Pub Date : 2017-07-01DOI: 10.1109/ICSSE.2017.8030915
Tran Vinh Toan, T. Ha, Tran Vi Do
This paper presents a hybrid control which includes swing-up and balancing control for pendubot system - a two-link under-actuated robot. The parameters of the pendubot system are measured in the actual pendubot system built in the automation lab, University of Technology and Education HCM City. A hybrid controller which drives the system close to the equilibrium manifold and maintains the system stabilization in the upright position will be developed. The proposed control consists of two stages: swing-up control using partial feedback linearization, and balancing control using linear quadratic regulator. Finally, the controller is verified through both simulation and experimental results. The stability of the pendubot system in simulation showed that the proposed hybrid controller works well. However, the control quality in the experimental model still has some limitations.
{"title":"Hybrid control for swing up and balancing pendubot system: An experimental result","authors":"Tran Vinh Toan, T. Ha, Tran Vi Do","doi":"10.1109/ICSSE.2017.8030915","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030915","url":null,"abstract":"This paper presents a hybrid control which includes swing-up and balancing control for pendubot system - a two-link under-actuated robot. The parameters of the pendubot system are measured in the actual pendubot system built in the automation lab, University of Technology and Education HCM City. A hybrid controller which drives the system close to the equilibrium manifold and maintains the system stabilization in the upright position will be developed. The proposed control consists of two stages: swing-up control using partial feedback linearization, and balancing control using linear quadratic regulator. Finally, the controller is verified through both simulation and experimental results. The stability of the pendubot system in simulation showed that the proposed hybrid controller works well. However, the control quality in the experimental model still has some limitations.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115650659","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030927
Kun-Ching Wang, Yung-Ming Yang, Ying-Ru Yang
In this paper, we present a speech/music discrimination (SMD) using hybrid manner of feature extraction to discriminate the noisy audio signal into speech and music. The hybrid-based SMD performs the combination of 1D signal processing and 2D image processing to extract multiple features. In general, the noisy audio segment can be regarded as music, speech or noise (silence). The proposed hybrid-based SMD approach has been successfully applied into audio data indexing to classify the noisy audio signal into speech, music and noise. The approach includes three main stages: pre-processing/voice activity detection (VAD), speech/music discrimination (SMD) and rule-based post-processing. Both of pre-processing and VAD are regarded as the first stage for discriminating audio recording stream into noise-only segments and noisy audio segments. Next, the hybrid-based SMD is regarded as the second stage to classify noisy audio segments into speech segments and music segments. In third stage, a rule-based post-filtering method will be applied in order to improve the discrimination accuracy and to reflect the continuity of audio data in time. Experimental results will show that the proposed hybrid-based SMD approach can successfully apply into the audio data indexing. The overall system accuracy will be evaluated on radio recordings from various sources. Performance results can provide significant classification for the envisaged tasks compared to existing methods is given.
{"title":"Speech/music discrimination using hybrid-based feature extraction for audio data indexing","authors":"Kun-Ching Wang, Yung-Ming Yang, Ying-Ru Yang","doi":"10.1109/ICSSE.2017.8030927","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030927","url":null,"abstract":"In this paper, we present a speech/music discrimination (SMD) using hybrid manner of feature extraction to discriminate the noisy audio signal into speech and music. The hybrid-based SMD performs the combination of 1D signal processing and 2D image processing to extract multiple features. In general, the noisy audio segment can be regarded as music, speech or noise (silence). The proposed hybrid-based SMD approach has been successfully applied into audio data indexing to classify the noisy audio signal into speech, music and noise. The approach includes three main stages: pre-processing/voice activity detection (VAD), speech/music discrimination (SMD) and rule-based post-processing. Both of pre-processing and VAD are regarded as the first stage for discriminating audio recording stream into noise-only segments and noisy audio segments. Next, the hybrid-based SMD is regarded as the second stage to classify noisy audio segments into speech segments and music segments. In third stage, a rule-based post-filtering method will be applied in order to improve the discrimination accuracy and to reflect the continuity of audio data in time. Experimental results will show that the proposed hybrid-based SMD approach can successfully apply into the audio data indexing. The overall system accuracy will be evaluated on radio recordings from various sources. Performance results can provide significant classification for the envisaged tasks compared to existing methods is given.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114872720","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030932
H. Vo
Scaling CMOS integrated circuit technology leads to decrease the chip price and increase processing performance in complex applications with re-configurability. Thus, VLSI architecture is a promising candidate in implementing neural network models nowadays. Backpropagation algorithm is used for training multilayer perceptron with high degree of parallel processing. Parallel computing implementation is the best suitable on FPGA or ASIC. The on-chip back-propagation learning algorithm design is proposed to implement 2×2×1 neural network architecture on FPGA. The simulation results show that back-propagation learning algorithm is converged in 3 epochs with error target as small as 0.05. The updated weighting also makes comparison between learning on FPGA and Matlab less than 2%. The achievements extend the applications with larger neural networks to communicate with other hardware architecture.
