the subsequent step in creating the next generation of adaptive robots. Incorporating soft robotics into actuating and locomotive systems theoretically provides infinite degrees of freedom, as well as allow safe and delicate interaction with humans and the environment. The future challenges of robotics will be to further develop the abilities for robots to grow, self-heal, and adapt their morphology to their surroundings. This review will analyze and discuss current examples of biomimetic actuation and locomotion, their relevance, and the future of these technologies.
{"title":"Biomimicry in Soft Robotics Actuation and Locomotion","authors":"Angus Stuttaford-Fowler, H. Samani, Changguo Yang","doi":"10.1109/ICSSE55923.2022.9948246","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948246","url":null,"abstract":"Animals have evolved over billions of years to adapt to their surroundings via natural selection, ensuring that the most optimal biological systems will survive. Biomimicry solves engineering problems by taking solutions from analogous biological systems. The advent of robotic ubiquity has brought along a need for radical change in the foundations of robotics and taking bioinspiration is the subsequent step in creating the next generation of adaptive robots. Incorporating soft robotics into actuating and locomotive systems theoretically provides infinite degrees of freedom, as well as allow safe and delicate interaction with humans and the environment. The future challenges of robotics will be to further develop the abilities for robots to grow, self-heal, and adapt their morphology to their surroundings. This review will analyze and discuss current examples of biomimetic actuation and locomotion, their relevance, and the future of these technologies.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121388077","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948227
Presents the copyright information for the conference. May include reprint permission information.
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{"title":"IEEE Copyright and Consent Form","authors":"","doi":"10.1109/ICSSE55923.2022.9948227","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948227","url":null,"abstract":"Presents the copyright information for the conference. May include reprint permission information.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116406033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9947365
Jen-Hsing Li
This paper mainly studies the safe area assessment, using the jetbot (artificial intelligence robot) to do experiments, when the jetbot walks in the safe area, it walks freely. When the jetbot walks to the boundary, it will turn to a safe area. The safe area assessment can be applied to the working field of the robotic arm. When a worker enters the working range of the robotic arm, the robotic arm system must identify and evaluate the safety of the worker to achieve the safety of the working field.
{"title":"A Case Study of Artificial Intelligence Applied to Safe Area Assessment","authors":"Jen-Hsing Li","doi":"10.1109/ICSSE55923.2022.9947365","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9947365","url":null,"abstract":"This paper mainly studies the safe area assessment, using the jetbot (artificial intelligence robot) to do experiments, when the jetbot walks in the safe area, it walks freely. When the jetbot walks to the boundary, it will turn to a safe area. The safe area assessment can be applied to the working field of the robotic arm. When a worker enters the working range of the robotic arm, the robotic arm system must identify and evaluate the safety of the worker to achieve the safety of the working field.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123283529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9947353
I. Howard
Here we present the design and construction of a low-cost planar robotic arm that makes use of light weight component and a passive link mechanism to maintain fixed endpoint orientation. The arm structure itself is low-cost and built from carbon fiber tubes which yields a high stiffness to weight ratio. To facilitate construction, commercially available pulley and bearing components are used in the design where possible and all custom mechanical parts are 3D printed. To reduce power consumption, the arm makes use of non-back-drivable worm-gear motor actuation, so static arm configurations can be maintained without requiring motor power. We first analyze and simulate the kinematics and the static torque/force relationships of the mechanism. A microcontroller system was then developed to read the sensors and drive the arm motors. Finally, we demonstrate arm operation with simple movement tasks.
{"title":"Design and prototyping of a low-cost light weight fixed-endpoint orientation planar Cobot","authors":"I. Howard","doi":"10.1109/ICSSE55923.2022.9947353","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9947353","url":null,"abstract":"Here we present the design and construction of a low-cost planar robotic arm that makes use of light weight component and a passive link mechanism to maintain fixed endpoint orientation. The arm structure itself is low-cost and built from carbon fiber tubes which yields a high stiffness to weight ratio. To facilitate construction, commercially available pulley and bearing components are used in the design where possible and all custom mechanical parts are 3D printed. To reduce power consumption, the arm makes use of non-back-drivable worm-gear motor actuation, so static arm configurations can be maintained without requiring motor power. We first analyze and simulate the kinematics and the static torque/force relationships of the mechanism. A microcontroller system was then developed to read the sensors and drive the arm motors. Finally, we demonstrate arm operation with simple movement tasks.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127130665","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948260
I-Wen Huang, Yang Chang, Cory Stevenson, I. Chen, Dar-Shong Lin, L. Ko
Attention deficit/hyperactivity disorder (ADHD) is a condition that generally affects the neurodevelopment of children. Both electroencephalography (EEG) and continuous performance tests (CPT) can be used not only to provide objective identification ADHD, but also to directly observe and quantify the performance of subject task performance. In this study, we propose an optimized segmentation for learning EEG time-series information with long short-term memory (LSTM) networks used to differentiate ADHD and neurotypical (NT) children. A total of 30 NT children and 30 children diagnosed with ADHD participated in CPT while simultaneously monitored with EEG. The experimental results show that, whether it is a single feature of beta power at a the O2 electrode location or all the features, the optimal data segment is the same, an EEG segment containing the data from 30 seconds of eyes-open resting and 30 seconds of CPT task. This produced improved performance for discriminating the differences in EEG between the two groups, thus assisting in the diagnosis of ADHD.
