Pub Date : 2022-05-26DOI: 10.1109/ICSSE55923.2022.9948230
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/ICSSE55923.2022.9948230","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948230","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":"7 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":"133029696","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/ICSSE55923.2022.9947358
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 Concent Form","authors":"","doi":"10.1109/ICSSE55923.2022.9947358","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9947358","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":"43 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":"130253476","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/ICSSE55923.2022.9948234
Ali Rospawan, Ching-Chih Tsai, Feng-Chun Tai
This paper presents a novel adaptive predictive proportional-integral-derivative (PID) control using a new output recurrent fuzzy broad learning system (ORFBLS) for setpoint control of a class of nonlinear discrete-time dynamic systems with time delay. The proposed controller, abbreviated as ORFBLS-APPID, is composed of an ORFBLS identifier for online parameter tuning and estimation, and an adaptive predictive ORFBLS-PID control for accurate setpoint tracking and disturbance rejection. The three-term gains of the PID controller are automatically tuned by an ORFBLS. The set-point tracking of the proposed ORFBLS-APPID control method is well exemplified by conducting simulations for two well-known nonlinear discrete-time dynamic systems with time delay, thus showing its effectiveness and superiority.
{"title":"Intelligent PID Temperature Control Using Output Recurrent Fuzzy Broad Learning System for Nonlinear Time-Delay Dynamic Systems","authors":"Ali Rospawan, Ching-Chih Tsai, Feng-Chun Tai","doi":"10.1109/ICSSE55923.2022.9948234","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948234","url":null,"abstract":"This paper presents a novel adaptive predictive proportional-integral-derivative (PID) control using a new output recurrent fuzzy broad learning system (ORFBLS) for setpoint control of a class of nonlinear discrete-time dynamic systems with time delay. The proposed controller, abbreviated as ORFBLS-APPID, is composed of an ORFBLS identifier for online parameter tuning and estimation, and an adaptive predictive ORFBLS-PID control for accurate setpoint tracking and disturbance rejection. The three-term gains of the PID controller are automatically tuned by an ORFBLS. The set-point tracking of the proposed ORFBLS-APPID control method is well exemplified by conducting simulations for two well-known nonlinear discrete-time dynamic systems with time delay, thus showing its effectiveness and superiority.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"23 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":"134054919","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/ICSSE55923.2022.9948245
Hailay Berihu Abebe, C. Hwang
This paper presents a fractional-order trajectory tracking control for the hexa-rotor with system uncertainty, actuator fault and saturation. To fulfill the trajectory tracking task under the system uncertainties and actuator faults, a finite-time trajectory tracking control (FTTTC) with fractional order filtering error for hexa-rotor is designed. Besides stability analyses of the FTTTC, the simulation results with the initial error, the end point target tracking of 3D pose of hexa-rotor under huge system uncertainty, actuator faults and input saturation validate the effectiveness and robustness of the proposed approach. To further confirm the superiority of the proposed method, comparison of trajectory tracking performance with a controller based on filtering error without fractional order is presented.
{"title":"A Finite-Time Trajectory Tracking Control for a Hexa-rotor with Uncertainty and Actuator Fault","authors":"Hailay Berihu Abebe, C. Hwang","doi":"10.1109/ICSSE55923.2022.9948245","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948245","url":null,"abstract":"This paper presents a fractional-order trajectory tracking control for the hexa-rotor with system uncertainty, actuator fault and saturation. To fulfill the trajectory tracking task under the system uncertainties and actuator faults, a finite-time trajectory tracking control (FTTTC) with fractional order filtering error for hexa-rotor is designed. Besides stability analyses of the FTTTC, the simulation results with the initial error, the end point target tracking of 3D pose of hexa-rotor under huge system uncertainty, actuator faults and input saturation validate the effectiveness and robustness of the proposed approach. To further confirm the superiority of the proposed method, comparison of trajectory tracking performance with a controller based on filtering error without fractional order is presented.","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":"114650499","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/ICSSE55923.2022.9948243
Hsien-I Lin, Cheng-Chi Wang
In the past, rough measurement mostly used contact or non-contact needle instruments to measure the surface profile along a straight line and could not match the diversified production behavior patterns. The programs that analyze the measurement data all include Gaussian filters. The ISO standard series on Gaussian filtering has been published. Improper usage of Gaussian filtration can completely deform surface images and underestimate or overestimate calculated parameters. The purpose of this paper is to show that the laser rangefinder can be quickly installed and used with Matlab software to reversely restore 3D images so that an operator can visually see the surface changes of a workpiece before and after grinding and polishing. The non-contact laser rangefinder measures samples milled with different grinding particle sizes: no. 80, 120, and 240. By using Gaussian filters with different cutoff wavelengths of 0.25 mm, 0.8 mm, 2.5 mm, and 8 mm, the influence of improper parameters on the Ra value of the workpiece surface roughness is discussed. In the experiments, the suitable grinding particle size for European beech wood polishing is analyzed as 80.
