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IEEE International Conference on Mechatronics and Automation

作者： Daisuke Chugo Hayato Kaetsu Norihisa Miyake Kuniaki Kawabata Hajime Asama Kazuhiro Kosuge Intelligent Modeling Laboratory University of Tokyo Tokyo Japan Distributed Adaptive Robotics Research Unit RIKEN Institute of Physical and Chemical Research Wako Saitama Japan Research into Artifacts Center for Engineering University of Tokyo Kashiwa Chiba Japan Product Department Paramount Bed Company Limited Tokyo Japan Department of Bioengineering and Robotics University of Tohoku Sendai Miyagi Japan

In our current research, we are developing a force assistance system for standing up motion. Our developing system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we develop the force assistance system which realizes the natural standing up motion using remaining strength of the patient. Our key ideas are two topics. The first topic is distributed system which controls the support bar and the bed system with coordination among them. The second topic is the combination of force and position control. According to the patient's posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed control scheme is experimented by computer simulations

关键词： control systems Force control Senior citizens Motion control Medical services Intelligent robots Robot kinematics Position control Robotics and automation chemical engineering

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Force Assistance control for Standing-Up Motion

Force Assistance Control for Standing-Up Motion

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： D. Chugo K. Kawabata H. Kaetsu N. Miyake K. Kosuge H. Asama E. Okada Intelligent Modeling Laboratory University of Tokyo Bunkyo Tokyo Japan Graduate School of Engineering University of Tokyo Kashiwa Chiba Japan Distributed Adaptive Robotics Research Unit RIKEN Institute of Physical and Chemical Research Wako Saitama Japan Research into Artifacts Center for Engineering University of Tokyo Kashiwa Chiba Japan Product Department Paramount Bed Company Limited Koto Tokyo Japan Department of Bioengineering and Robotics University of Tohoku Sendai Miyagi Japan

In our current research, we are developing a power assistance system for standing up motion. Our developing system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we develop the control scheme which realizes the natural standing up motion with fewer loads to the patient. For developing control scheme, we investigate the standing-up motion of aged people who requires to power support and typical standing up motion by nursing specialist. Comparing with two motions, we set the reference of standing-up motion with our system and we discuss the required assistance force during standing up. Our key ideas are two topics. One topic is control reference using zero moment point. Zero moment point is useful index which shows stability of the patient's posture. The other topic is combination of force and position control. According to the patient's posture during standing up, our control system select more appropriate control method from them. The performance of our proposed control scheme is experimented by computer simulations

关键词： Force control Motion control Senior citizens Intelligent robots Aging control systems Medical services Position control Force sensors Laboratories

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Static anti-windup controller synthesis using simultaneous convex design

Static anti-windup controller synthesis using simultaneous c...

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05AIChE: 2005 AIChE Annual Meeting and Fall Showcase

作者： Tiwari, Pradeep Y. Mulder, Eric F. Kotharel, Mayuresh V. Chemical Process Modeling and Control Center Department of Chemical Engineering Lehigh University Bethlehem PA 18015 United States ExxonMobil Chemical 5000 Bayway Drive Baytown TX 77520

We present a method for the synthesis of a control law which incorporates both a traditional linear output-feedback controller as well as a static anti-windup compensator. Unlike traditional anti-windup controller design in which the linear controller and anti-windup compensator are designed sequentially, our method synthesizes all controller parameters simultaneously, thus providing a priori account of the effects of saturation on the closed-loop dynamics. Moreover, we derive sufficient conditions for the quadratic stability and (possibly) multiple performance bounds on the closed-loop dynamics such that the entire synthesis is cast as an optimization problem over linear matrix inequalitics (LMIs).

关键词： Feedback control

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Tuning the composition of clathrate hydrates: The fundamental study for application to gas storage

Tuning the composition of clathrate hydrates: The fundamenta...