{"title":"Optimal EEG Data Segmentation in LSTM Networks for Learning Neural Dynamics of ADHD","authors":"I-Wen Huang, Yang Chang, Cory Stevenson, I. Chen, Dar-Shong Lin, L. Ko","doi":"10.1109/ICSSE55923.2022.9948260","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948260","url":null,"abstract":"Attention deficit/hyperactivity disorder (ADHD) is a condition that generally affects the neurodevelopment of children. Both electroencephalography (EEG) and continuous performance tests (CPT) can be used not only to provide objective identification ADHD, but also to directly observe and quantify the performance of subject task performance. In this study, we propose an optimized segmentation for learning EEG time-series information with long short-term memory (LSTM) networks used to differentiate ADHD and neurotypical (NT) children. A total of 30 NT children and 30 children diagnosed with ADHD participated in CPT while simultaneously monitored with EEG. The experimental results show that, whether it is a single feature of beta power at a the O2 electrode location or all the features, the optimal data segment is the same, an EEG segment containing the data from 30 seconds of eyes-open resting and 30 seconds of CPT task. This produced improved performance for discriminating the differences in EEG between the two groups, thus assisting in the diagnosis of ADHD.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114831135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948255
Presents the copyright information for the conference. May include reprint permission information.
介绍会议的版权信息。可包括转载许可信息。
{"title":"IEEE Copyright and Consent Form","authors":"","doi":"10.1109/ICSSE55923.2022.9948255","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948255","url":null,"abstract":"Presents the copyright information for the conference. May include reprint permission information.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130741479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948232
Yu-Ting Su, En-Hauh Liu, Tzuu-Hseng S. Li
Political Optimizer is a metaheuristic algorithm proposed by scholars recently. It reflects good convergence speed as well as exploitation and exploration capabilities in problems relevant to finding optimal solutions. However, regarding the global optimum, it still has spaces to be improved. This study proposed a Hybrid Political Algorithm, which makes balanced modifications to the exploration process and algorithm functions to effectively improve searching for the optimal solutions in the mathematic problems of Congress on Evolutionary Computation and engineering problems by enabling the particles to move smarter in the computation process. Based on the experimental results, improving the performance of algorithm functions using the methods proposed in this study can also help avoid falling into the local optimum. In addition, compared to other algorithms, this improved algorithm can generate more accurate results.
政治优化算法是近年来学者提出的一种元启发式算法。它反映了较好的收敛速度以及在寻找最优解相关问题上的开发和探索能力。然而，对于全局最优，它仍有改进的空间。本文提出了一种混合政治算法(Hybrid Political Algorithm)，该算法对探索过程和算法功能进行了平衡修改，通过使粒子在计算过程中更智能地移动，有效地提高了在进化计算大会数学问题和工程问题中寻找最优解的能力。从实验结果来看，利用本文提出的方法提高算法函数的性能也有助于避免陷入局部最优。此外，与其他算法相比，改进后的算法可以生成更准确的结果。
{"title":"Hybrid Political Algorithm Approach for Engineering Optimization Problems","authors":"Yu-Ting Su, En-Hauh Liu, Tzuu-Hseng S. Li","doi":"10.1109/ICSSE55923.2022.9948232","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948232","url":null,"abstract":"Political Optimizer is a metaheuristic algorithm proposed by scholars recently. It reflects good convergence speed as well as exploitation and exploration capabilities in problems relevant to finding optimal solutions. However, regarding the global optimum, it still has spaces to be improved. This study proposed a Hybrid Political Algorithm, which makes balanced modifications to the exploration process and algorithm functions to effectively improve searching for the optimal solutions in the mathematic problems of Congress on Evolutionary Computation and engineering problems by enabling the particles to move smarter in the computation process. Based on the experimental results, improving the performance of algorithm functions using the methods proposed in this study can also help avoid falling into the local optimum. In addition, compared to other algorithms, this improved algorithm can generate more accurate results.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127639068","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948247
Presents the copyright information for the conference. May include reprint permission information.
展示会议的版权信息。可能包括转载许可信息。
{"title":"IEEE Copyright and Consent Form","authors":"","doi":"10.1109/ICSSE55923.2022.9948247","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948247","url":null,"abstract":"Presents the copyright information for the conference. May include reprint permission information.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"IA-18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126558613","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948252
Presents the copyright information for the conference. May include reprint permission information.
展示会议的版权信息。可能包括转载许可信息。
{"title":"IEEE Copyright and Consent Form","authors":"","doi":"10.1109/ICSSE55923.2022.9948252","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948252","url":null,"abstract":"Presents the copyright information for the conference. May include reprint permission information.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131378542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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