1.Wheeled Mobile Robot Robust Control Based on Hybrid Controller Approach
Ho-Nien Shou
Pages 105-110
Abstract
In this paper, a novel trajectory following method based on hybrid control strategy is proposed for the trajectory following problem of mobile robots with nonholonomic constraints. The mobile robot controller is composed of threeparts: kinematics, dynamics equations and Cerebellar Model Articulation Controller. The control speed needed to realize the reference trajectory tracking is obtained from the motion equation under the position tracking error. The virtual control value of the control speed is obtained by using Lyapunov, and the controller is designed in the dynamic equation. The cerebellar model articulation controller (CMAC) is used to approximate the nonlinearity and uncertainty of the dynamic model of the mobile robot. At the same time, the torque controller is combined with the velocity error to form the torque controller. The influence of the uncertain disturbance on the system is compensated on-line. In the discussion in this paper, the nonlinear system is consider, and the Lyapunov stability criterion guarantees the global stability of the system and the asymptotical convergence of tracking error. The simulation results in Matlab/Simulink environment further verify the effectiveness and superiority of the proposed control algorithm.
Keywords: nonholonomic mobile robot, Cerebellar Model Articulation Controller, Lyapunov stability criterion, disturbance observer

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2.The IoT Solution to Archive and Play the Digital Library of Kamishibai
Motohide Yoshimura, Ayumi Eikawa
Pages 111-114
Abstract
We innovate an IoT solution to archive and play the digital library of Kamishibai. Kamishibai is a form of Japanese picture story show. The solution has two aspects. The one is a regional vitalization to know cultural history of the residential area, and the other is an educational platform to design the programming education by using NFC device. In this paper, we report the experimental results to build a display and sound system to play the digital library of Kamishibai.
Keywords: Kamishibai, Japanese picture story show, regional vitalization, programming education, IoT solution, near field communication

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3.AGVs Task Management with Occupancy Grid Map for Foam-Manufacturing In-Plant Transport
Amornphun Phunopas, Wisanu Jitviriya, Noppadol Pudchuen, Songklod Tunsiri,Eiji Hayashi
Pages 115-120
Abstract
AGVs are increasingly used in the automated warehouse with a high demand for changing traditional workflow management to industrial 4.0. The heart of the computerized system is the central software that can distribute work functions from the queues and manage the AGVs’ traffic. On the 2D floor plant layout and the occupancy grid map, the RFID girds are initially from marked points or the place that AGVs have to transit to do an assigned task. This research proposes autonomously generating paths via four nearest grids and path switching scenarios. The results show the generated paths with sequential tasks concurrently in random conditions. The task management method can prevent the AGVs’ crash and bottleneck from the operation of nine machines in the foam manufacturing plant.
Keywords: automated tasking, AGVs traffic, queue management

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4.Specular Reflection Analysis and Illumination Manipulation of Still Images with Single Multicolor Object
Hsuan T. Chang, Wei-Hsiu Chang
Pages121-126
Abstract
An illumination manipulation scheme for a single object in still images is proposed in this paper. By using the dichromatic-based model, the reflection component can be resolved through a single-image specular reflection removal method with the characteristics of color constancy. Then, virtual illumination effect can be made through the recombination with the reflection component. The scenery illumination can be estimated using the proposed automatic method without knowing the illumination spectra, three-dimensional object modeling, or texture databases. Experimental results show that the method is useful for handling the images with a single multicolor object in scenes.
Keywords: Chromaticity, dichromatic-based model, specular removal, color consistence, virtual illumination

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5.A Design of Controllable Gain Amplification System Based on Single Chip Computer
Fengzhi Dai, Haokang Wen
Pages 127-131
Abstract
This paper studies and designs a gain controllable radio frequency amplifier system. As the hardware core of the whole system, the variable gain amplifier realizes the data function of the amplifier combined with the single chip microcomputer. After adjusting the gain of RF amplifier, the input signal can be amplified or attenuated, and the ideal output signal can be obtained. Experimental results show that the gain controllable radio frequency amplifier system designed in this paper can achieve better control effects to amplify some signals. Theoretically, in real life, this amplifier has the advantage of being able to meet higher indicators, stable performance, and certain practicality.
Keywords: radio frequency amplifier, gain controllable, single chip microcomputer

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6.Analysis and Circuit Design of a Novel 4D Chaotic System
Yan Sun, Yongchao Zhang, Jiaqi Chen
Pages 132-136
Abstract
In this paper, a novel 4D chaotic system is proposed. First, the basic dynamic characteristics of this system are analyzed theoretically. Second, dynamical properties of the system are investigated by phase portraits, Poincaré sections, Lyapunov exponent spectrum and bifurcation diagram. In addition, an analog circuit of the system is designed and simulated by Multisim, a circuit simulation software. The experimental results show that the circuit simulation results are consistent with the numerical simulation results. Therefore, the existence of chaotic attractor in the system is verified from the physical level.
Keywords: Novel 4D chaotic system; Dynamic characteristics; Simulation analysis; Analog circuit design

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7.Respawning point recommendation by TD-Learning as a content generation of FPS video game-like E-learning
Masao Kubo, Takeshi Ueno, Hiroshi Sato
Pages 137-142
Abstract
In this paper, we propose an approach to customize the E-learning of video game-like by trial and error. A virtual training environment is getting to be common in military training, however, it is still underway to use it as a self-learning tool because of a lack of suitable training curricula for each trainee. First Person Shooting game (FPS) environment which is adequate for such the training, but a lot of characters and objects there which can be considered as the customizing point may cause combinatorial problems in traditional approaches. We show our method based on respawning point can present tasks to trainees by reinforcement learning and they can reach the goal faster than other content generation methods.
Keywords: Content Generation, Reinforcement Learning, E-Learning, Game AI, Video Game, Virtual Reality

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8.A new rotary actuator capable of rapid motion using an antagonistic cam mechanism
Katsuaki Suzuki, Yuya Nishida, Takashi Sonoda, Kazuo Ishii
Pages 143-151
Abstract
Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion.
Keywords: high-power joint, link mechanism, cam mechanism, design principle

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9.Basic Study on Motion Control of CG Characters by Electroencephalography (EEG) analysis
Makoto Sakamoto, Kenji Sakoma, Takahiro Ishizu, Takahiro Shinoda, Amane Takei, Takao Ito
Pages 152-157
Abstract
Virtual Reality (VR) technology is expected to develop in various fields such as medical, education, business and entertainment. In this study, we aim at more intuitive operation by focusing on troublesome mounting in VR.To achieve this goal, we propose manipulation method of CG character by electroencephalography (EEG) with relatively inexpensive equipment. In this paper,we ask five subjects to manipulate CG characters by EEG and evaluate this system by questionnaire.
Keywords: Virtual Reality (VR), manipulation method, CG character, electroencephalography (EEG).

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10.Automatic Classification and RecoverySystem of Beverage Bottles Based on STM32
Fengzhi Dai, Yuqi Yan, Longyu Gao
Pages 158-162
Abstract
At present, the problems of environmental pollution and resource waste in China need to be solved. The existing beverage bottle recycling system in the market has the problems of high cost, imperfect function and inflexible rebate mode. Based on the sensor detection technology, the WiFi wireless communication and software development technology, this paper designs a comprehensive system of beverage bottle classification and recycling, which includes intelligent classification and recycling machine, Mini Program and Web remote monitoring platform. The system can automatically identify and classify metal bottles and plastic bottles, and can give users integrals, which has certain environmental protection significance.
Key words: Classification, Mini Program, Web, integrals

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