{"title":"Implementing the on-chip backpropagation learning algorithm on FPGA architecture","authors":"H. Vo","doi":"10.1109/ICSSE.2017.8030932","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030932","url":null,"abstract":"Scaling CMOS integrated circuit technology leads to decrease the chip price and increase processing performance in complex applications with re-configurability. Thus, VLSI architecture is a promising candidate in implementing neural network models nowadays. Backpropagation algorithm is used for training multilayer perceptron with high degree of parallel processing. Parallel computing implementation is the best suitable on FPGA or ASIC. The on-chip back-propagation learning algorithm design is proposed to implement 2×2×1 neural network architecture on FPGA. The simulation results show that back-propagation learning algorithm is converged in 3 epochs with error target as small as 0.05. The updated weighting also makes comparison between learning on FPGA and Matlab less than 2%. The achievements extend the applications with larger neural networks to communicate with other hardware architecture.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"342 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123525781","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030908
Van-Khien Nguyen, H. Pham, H. Pham
This paper presents the optimal design of a compliant guide mechanism (CGM) for high precision CNC turning manufacturing. Genetic algorithm (GA) and finite element analysis (FEA) are used during the optimization process of the mechanism. Before the implementation of GA, sensitivity analysis of design variables is performed by using the combination of FEA-based experiments, Taguchi method and variance analysis ANOVA. The designed CGM is used as an amplification mechanism for the precision tool feeder of a CNC machine from the ultra-precision actuation of a piezo actuator (PZT). The design is validated in a 3-dimensional FEA model using Ansys. The result shows that the maximum amplification ratio obtained from the CGM is 6.8 with a very high linearity for the transformation.
{"title":"Optimal design of high precision compliant guide mechanism using gene algorithm and Taguchi-based sensitivity analysis","authors":"Van-Khien Nguyen, H. Pham, H. Pham","doi":"10.1109/ICSSE.2017.8030908","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030908","url":null,"abstract":"This paper presents the optimal design of a compliant guide mechanism (CGM) for high precision CNC turning manufacturing. Genetic algorithm (GA) and finite element analysis (FEA) are used during the optimization process of the mechanism. Before the implementation of GA, sensitivity analysis of design variables is performed by using the combination of FEA-based experiments, Taguchi method and variance analysis ANOVA. The designed CGM is used as an amplification mechanism for the precision tool feeder of a CNC machine from the ultra-precision actuation of a piezo actuator (PZT). The design is validated in a 3-dimensional FEA model using Ansys. The result shows that the maximum amplification ratio obtained from the CGM is 6.8 with a very high linearity for the transformation.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124101903","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030898
Nguyen Van Long Giang, D. Dzung, Huynh Phuoc Son
This paper presents an experimental research on fuel control system which is installed on the diesel Toyota 3C-TE to assess the technical characteristics and emissions when the engine using dual fuel LPG-Diesel with different ratio of LPG. The experimental results show that the engine running dual fuel LPG - Diesel reached 98.5% maximum moment and 85% maximum power. Average torque and average power was reduced but not significantly compared to the case of engine using 100% diesel. The percentage of alternative LPG fuel could be reached by 40%. For engine using dual fuel, the smoke reduces in all operating modes while CO, HC emissions slightly increase. NOx emission is reduced 6.7%, smoke is decreased more than 77% at mode 40% LPG.
