Pub Date : 2018-06-01DOI: 10.1109/ICSSE.2018.8519992
Chun-Peng Yeh, Lian-Wang Lee, I. Li, H. Chiang
This paper aims to propose a novel translational parallel manipulator (TPM) with three degrees of freedom (3-DOF), driven by rodless pneumatic actuators (RPA). The developed parallel manipulator is composed of a fixed base frame, a moving platform, and three sets of parallel kinematic chains. In addition, three identical rodless pneumatic cylinders are employed as the linear actuators of the manipulator. To allow more working space for the manipulator, the RPAs are configured into horizontal positions. A mobility analysis of the parallel mechanism verifies the manipulator to possess three translational degrees of freedom. In this study, a geometric method is introduced to solve the kinematic relation between the actuated joints and the moving platform: A vector-loop closure equation is first established for each limb of the manipulator; by solving the equation, solutions for both the inverse and forward kinematics are obtained. For the control of the 3-DOF TPM, a Fuzzy-PID controller with feedback loops is applied. To improve control precision against nonlinearities and uncertainties in the pneumatic plant, a Back-propagation Neural Network (BPNN) is trained to implement effective pre-compensation. Finally, the real-time experiment is conducted to verify the path tracking control of the three-axial manipulator end-effector.
{"title":"A Translational Parallel Manipulator with Three Horizontal-Axial Pneumatic Actuators for 3-D Path Tracking","authors":"Chun-Peng Yeh, Lian-Wang Lee, I. Li, H. Chiang","doi":"10.1109/ICSSE.2018.8519992","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8519992","url":null,"abstract":"This paper aims to propose a novel translational parallel manipulator (TPM) with three degrees of freedom (3-DOF), driven by rodless pneumatic actuators (RPA). The developed parallel manipulator is composed of a fixed base frame, a moving platform, and three sets of parallel kinematic chains. In addition, three identical rodless pneumatic cylinders are employed as the linear actuators of the manipulator. To allow more working space for the manipulator, the RPAs are configured into horizontal positions. A mobility analysis of the parallel mechanism verifies the manipulator to possess three translational degrees of freedom. In this study, a geometric method is introduced to solve the kinematic relation between the actuated joints and the moving platform: A vector-loop closure equation is first established for each limb of the manipulator; by solving the equation, solutions for both the inverse and forward kinematics are obtained. For the control of the 3-DOF TPM, a Fuzzy-PID controller with feedback loops is applied. To improve control precision against nonlinearities and uncertainties in the pneumatic plant, a Back-propagation Neural Network (BPNN) is trained to implement effective pre-compensation. Finally, the real-time experiment is conducted to verify the path tracking control of the three-axial manipulator end-effector.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124653256","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8520055
Y. Kuan, A. Septiani, Aindri Yuliane
Electric vehicles have long held the promise of zero emission vehicles. A hydrogen-based, fuel cell could provide the power required by an electric vehicle equal to modern gasoline powered vehicle. In this study, the real fuel-cell vehicle system was developing using 500W of proton exchange membrane fuel cell (PEMFC) to power the motor. To measure the performance of the fuel cell system, the operation parameters are necessary to collect. To make a real-time diagnostic system of fuel cell vehicle become more efficient, this study made a monitoring system and Graphical User Interface (GUI). By using GUI, integrated with the hardware (microcontroller, sensors, and communication data) then the data will be easily observed, recorded continuously, and real-time by using developed GUI. Microcontroller that used in this study are National Instruments product LabVIEW and myRIO. myRIO embedded system can obtain the real-time data acquisition of voltage and current as well as data transmission, processing, and monitoring. From observation and data processing performed during the fuel cell vehicles testing using myRIO and GUI, it can be known that from the four measuring points showed almost the same result and the similar tendencies.