{"title":"Roughness Measurement of Polished Beech Wood by a Robotic Arm with a Laser Rangefinder","authors":"Hsien-I Lin, Cheng-Chi Wang","doi":"10.1109/ICSSE55923.2022.9948243","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948243","url":null,"abstract":"In the past, rough measurement mostly used contact or non-contact needle instruments to measure the surface profile along a straight line and could not match the diversified production behavior patterns. The programs that analyze the measurement data all include Gaussian filters. The ISO standard series on Gaussian filtering has been published. Improper usage of Gaussian filtration can completely deform surface images and underestimate or overestimate calculated parameters. The purpose of this paper is to show that the laser rangefinder can be quickly installed and used with Matlab software to reversely restore 3D images so that an operator can visually see the surface changes of a workpiece before and after grinding and polishing. The non-contact laser rangefinder measures samples milled with different grinding particle sizes: no. 80, 120, and 240. By using Gaussian filters with different cutoff wavelengths of 0.25 mm, 0.8 mm, 2.5 mm, and 8 mm, the influence of improper parameters on the Ra value of the workpiece surface roughness is discussed. In the experiments, the suitable grinding particle size for European beech wood polishing is analyzed as 80.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"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":"123286041","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/ICSSE55923.2022.9948261
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/ICSSE55923.2022.9948261","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948261","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":"23 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":"128910293","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/ICSSE55923.2022.9948242
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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/ICSSE55923.2022.9948242","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948242","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":"23 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":"131957072","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/ICSSE55923.2022.9948258
Jyotish, Mei-Yung Chen
It is inevitable for a mobile robot to competently plan an optimal path from its starting, or current, location to a desired goal location. This is an insignificant task when the environment is unvarying. However, the practicable environment for the robot is hardly static, and it often has many moving obstacles. The robot may encounter one, or many, of these unknown and unforeseeable dynamic obstacles. The robot will now opt to proceed, when one of these obstacles is obstructing its path. The objective of this paper is to find a reasonable relation between parameters used in the path planning algorithm in a platform which a robot will be able to move from the start point in a dynamic environment with map and plan an optimal path to specified goal without any collision with moving and static obstacles. For this purpose, an asymptotically optimal version of Rapidly-exploring Random Tree (RRT algorithm), named RRT* is used. The algorithm is based on an incremental sampling which covers the whole space and acts fast. Moreover, this algorithm is computationally efficient, therefore it can be used in multidimensional environments.A method of dynamic replanning using TD-RRT* is presented. The robot will rectify or modify its path when unknown random moving or static snag obstructs the path. Various experimental results show the effectiveness of the proposed method which is faster than the basic RRT*, and the smooth path with the shortest distance can be obtained which satisfies the nonholonomic constraint of mobile robots.
{"title":"A TD-RRT* Based Real-Time Path Planning of a Nonholonomic Mobile Robot and Path Smoothening Technique Using Catmull-Rom Interpolation","authors":"Jyotish, Mei-Yung Chen","doi":"10.1109/ICSSE55923.2022.9948258","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948258","url":null,"abstract":"It is inevitable for a mobile robot to competently plan an optimal path from its starting, or current, location to a desired goal location. This is an insignificant task when the environment is unvarying. However, the practicable environment for the robot is hardly static, and it often has many moving obstacles. The robot may encounter one, or many, of these unknown and unforeseeable dynamic obstacles. The robot will now opt to proceed, when one of these obstacles is obstructing its path. The objective of this paper is to find a reasonable relation between parameters used in the path planning algorithm in a platform which a robot will be able to move from the start point in a dynamic environment with map and plan an optimal path to specified goal without any collision with moving and static obstacles. For this purpose, an asymptotically optimal version of Rapidly-exploring Random Tree (RRT algorithm), named RRT* is used. The algorithm is based on an incremental sampling which covers the whole space and acts fast. Moreover, this algorithm is computationally efficient, therefore it can be used in multidimensional environments.A method of dynamic replanning using TD-RRT* is presented. The robot will rectify or modify its path when unknown random moving or static snag obstructs the path. Various experimental results show the effectiveness of the proposed method which is faster than the basic RRT*, and the smooth path with the shortest distance can be obtained which satisfies the nonholonomic constraint of mobile robots.","PeriodicalId":220599,"journal":{"name":"2022 International Conference on System Science and Engineering (ICSSE)","volume":"35 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":"132549521","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/ICSSE55923.2022.9948264
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/ICSSE55923.2022.9948264","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9948264","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":"129702323","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/ICSSE55923.2022.9947366
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/ICSSE55923.2022.9947366","DOIUrl":"https://doi.org/10.1109/ICSSE55923.2022.9947366","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":"127 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":"121361057","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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