{"title":"Experimental research on fuel control system of internal combustion engine using dual fuel LPG - Diesel","authors":"Nguyen Van Long Giang, D. Dzung, Huynh Phuoc Son","doi":"10.1109/ICSSE.2017.8030898","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030898","url":null,"abstract":"This paper presents an experimental research on fuel control system which is installed on the diesel Toyota 3C-TE to assess the technical characteristics and emissions when the engine using dual fuel LPG-Diesel with different ratio of LPG. The experimental results show that the engine running dual fuel LPG - Diesel reached 98.5% maximum moment and 85% maximum power. Average torque and average power was reduced but not significantly compared to the case of engine using 100% diesel. The percentage of alternative LPG fuel could be reached by 40%. For engine using dual fuel, the smoke reduces in all operating modes while CO, HC emissions slightly increase. NOx emission is reduced 6.7%, smoke is decreased more than 77% at mode 40% LPG.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129985995","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030875
T. Dang
Color local texture features (CLTF), proposed by Choi et al., exploit the discriminative information derived from spatiochromatic texture patterns of different spectral channels within a certain local face region to maximize the complementary effect taken by using both color and texture information for face recognition. Previous comparative experiments show that the CLTF extracted from ZRG and RQCr color spaces yield better recognition rates than FR approaches using only color or texture information. Nevertheless, it has been revealed that different color spaces have distinct characteristics, and thus effectiveness, in terms of discriminating power for the task of visual classification. Hence, in this research, we conduct extensive and comparative experiments to evaluate CLTF extracted from many different color spaces on four data sets, namely Color FERET, AR, SCFace, and Postech01. The results show that their performance is not consistent on different databases. This raises the need to develop a framework of choosing components from existing color spaces for the purpose of enhancing CLTF's discriminating power.
彩色局部纹理特征(Color local texture features, CLTF)是Choi等人提出的一种利用特定局部人脸区域内不同光谱通道的空间颜色纹理模式产生的判别信息，最大限度地发挥颜色和纹理信息在人脸识别中的互补效果。先前的对比实验表明，从ZRG和RQCr颜色空间中提取的CLTF比仅使用颜色或纹理信息的FR方法具有更好的识别率。然而，不同的色彩空间具有不同的特征，因此在视觉分类任务的区分能力方面是有效的。因此，在本研究中，我们进行了广泛的对比实验，以评估从许多不同颜色空间中提取的CLTF在四个数据集(即color FERET, AR, SCFace和Postech01)上的性能。结果表明，它们在不同数据库上的性能并不一致。这就需要开发一个从现有色彩空间中选择组件的框架，以增强CLTF的识别能力。
{"title":"The effect of Color space on discriminating power of Color local texture feature for Color face recognition","authors":"T. Dang","doi":"10.1109/ICSSE.2017.8030875","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030875","url":null,"abstract":"Color local texture features (CLTF), proposed by Choi et al., exploit the discriminative information derived from spatiochromatic texture patterns of different spectral channels within a certain local face region to maximize the complementary effect taken by using both color and texture information for face recognition. Previous comparative experiments show that the CLTF extracted from ZRG and RQCr color spaces yield better recognition rates than FR approaches using only color or texture information. Nevertheless, it has been revealed that different color spaces have distinct characteristics, and thus effectiveness, in terms of discriminating power for the task of visual classification. Hence, in this research, we conduct extensive and comparative experiments to evaluate CLTF extracted from many different color spaces on four data sets, namely Color FERET, AR, SCFace, and Postech01. The results show that their performance is not consistent on different databases. This raises the need to develop a framework of choosing components from existing color spaces for the purpose of enhancing CLTF's discriminating power.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132179308","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030838
P. Liên, Nguyen Duc Quang, L. Tra
In this paper, the algorithms of combining channel estimation with CFO estimation are studied for mobile OFDM system. The comb-type pilot is used for channel estimation. There are some known algorithms for channel estimation such as LS (Least Square), Minimum Mean Square Error (MMSE), some adaptive estimators such as Kalman Filter, Extended Kalman Filter… To enhance performance, we modified the algorithm of channel estimation by jointly estimating the channel frequency response and CFO (Channel Frequency Offset) from the transmission of known pilot symbols. This new estimator had good performance in fading environments for vehicular model with high mobile speed. Bit Error Rate (BER) performance of the proposed algorithm is verified by computer simulation.