{"title":"Development of the Diagnostic System for Fuel Cell Vehicle Using LabVIEW","authors":"Y. Kuan, A. Septiani, Aindri Yuliane","doi":"10.1109/ICSSE.2018.8520055","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8520055","url":null,"abstract":"Electric vehicles have long held the promise of zero emission vehicles. A hydrogen-based, fuel cell could provide the power required by an electric vehicle equal to modern gasoline powered vehicle. In this study, the real fuel-cell vehicle system was developing using 500W of proton exchange membrane fuel cell (PEMFC) to power the motor. To measure the performance of the fuel cell system, the operation parameters are necessary to collect. To make a real-time diagnostic system of fuel cell vehicle become more efficient, this study made a monitoring system and Graphical User Interface (GUI). By using GUI, integrated with the hardware (microcontroller, sensors, and communication data) then the data will be easily observed, recorded continuously, and real-time by using developed GUI. Microcontroller that used in this study are National Instruments product LabVIEW and myRIO. myRIO embedded system can obtain the real-time data acquisition of voltage and current as well as data transmission, processing, and monitoring. From observation and data processing performed during the fuel cell vehicles testing using myRIO and GUI, it can be known that from the four measuring points showed almost the same result and the similar tendencies.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126198383","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8520066
Chun-Tse Lee, J. Chang
In this paper, design, analysis and mechatronic integration focusing on finger motion of a prosthetic hand are conducted in the context of finger-linkage kinematics. Analytical studies on the modeling of the prosthetic hand are performed to examine forward kinematics and inverse kinematics of its index finger. With such model, results demonstrate that precise motion of the proposed higher degrees of freedom (DOF) prosthetic hand can be achieved and it can be used to mimic human hand's dexterous gestures.
{"title":"Design and Analysis of Finger Kinematics of a Prosthetic Hand","authors":"Chun-Tse Lee, J. Chang","doi":"10.1109/ICSSE.2018.8520066","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8520066","url":null,"abstract":"In this paper, design, analysis and mechatronic integration focusing on finger motion of a prosthetic hand are conducted in the context of finger-linkage kinematics. Analytical studies on the modeling of the prosthetic hand are performed to examine forward kinematics and inverse kinematics of its index finger. With such model, results demonstrate that precise motion of the proposed higher degrees of freedom (DOF) prosthetic hand can be achieved and it can be used to mimic human hand's dexterous gestures.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"65 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134363096","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8519991
Michael Lee, Chia-Ying Chu, Yen-Wen Lu
We presents a microinjection system for gene delivery to planarian. The system consists of two parts: a planarian-fixing platform, which provides a low-temperature environment to make planarian become motionless for injection, and a nanoliter injector (nanoliter-scale microinjector). The system is tested by injecting fluorescent microbeads and gene (e.g. dsRNA) respectively into planarian. In particular, successful delivery of DjAg02 dsRNA leads to a reduction of DjAg02 expression, which results in a degenerated phenotype of planarian. The results show our system as an alternative to traditional gene delivery (i.e. ingestion, which performs delivery by feeding planarian genetic substances mixed food). Our system is applicable to studying the function of genes related to starvation condition. Additionally, the dosage of genetic substances is consistent, which is required for the following analyses.
{"title":"A Mechatronic Microinjection Platform for Gene Delivery to Planarian","authors":"Michael Lee, Chia-Ying Chu, Yen-Wen Lu","doi":"10.1109/ICSSE.2018.8519991","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8519991","url":null,"abstract":"We presents a microinjection system for gene delivery to planarian. The system consists of two parts: a planarian-fixing platform, which provides a low-temperature environment to make planarian become motionless for injection, and a nanoliter injector (nanoliter-scale microinjector). The system is tested by injecting fluorescent microbeads and gene (e.g. dsRNA) respectively into planarian. In particular, successful delivery of DjAg02 dsRNA leads to a reduction of DjAg02 expression, which results in a degenerated phenotype of planarian. The results show our system as an alternative to traditional gene delivery (i.e. ingestion, which performs delivery by feeding planarian genetic substances mixed food). Our system is applicable to studying the function of genes related to starvation condition. Additionally, the dosage of genetic substances is consistent, which is required for the following analyses.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128238981","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8520031
Kun-I Chiu
The vestibular system is one of body sensation systems and plays a very important role in the process of human development from lying to standing. It is not only the major source for the formation of spatial cognition, but also for the real-time detection of gravity at the time of dynamic activity. Human beings rely on this sensation to help in daily living and to maintain anti-gravity, secure one's balance, and to determent orientation. Without normal vestibular function, people will lose orientation and feel vertigo. In this developmental research, we created a real-time vestibular measuring (RVM) device combining the technology of a gyroscope sensor. The RVM device could be portable and easy to use in manual and automatic operations. For rotatory accuracy and precision testing, this study firstly conducted calibrations between servo motor (with or without weight loading) and gyroscope monitoring, and then designed for 8-direction program with 3 modes. Secondly, for applying program testing, this study detected 5 subjects, 4 females and 1 male), with designed program for testing their vestibular sensitivities. Finally, we compared subjects' vestibular sensitivities with their spatial cognition and habits to find out the pilot correlations. The RVM device testing revealed us that weight loading rotatory plate could be controlled normally, under 4 rpm, accompanied with gyroscope monitoring. The RVM device could also perform clockwise, counter clockwise, and freewill rotation functions according to commands from the program. Those subjects also completed 4 random directional tests and 1 freewill rotation, and results showed 2 high vestibular sensitivities, and 3 medium-low sensitivities. High sensitive subjects tend to like active recreational activities; however, the medium-low subjects prefer static activities. In conclusion, the newly developed RVM device could be programed and well controlled by a smart phone, and it also provide us to measure vestibular sensitivity which could preliminarily judge one's activity style.
