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2021 International Conference on System Science and Engineering (ICSSE)最新文献

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A Shortest Smooth-path Motion Planning for a Mobile Robot with Nonholonomic Constraints 非完整约束下移动机器人最短平滑路径运动规划
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9538414
H. Hoang, Anh Khoa Tran, L. Tran, M. Le, D. Tran
{"title":"A Shortest Smooth-path Motion Planning for a Mobile Robot with Nonholonomic Constraints","authors":"H. Hoang, Anh Khoa Tran, L. Tran, M. Le, D. Tran","doi":"10.1109/ICSSE52999.2021.9538414","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9538414","url":null,"abstract":"This paper presents how to plan the shortest motion for a mobile robot with nonholonomic constraints. The proposed method uses the RRT* algorithm, the Potential Field algorithm, and Dubin Curves to create a path that can solve path planning problems. Firstly, the RRT* algorithm is used to find the shortest path by expanding the Tree in the global environment until reaching the goal region. Then, the resultant path is improved with Repulsive Force from the Potential Field algorithms that calculate the influence of static obstacles on the path for better obstacle avoidance. Finally, Dubins Curves is used to smooth the planned path with curves having the same radius, which helps handle nonholonomic constraints problems for Car-like mobile robot. The test method using simulation with MATLAB software is applied to prove that the proposed method can solve some typical path planning problems.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116983744","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}
引用次数: 2
Research the Anti-dazzle Headlight System by Leds Matrix with Image Processing Method 采用图像处理方法研究led矩阵防眩大灯系统
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9538441
Nguyen Van Long Giang, Nguyen Thien Dinh
{"title":"Research the Anti-dazzle Headlight System by Leds Matrix with Image Processing Method","authors":"Nguyen Van Long Giang, Nguyen Thien Dinh","doi":"10.1109/ICSSE52999.2021.9538441","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9538441","url":null,"abstract":"We all know the lighting system in automotive is as important as \"The Eyes\" of the driver at night. However, the lighting system (especially headlight) is sometimes the cause of some traffic accidents because it causes other drivers to dazzle and miss sights. The purpose of this project is to research the headlight system which not only anti-dazzle for the other drivers but also ensure the brightness and sights for the driver (Anti-Dazzle Headlight system: ADHs). ADHs is used in the headlight system which is combined 50 LEDs (25 LEDs each side) to perform the lighting process and uses the image processing method with a camera to detect the other vehicles position. According to the property of the LED, each LED illuminates a certain zone. ADHs is designed to receive the input which is other vehicle position by image processing method and perform to turn off the LEDs of that position, so it not only helps to prevent dazzle on other drivers, but also ensures the brightness and sights in other position for driver. ADHs is used effectively in the road outside urban (headlight is used) and without streetlamps. Through the simulated process with a camera, the system has reached the anti-dazzle purpose, performing to turn-on/turn-off LEDs quickly and has practical value.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120938093","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}
引用次数: 0
Enhancement of Robustness in Object Detection Module for Advanced Driver Assistance Systems 高级驾驶员辅助系统中目标检测模块鲁棒性的增强
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9537944
Le-Anh Tran, Truong-Dong Do, Dong-Chul Park, M. Le
{"title":"Enhancement of Robustness in Object Detection Module for Advanced Driver Assistance Systems","authors":"Le-Anh Tran, Truong-Dong Do, Dong-Chul Park, M. Le","doi":"10.1109/ICSSE52999.2021.9537944","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9537944","url":null,"abstract":"A unified system integrating a compact object detector and a surrounding environmental condition classifier for enhancing the robustness of object detection scheme in advanced driver assistance systems (ADAS) is proposed in this paper. ADAS are invented to improve traffic safety and effectiveness in autonomous driving systems where object detection plays an extremely important role. However, modern object detectors integrated into ADAS are still unstable due to high latency and the variation of the environmental contexts in the deployment phase. Our system is proposed to address the aforementioned problems. The proposed system includes two main components: (1) a compact one-stage object detector which is expected to be able to perform at a comparable accuracy compared to state-of-the-art object detectors, and (2) an environmental condition detector that helps to send a warning signal to the cloud in case the self-driving car needs human actions due to the significance of the situation. The empirical results prove the reliability and the scalability of the proposed system to realistic scenarios.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130379660","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}