{"title":"Extended Kalman Filter for channel and carrier frequency offset estimation","authors":"P. Liên, Nguyen Duc Quang, L. Tra","doi":"10.1109/ICSSE.2017.8030838","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030838","url":null,"abstract":"In this paper, the algorithms of combining channel estimation with CFO estimation are studied for mobile OFDM system. The comb-type pilot is used for channel estimation. There are some known algorithms for channel estimation such as LS (Least Square), Minimum Mean Square Error (MMSE), some adaptive estimators such as Kalman Filter, Extended Kalman Filter… To enhance performance, we modified the algorithm of channel estimation by jointly estimating the channel frequency response and CFO (Channel Frequency Offset) from the transmission of known pilot symbols. This new estimator had good performance in fading environments for vehicular model with high mobile speed. Bit Error Rate (BER) performance of the proposed algorithm is verified by computer simulation.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132207004","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030968
Nguyen Vinh Quan, Ng M Tam, N. Nhờ, Duong Hoai Nghia
Almost controllers of induction motor speed are designed to keep motor speed unchanged. It is hard for conventional controller such as PI controller because induction motor is a nonlinear system with parameter changes and noise. Sliding mode control based on reference model is worth trying to overcome that difficulty. This paper presents a new method using sliding mode controller based on reference model and stator field orientation for an induction motor. There are two separate sliding mode controllers are designed. The first one is for control of the flux field and the second for the torque of the motor. A reference model is properly chosen to estimate reference speed of the motor. A seven level cascade inverter is control to reduce common - mode voltage which will improve the stability for proposed controllers. The method used to reduce chattering around sliding surfaces is also presented. Simulation and experimental results on a 1-hp 150-rad/sec squirrel-rotor induction motor shows smooth operation of the control scheme with a 1.5 times increase of the stator resistor and rotor resistor values of the induction motor under condition of noises. The performances of the sliding mode controllers are compared with a PI (Proportional and Integral) controllers with various load conditions.
{"title":"Sliding mode control of a three phase induction motor based on reference model","authors":"Nguyen Vinh Quan, Ng M Tam, N. Nhờ, Duong Hoai Nghia","doi":"10.1109/ICSSE.2017.8030968","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030968","url":null,"abstract":"Almost controllers of induction motor speed are designed to keep motor speed unchanged. It is hard for conventional controller such as PI controller because induction motor is a nonlinear system with parameter changes and noise. Sliding mode control based on reference model is worth trying to overcome that difficulty. This paper presents a new method using sliding mode controller based on reference model and stator field orientation for an induction motor. There are two separate sliding mode controllers are designed. The first one is for control of the flux field and the second for the torque of the motor. A reference model is properly chosen to estimate reference speed of the motor. A seven level cascade inverter is control to reduce common - mode voltage which will improve the stability for proposed controllers. The method used to reduce chattering around sliding surfaces is also presented. Simulation and experimental results on a 1-hp 150-rad/sec squirrel-rotor induction motor shows smooth operation of the control scheme with a 1.5 times increase of the stator resistor and rotor resistor values of the induction motor under condition of noises. The performances of the sliding mode controllers are compared with a PI (Proportional and Integral) controllers with various load conditions.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129290146","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030853
N. H. Vinh, Le Kim Hung, Nguyen Hung
In this paper, the hybrid Proportional Integral plus Fuzzy Logic (PI+FL) damping controller is designed for static synchronous compensator (STATCOM) to improve the power quality of a multi-machine system was presented. The operating performance of the studied system is using the popular benchmark three-machine nine-bus system. The two-axis four-order model of synchronous generator (SG) is used. Time-domain scheme based on a nonlinear system model subject to a three-phase short-circuit fault at the load connected bus is utilized to examine the effectiveness of the proposed control schemes. It can be concluded from the simulation results that the designed PI+FL damping controller can enhance the power quality of the studied system.