{"title":"Study on Development of Real-Time Vestibular Measuring Device","authors":"Kun-I Chiu","doi":"10.1109/ICSSE.2018.8520031","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8520031","url":null,"abstract":"The vestibular system is one of body sensation systems and plays a very important role in the process of human development from lying to standing. It is not only the major source for the formation of spatial cognition, but also for the real-time detection of gravity at the time of dynamic activity. Human beings rely on this sensation to help in daily living and to maintain anti-gravity, secure one's balance, and to determent orientation. Without normal vestibular function, people will lose orientation and feel vertigo. In this developmental research, we created a real-time vestibular measuring (RVM) device combining the technology of a gyroscope sensor. The RVM device could be portable and easy to use in manual and automatic operations. For rotatory accuracy and precision testing, this study firstly conducted calibrations between servo motor (with or without weight loading) and gyroscope monitoring, and then designed for 8-direction program with 3 modes. Secondly, for applying program testing, this study detected 5 subjects, 4 females and 1 male), with designed program for testing their vestibular sensitivities. Finally, we compared subjects' vestibular sensitivities with their spatial cognition and habits to find out the pilot correlations. The RVM device testing revealed us that weight loading rotatory plate could be controlled normally, under 4 rpm, accompanied with gyroscope monitoring. The RVM device could also perform clockwise, counter clockwise, and freewill rotation functions according to commands from the program. Those subjects also completed 4 random directional tests and 1 freewill rotation, and results showed 2 high vestibular sensitivities, and 3 medium-low sensitivities. High sensitive subjects tend to like active recreational activities; however, the medium-low subjects prefer static activities. In conclusion, the newly developed RVM device could be programed and well controlled by a smart phone, and it also provide us to measure vestibular sensitivity which could preliminarily judge one's activity style.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133554675","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8520091
Ridlo Savvidina Auliva, Ruev-Kai Sheu, Deron Liang, Wei-Jen Wang
Data Distribution Service (DDS) is a communication middleware standard based on a publish-subscribe model for composable, scalable, real-time, dependent applications. As a result, it is very useful in industrial IoT (IIoT) applications that demand high communication quality. The major challenge in DDS application development is that DDS programming is quite different from traditional socket programming and RPC programming. In addition, DDS programming involves complex QoS settings, which may affect application behavior in many aspects, such as reliability and scalability. Therefore, it is hard to know how a DDS-based application will perform in the design phase. To this end, we present a DDS-based emulator, namely the IIoT Testbed. The application developers can use the VI of the IIoT Testbed to create a DDS application prototype with QoS settings in a short time, and then obtain performance results by emulations. With the help of the emulator, the developers can easily understand several non-functional properties of their design and adjust the design accordingly.