引用次数: 10
Adaptive Optimal Control of Four-Wheel Omni Robot using Reinforcement Learning 基于强化学习的四轮全能机器人自适应最优控制
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9538431
T. Khac, N. Huu, Minh Nguyen Van, Tuyen Bui Trung
{"title":"Adaptive Optimal Control of Four-Wheel Omni Robot using Reinforcement Learning","authors":"T. Khac, N. Huu, Minh Nguyen Van, Tuyen Bui Trung","doi":"10.1109/ICSSE52999.2021.9538431","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9538431","url":null,"abstract":"Designing Controllers for Omni mobile robots have been widely studied, and some proposals have also mentioned that the robot model has uncertain parameters. This paper develops an optimal adaptive traction control structure based on reinforcement learning for a 4-wheel Omni robot in the condition in which a part of the model is known. An auxiliary controller with two Actor - Critic neural networks updated online was added to deal with having to create desired trajectories for all state variables in the system. Besides, the controller design also takes into account the constraint of the input signal. An example is simulated on Matlab/Simulink software to demonstrate the quality of the proposed controller.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129120872","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}
引用次数: 1
Completing a Six-sided 3D Puzzle using SCARA 使用SCARA完成一个六边形3D拼图
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9538468
Hsiang-Chieh Chen, Chun-Ting Tsai, Chen-Yu Lin
{"title":"Completing a Six-sided 3D Puzzle using SCARA","authors":"Hsiang-Chieh Chen, Chun-Ting Tsai, Chen-Yu Lin","doi":"10.1109/ICSSE52999.2021.9538468","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9538468","url":null,"abstract":"This study presents a SCARA-based robotic system that can complete a six-sided 3D puzzle. The proposed system is composed of a SCARA, a depth camera, a conveyor belt, a computer, and two motors controlled by an Arduino board. The entire algorithm of completing a six-sided puzzle incorporates several main stages, including detecting puzzles, extracting a puzzle cube’s contour through the depth map, analyzing the orientation of a cube, and recognizing the puzzle cube. Finally, every 6-sided puzzle is moved to the target position using vacuum suction.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132232294","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}
引用次数: 0
Edge Detection Cascaded with Simplified WDSR of IR Super Resolution 红外超分辨率简化WDSR级联边缘检测
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9538439
Kuan-Min Lee, Pei-Jun Lee, Trong-An Bui
{"title":"Edge Detection Cascaded with Simplified WDSR of IR Super Resolution","authors":"Kuan-Min Lee, Pei-Jun Lee, Trong-An Bui","doi":"10.1109/ICSSE52999.2021.9538439","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9538439","url":null,"abstract":"Edge Detection has been one of the techniques that can be used to solve super resolution problems. In this work, we present a research that was based on the WDSR (Wide Activation Super Resolution) model and the combination of three edge detection techniques: Sobel, Kirsch, and Prewitt. For the model portion, we simplified the original WDSR model by reducing the number of convolutional layers in each residual block and decreasing the number of residual blocks to cut down the computational burden of our computer. As for the dataset, we used our own high-resolution IR dataset that contained 7968 IR images for training and 1359 images for validation. These data are used to perform bicubic interpolation to create low-resolution images and the low-resolution images were paired with the original data to observe the result. By the end of our work, we managed to show that the model was capable to successfully reduce the computational time by approximately 11% from the baseline while maintaining the quality of super resolution for IR image within roughly 1% difference.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134069408","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}
引用次数: 0
Evaluating AI Chatbot Platforms by a Fuzzy AHP Approach 基于模糊层次分析法的AI聊天机器人平台评价
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9538447
P. Nguyen
