Research Article
1.Wheeled Mobile Robot Robust Control Based on Hybrid Controller Approach
Ho-Nien Shou
Department of Aviation & Communication Electronics, Air Force Institute of Technology, No.198, Jieshou W. Rd., Gangshan District, Kaohsiung, Taiwan
pp. 106–111
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 three parts: 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.

ARTICLE INFO
Article History
Received 23 Octoberr 2019
Accepted 01August 2020

Keywords
Nonholonomic mobile robot
Cerebellar model articulation controller
Lyapunov stability criterion
Disturbance observer

JAALR1301

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Research Article
2.The IoT Solution to Archive and Play the Digital Library of Kamishibai
Motohide Yoshimura, Ayumi Eikawa
Department of Information Systems, Faculty of Information Systems, University of Nagasaki, Siebold Campus 1-1-1 Manabino, Nagayo-cho,
Nishi-Sonogi-gun, Nagasaki 851-2195, Japan
pp. 112–115
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.

ARTICLE INFO
Article History
Received 23 October 2019
Accepted 02 August 2020

Keywords
Kamishibai
Japanese picture story show
Regional vitalization
Programming education
IoT solution
Near field communication

JAALR1302

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Research Article
3.AGVs Task Management with Occupancy Grid Map for Foam-Manufacturing In-Plant Transport
Amornphun Phunopas¹, Wisanu Jitviriya¹, Noppadol Pudchuen¹, Songklod Tunsiri², Eiji Hayashi^3
1Faculty of Engineering, King Mongkut’s University of Technology North Bangkok, 1518 Pracharat 1 Road, Bangsue, Bangkok 10800, Thailand
²Urban Community Development College, Navamindradhiraj University, Wachira Phayaban, Khao Road, Dusit, Bangkok 10300, Thailand
³Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka, Fukuoka 820-0067, Japan
pp. 116–121
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.

ARTICLE INFO
Article History
Received 11 November 2019
Accepted 10 August 2020

Keywords
Automated tasking
AGVs traffic and queue management

JAALR1303

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Research Article
4.Specular Reflection Analysis and Illumination Manipulation of Still Images with Single Multicolor Object
Hsuan T. Chang, Wei-Hsiu Chang
Photonics and Information Laboratory, Department of Electrical Engineering, National Yunlin University of Science and Technology, 123, Section 3,University Road, Douliu, Yunlin 64002, Taiwan
pp. 122–127
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.

ARTICLE INFO
Article History
Received 11 November 2019
Accepted 10 August 2020

Keywords
Chromaticity
Dichromatic-based model
Specular removal
Color consistence
Virtual illumination

JAALR1304

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Research Article
5.A Design of Controllable Gain Amplification System Based on Single Chip Computer
Fengzhi Dai^1,2, Haokang Wen^1
1Tianjin University of Science and Technology, China,
²Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China
pp. 128–132
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.

ARTICLE INFO
Article History
Received 25 October 2019
Accepted 17 August 2020

Keywords
Radio frequency amplifier
Gain controllable
Single chip microcomputer

JAALR1305

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Research Article
6.Analysis and Circuit Design of a Novel 4D Chaotic System
Yan Sun, Yongchao Zhang, Jiaqi Chen
Department of Automation, Tianjin University of Science and Technology, 1038 Dagunanlu Road, Hexi District, Tianjin 300222, PR China
pp. 133–137
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.

ARTICLE INFO
Article History
Received 11 November 2019
Accepted 23 August 2020

Keywords
Novel 4D chaotic system
Dynamic characteristics
Simulation analysis
Analog circuit design

JAALR1306

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Research Article
7.Respawning point recommendation by TD-Learning as a content generation of FPS video game-like E-learning
Masao Kubo, Takeshi Ueno, Hiroshi Sato
Department of Computer Science, National Defense Academy, Hashirimizu-10-20, Yokosuka, Kanagawa 239-8686, Japan
pp. 138–143
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.

ARTICLE INFO
Article History
Received 26 November 2019
Accepted 23 August 2020

Keywords
Content generation
Reinforcement learning
E-Learning
Game AI
Video game
Virtual reality

JAALR1307

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Research Article
8.A new rotary actuator capable of rapid motion using an antagonistic cam mechanism
Katsuaki Suzuki¹, Yuya Nishida¹, Takashi Sonoda², Kazuo Ishii^1
1Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan
²Nishinippon Institute of Technology, 1-11 Aratsu, Kanda, Miyako, Fukuoka 800-0394, Japan
pp. 144–152
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.

ARTICLE INFO
Article History
Received 18 November 2019
Accepted 28 August 2020

Keywords
High-power joint
Link mechanism
Cam mechanism
Design principle

JAALR1308

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Research Article
9.Basic Study on Motion Control of CG Characters by Electroencephalography (EEG) analysis
Makoto Sakamoto¹, Kenji Sakoma¹, Takahiro Ishizu¹, Takahiro Shinoda¹, Amane Takei¹, Takao Ito^2
1Department of Computer Science and System Engineering, University of Miyazaki, Miyazaki-City, 889-2192, Japan
²Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima, 739-8527, Japan
pp. 153–157
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.

ARTICLE INFO
Article History
Received 10 November 2019
Accepted 03 July 2020

Keywords
High-power joint
Link mechanism
Cam mechanism
Design principle

JAALR1309

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Research Article
10.Automatic Classification and Recovery System of Beverage Bottles Based on STM32
Fengzhi Dai^1,2, Yuqi Yan³, Longyu Gao^1
1Tianjin University of Science and Technology, China
²Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China
³Wuhan University of Technology, China
pp. 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.

ARTICLE INFO
Article History
Received 25 October 2019
Accepted 17 August 2020

Keywords
Classification
Mini program
Web
Integrals

JAALR13010

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