{"title":"IIoT Testbed: A DDS-Based Emulation Tool for Industrial IoT Applications","authors":"Ridlo Savvidina Auliva, Ruev-Kai Sheu, Deron Liang, Wei-Jen Wang","doi":"10.1109/ICSSE.2018.8520091","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8520091","url":null,"abstract":"Data Distribution Service (DDS) is a communication middleware standard based on a publish-subscribe model for composable, scalable, real-time, dependent applications. As a result, it is very useful in industrial IoT (IIoT) applications that demand high communication quality. The major challenge in DDS application development is that DDS programming is quite different from traditional socket programming and RPC programming. In addition, DDS programming involves complex QoS settings, which may affect application behavior in many aspects, such as reliability and scalability. Therefore, it is hard to know how a DDS-based application will perform in the design phase. To this end, we present a DDS-based emulator, namely the IIoT Testbed. The application developers can use the VI of the IIoT Testbed to create a DDS application prototype with QoS settings in a short time, and then obtain performance results by emulations. With the help of the emulator, the developers can easily understand several non-functional properties of their design and adjust the design accordingly.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127915730","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8520192
Wen-Shyong Yu, M. Tsai
In this paper, forward and inverse kinematics algorithms for a 3RRR robotic arm with fingers are proposed. This algorithm includes coordinates transformation derived from kinematics and inverse kinematics for motion control. The robotic arm is equipped with three rotational joints. The control software uses Visual Studio C# in desktop as the control platform and C in Arduino as the dynamic simulation and interface control of the robotic arm. Finally, a flowchart is given to show the implementation of the proposed algorithm. The Visual Studio C# platform for the robot can real-time follow the record route on the panel of the laptop to accomplish the route navigation. Experiments include the operating platform and a robot for analyzing control performance.
提出了一种带手指的3RRR机械臂的正运动学和逆运动学算法。该算法包括运动学坐标变换和运动控制的逆运动学坐标变换。机械臂装有三个旋转关节。控制软件采用桌面的Visual Studio c#作为控制平台，Arduino中的C语言作为机械臂的动态仿真和界面控制。最后，给出了算法的实现流程图。机器人采用Visual Studio c#平台，可以实时跟踪笔记本电脑面板上记录的路线，完成路线导航。实验包括操作平台和机器人，用于分析控制性能。
{"title":"Kinematics of the 3RRR Robotic Arm with Fingers","authors":"Wen-Shyong Yu, M. Tsai","doi":"10.1109/ICSSE.2018.8520192","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8520192","url":null,"abstract":"In this paper, forward and inverse kinematics algorithms for a 3RRR robotic arm with fingers are proposed. This algorithm includes coordinates transformation derived from kinematics and inverse kinematics for motion control. The robotic arm is equipped with three rotational joints. The control software uses Visual Studio C# in desktop as the control platform and C in Arduino as the dynamic simulation and interface control of the robotic arm. Finally, a flowchart is given to show the implementation of the proposed algorithm. The Visual Studio C# platform for the robot can real-time follow the record route on the panel of the laptop to accomplish the route navigation. Experiments include the operating platform and a robot for analyzing control performance.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132251597","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8520093
C. Hwang, Zong-Han Tsai, Lianhua Lu
The stability degree of a stable control system is defined to be the negative of the largest real part of the zeros of its characteristic equation. In this paper, we consider the problem of tuning parameters of PID controller for delay-free linear time-invariant systems to maximize the degree of closed-loop stability. By applying the Bernstein branch-and-bound (BBB) method to test the existence of the stable region in the parameter space, a procedure is proposed to design maximum-stability PID controllers for linear time-invariant delay-free systems. The applicability of the BBB method here is based on fact that the stable region is characterized by a set of multi-variate polynomials in parameters, which is derived from the Lienard-Chipart criterion for a Hurwitz polynomial. An example of designing a PD controller with maximum stability-degree for a fourth-order system is given to verify the proposed approach.
{"title":"Application of Bernstein Branch-and-Bound Method to PID Controls with Maximum Stability Degree","authors":"C. Hwang, Zong-Han Tsai, Lianhua Lu","doi":"10.1109/ICSSE.2018.8520093","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8520093","url":null,"abstract":"The stability degree of a stable control system is defined to be the negative of the largest real part of the zeros of its characteristic equation. In this paper, we consider the problem of tuning parameters of PID controller for delay-free linear time-invariant systems to maximize the degree of closed-loop stability. By applying the Bernstein branch-and-bound (BBB) method to test the existence of the stable region in the parameter space, a procedure is proposed to design maximum-stability PID controllers for linear time-invariant delay-free systems. The applicability of the BBB method here is based on fact that the stable region is characterized by a set of multi-variate polynomials in parameters, which is derived from the Lienard-Chipart criterion for a Hurwitz polynomial. An example of designing a PD controller with maximum stability-degree for a fourth-order system is given to verify the proposed approach.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124950875","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8520002
Shiau-Ting Wang, Li-mei Liu, Sheng-Ming Wang
This research focuses on design and evaluation of using virtual reality (VR) serious game for general science energy education immersive learning and uses the case study of learning knowledge from calcium looping carbon capture technology. The ARCS model of motivation design is used in this research as the core for promoting and sustaining motivation in the learning process. The domain knowledge of calcium looping carbon capture technology has been analyzed and integrated to develop a VR serious game. This research deployment a pilot study to 30 gifted students in an elementary school for collecting results by using questionnaire, drawing activities, and focus group interview. The five aspects of STEAM education that combine with the ARCS motivation model are then using for analyzing the results. The research results show that the VR immersive learning mechanism designed in this research can effectively trigger the motivation of learners for learning new knowledge as well as improve the learning results.