{"title":"Evaluating AI Chatbot Platforms by a Fuzzy AHP Approach","authors":"P. Nguyen","doi":"10.1109/ICSSE52999.2021.9538447","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9538447","url":null,"abstract":"In the era of Industrial Revolution 4.0, the needs to enhance customers shopping experiences have also raised. Many innovative intelligence services are invented to support the business processes. Applying AI enabled chatbots in many industries has appeared as a promising option. Designing and implementing chatbots used to be a sophisticated tasks. However, there are many platforms which support the AI chatbots implementing process significantly. Furthermore, evaluating suitable AI chatbot platforms becomes more complicated since there are many criteria and platforms to be considered. This paper proposed a novel approach based on fuzzy AHP approach to assess the criteria of AI chatbot platforms. The results of this paper can be applied for companies in their selecting chatbots implementation solutions to enhance their business performance.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132188186","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}
引用次数: 1
Assessment of Mel-Filter Bank Features on Sound Classifications Using Deep Convolutional Neural Network 基于深度卷积神经网络的Mel-Filter库特征评价
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9538433
R. Mushi, Yo-Ping Huang
{"title":"Assessment of Mel-Filter Bank Features on Sound Classifications Using Deep Convolutional Neural Network","authors":"R. Mushi, Yo-Ping Huang","doi":"10.1109/ICSSE52999.2021.9538433","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9538433","url":null,"abstract":"Sound classification has been widely used but some aspects such as best features for classification, presence of background noise, and short duration with different characteristics make sound classification based on audio to be a challenging task. This study aims to assess the Mel-filter bank features on sound classifications using a deep convolutional neural network. We collected the DCASE 2018 task 2 challenge training data, which contained music and non-music sound classes, and then we picked six categories with distinct frequencies, wave speeds, and durations. The audio noise was then filtered using a pre-emphasis filter. The 6,500 samples were considered to generate 3-second audio data using a random sampling approach with replacement and transform them into Mel-filter bank features to attain feature vectors. These features were further input to the deep convolutional neural network for classification. The model performance was measured using seven metrics. The results showed that the log-Mel (pow-dB) produced the highest accuracy of 95.37% followed by 92.82% of log-Mel (amp-dB). The least accuracy of 82.34% was found in Mel-spectrogram (amp-freq). Overall, the log-Mel (pow-dB) had an impressive performance in contrast with other features. All features were subjected to a human hearing in Mel-scale.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126116089","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}
引用次数: 0
[ICSSE 2021 Front Page] [ICSSE 2021首页]
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/icsse52999.2021.9538466
{"title":"[ICSSE 2021 Front Page]","authors":"","doi":"10.1109/icsse52999.2021.9538466","DOIUrl":"https://doi.org/10.1109/icsse52999.2021.9538466","url":null,"abstract":"","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114161849","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}
引用次数: 0
Research on Cooperative Adaptive Cruise Control System for Autonomous Vehicles based on Distributed Model Predictive Control 基于分布式模型预测控制的自动驾驶汽车协同自适应巡航控制系统研究
2021 International Conference on System Science and Engineering (ICSSE) Pub Date : 2021-08-26 DOI: 10.1109/ICSSE52999.2021.9538410
D. Luu, Huu Truyen Pham, C. Lupu, Thanh Binh Nguyen, S. Ha
{"title":"Research on Cooperative Adaptive Cruise Control System for Autonomous Vehicles based on Distributed Model Predictive Control","authors":"D. Luu, Huu Truyen Pham, C. Lupu, Thanh Binh Nguyen, S. Ha","doi":"10.1109/ICSSE52999.2021.9538410","DOIUrl":"https://doi.org/10.1109/ICSSE52999.2021.9538410","url":null,"abstract":"As a beneficial way of increasing traffic capacity, autonomous vehicle platoons have paid extensive attention recently. This study proposes a Distributed Model Predictive Control (DMPC) algorithm with input constraints. This algorithm is a suitable application for Cooperative Adaptive Cruise Control (CACC) in the vehicle platoon. The platoon’s leading vehicle is to track an imposed velocity reference, the rest of the platoon is to track the velocity of the preceding while maintaining an imposed desired reference between any consecutive vehicles, which is proportional to its velocity. A varied communication range in the predecessor following (PF) topology is used for a platoon. The effectiveness of the proposed method is verified with some illustrative results.","PeriodicalId":347113,"journal":{"name":"2021 International Conference on System Science and Engineering (ICSSE)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121048009","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}
引用次数: 2
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