{"title":"Hybrid damping controller for STATCOM to enhance power quality in multi-machine system","authors":"N. H. Vinh, Le Kim Hung, Nguyen Hung","doi":"10.1109/ICSSE.2017.8030853","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030853","url":null,"abstract":"In this paper, the hybrid Proportional Integral plus Fuzzy Logic (PI+FL) damping controller is designed for static synchronous compensator (STATCOM) to improve the power quality of a multi-machine system was presented. The operating performance of the studied system is using the popular benchmark three-machine nine-bus system. The two-axis four-order model of synchronous generator (SG) is used. Time-domain scheme based on a nonlinear system model subject to a three-phase short-circuit fault at the load connected bus is utilized to examine the effectiveness of the proposed control schemes. It can be concluded from the simulation results that the designed PI+FL damping controller can enhance the power quality of the studied system.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128812256","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 : 2017-07-01DOI: 10.1109/ICSSE.2017.8030918
Châu Giang Nguyễn, Nhat Minh Do, T. Phung, D. Nguyễn
This paper presents a non-geometric method for solving the inverse kinematics of a ship motion simulation system having Delta structure as shown in Fig. 1, and then investigated the problem of path tracking control generally. As the complexity of the joint structure of this system, obtaining the inverse kinematics is difficult and computationally expensive and traditional methods such as geometric, iterative and algebraic seem not completely effective. So, author uses the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) to learn from training data, it is possible to create ANFIS with limited mathematical representation of the system. Simulation is carried out by Matlab to indicate that this method has the advantage of faster learning rate, higher identifying precision and better real-time ability. The purpose of trajectory control is to define a temporal motion law along a given geometric path. A method for trajectory control is presented which is based on a modified trapezoidal velocity profile (TVP), and velocity control method is proposed using a PID controller to ensure the end effector tracking the desired path with high precision. At last, a demo model is used to verify the feasibility of the method. The results of the paper are very useful for solving the inverse kinematics of manipulator as well as demonstrate the improved performance of controller combining between TVP and PID over conventional trajectory control - point to point type.
{"title":"A non-geometric method for inverse kinematics solution of a delta-structure ship motion simulator and its trajectory control","authors":"Châu Giang Nguyễn, Nhat Minh Do, T. Phung, D. Nguyễn","doi":"10.1109/ICSSE.2017.8030918","DOIUrl":"https://doi.org/10.1109/ICSSE.2017.8030918","url":null,"abstract":"This paper presents a non-geometric method for solving the inverse kinematics of a ship motion simulation system having Delta structure as shown in Fig. 1, and then investigated the problem of path tracking control generally. As the complexity of the joint structure of this system, obtaining the inverse kinematics is difficult and computationally expensive and traditional methods such as geometric, iterative and algebraic seem not completely effective. So, author uses the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) to learn from training data, it is possible to create ANFIS with limited mathematical representation of the system. Simulation is carried out by Matlab to indicate that this method has the advantage of faster learning rate, higher identifying precision and better real-time ability. The purpose of trajectory control is to define a temporal motion law along a given geometric path. A method for trajectory control is presented which is based on a modified trapezoidal velocity profile (TVP), and velocity control method is proposed using a PID controller to ensure the end effector tracking the desired path with high precision. At last, a demo model is used to verify the feasibility of the method. The results of the paper are very useful for solving the inverse kinematics of manipulator as well as demonstrate the improved performance of controller combining between TVP and PID over conventional trajectory control - point to point type.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126877041","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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