{"title":"The Design and Evaluate of Virtual Reality Immersive Learning - the Case of Serious Game “Calcium Looping for Carbon Capture”","authors":"Shiau-Ting Wang, Li-mei Liu, Sheng-Ming Wang","doi":"10.1109/ICSSE.2018.8520002","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8520002","url":null,"abstract":"This research focuses on design and evaluation of using virtual reality (VR) serious game for general science energy education immersive learning and uses the case study of learning knowledge from calcium looping carbon capture technology. The ARCS model of motivation design is used in this research as the core for promoting and sustaining motivation in the learning process. The domain knowledge of calcium looping carbon capture technology has been analyzed and integrated to develop a VR serious game. This research deployment a pilot study to 30 gifted students in an elementary school for collecting results by using questionnaire, drawing activities, and focus group interview. The five aspects of STEAM education that combine with the ARCS motivation model are then using for analyzing the results. The research results show that the VR immersive learning mechanism designed in this research can effectively trigger the motivation of learners for learning new knowledge as well as improve the learning results.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125366391","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 : 2018-06-01DOI: 10.1109/ICSSE.2018.8520265
Carlo Santiago, Chian-Song Chiu
The basic feature of mobile robots is to possess obstacle avoidance and autonomous navigation capability, which are inherently two of the most difficult tasks in path planning. In this paper, an interval type-2 fuzzy logic controller (IT2FLC) is used for autonomous navigation in the presence of environmental uncertainties or internal noises. A PID controller is also integrated with the IT2FLC to increase the robustness of the controller for eliminating the control error for tracking paths with small curvatures. The dual-mode design can significantly promote the real-time performance of the autonomous navigation system and effectively eliminate system errors to reach equilibrium points faster. In our experiments, we implemented the proposed fuzzy controller for both the right and left wall following and obstacle avoidance on the P3-DX mobile robot which has eight sonar sensors. The fuzzy controller helps the mobile robot to decide which side or wall would be followed by detecting the nearest wall on each side. Experimental results are illustrated to show that the effectiveness of the proposed controller is better other controllers in avoiding obstacles and wall following.
{"title":"Interval Type-2 Fuzzy and PID Dual-Mode Controller for an Autonomous Mobile Robot#","authors":"Carlo Santiago, Chian-Song Chiu","doi":"10.1109/ICSSE.2018.8520265","DOIUrl":"https://doi.org/10.1109/ICSSE.2018.8520265","url":null,"abstract":"The basic feature of mobile robots is to possess obstacle avoidance and autonomous navigation capability, which are inherently two of the most difficult tasks in path planning. In this paper, an interval type-2 fuzzy logic controller (IT2FLC) is used for autonomous navigation in the presence of environmental uncertainties or internal noises. A PID controller is also integrated with the IT2FLC to increase the robustness of the controller for eliminating the control error for tracking paths with small curvatures. The dual-mode design can significantly promote the real-time performance of the autonomous navigation system and effectively eliminate system errors to reach equilibrium points faster. In our experiments, we implemented the proposed fuzzy controller for both the right and left wall following and obstacle avoidance on the P3-DX mobile robot which has eight sonar sensors. The fuzzy controller helps the mobile robot to decide which side or wall would be followed by detecting the nearest wall on each side. Experimental results are illustrated to show that the effectiveness of the proposed controller is better other controllers in avoiding obstacles and wall following.","PeriodicalId":431387,"journal":{"name":"2018 International Conference on System Science and Engineering (ICSSE)","volume":"304 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115665357","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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