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15th International Offrshore and Polar engineering Conference, ISOPE-2005

作者： Seo, Yu-Taek Kim, Do-Youn Lee, Jong-Won Park, Jea-Sung Lee, Huen Conversion Process Research Center Korea Institute of Energy Research Daejeon Korea Republic of Department of Chemical and Biomolecular Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

ISBN: (纸本)1880653648

We present estimates for gas storage based on the ideal structures, and how these must be modified given the few available data on hydrate composition. We then present a hypothesis based on the solid solution theory for clathrate hydrates as to how storage capacity may be improved for sII hydrates, and test the hypothesis for a sII hydrate of THF and methane. Phase equilibrium data are used to map the region of stability of the double hydrate in P, T space as a function of the concentration of THF. In-situ high pressure NMR experiments were used to measure the kinetics of reaction between frozen THF solutions and methane gas, and MAS NMR experiments were used to measure the distribution of the guests over the cage sites. Copyright © 2005 by The International Society of Offshore and Polar Engineers.

关键词： Gas hydrates

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Polylactic acid (PLA)-CO2 foams at sub-critical conditions

Polylactic acid (PLA)-CO2 foams at sub-critical conditions

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Society of Plastics Engineers Annual Technical Conference 2005, ANTEC 2005

作者： Hu, X. Nawaby, A.V. Naguib, H.E. Day, M. Ueda, K. Lia, X. Micro and Nanocellular Materials Laboratory Department of Mechanical Engineering University of Ottawa Ottawa Institute for Chemical Process and Environmental Technology National Research Council of Canada Ottawa Unitika Ltd. Research and Development Center Kyoto Japan

Solubility and diffusion coefficients of Carbon Dioxide (CO2) in polylactic acid (PLA) (poly-L-lactic acid (PLLA) and poly-DL-lactic acid (PDLLA) copolymer) have been measured at room temperature and pressures up to 5.8 MPa. Based upon x-ray diffraction analysis it was found that CO2 induced crystallinty in the samples. The results indicated that the crystallinty increased with processing pressure with the largest increases noted at pressures between 2.1 and 2.8 MPa under room temperature conditions. These findings were used to investigate the effect of different saturation conditions on the cellular structures of foams produced using various processing temperatures. Samples saturated at 2.8 MPa and room temperature for two days, followed by foaming at 100°C gave a uniform cellular structure with a cell diameter in order of 30-40 μm and a cell density of 7.93×107 cell/cm3.

关键词： Foamed plastics

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The Characteristics of a Sorption-enhanced Steam-Methane Reaction for the Production of Hydrogen Using CO_2 Sorbent

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Chinese Journal of chemical engineering 2005年第1期13卷 43-47页

作者：吴素芳 T.H.Beum J.I.Yang J.N.Kim Department of Chemical Engineering Zhejiang University Hangzhou 310027 China Separation Process Research Center Korea Institute of Energy Research 71-2 Jang-dong Yusong-ku Daejon 305-343 Korea

The objective of the present study is to characterize the production of hydrogen with a sorptionenhanced steam-methane reaction process using Ca(OH)2 as the CO2 adsorbent. Theoretical equilibrium compositions at different operation conditions were calculated using an iterative method. It was found that with Ca(OH)2 as the CO2 sorbent, the concentration of CO2 adsorption was reduced in the product stream, that gave rise to higher methane conversion and higher H2 concentration. An experimental setup was built to test the theoretical calculation. The effects of sorbents and the particle size of Ca(OH)2 on the concentration of CO2 and H2 were investigated in detail. Results showed that the reactor packed with catalyst and Ca(OH)2 particles produced H2 concentration of 94%. It was nearly 96% of the theoretical equilibrium limit, much higher than H2 equilibrium concentration of 67.5% without CO2 sorption under the same conditions of 500℃, 0.2 MPa pressure and a steam-to-methane ratio 6. In addition, the residual mole fraction of CO2 was less than 0.001.

关键词： hydrogen reactive-adsorption calcium hydroxide steam-methane reforming

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Continuous-time dynamic exogenous modeling from plant data

Continuous-time dynamic exogenous modeling from plant data

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Society of Plastics Engineers Annual Technical Conference 2005, ANTEC 2005

作者： Rollins, Derrick K. Bhandari, Nidhi Matos, Natalie M. Chin, Swee-Teng Mohn, Stephen W. Department of Chemical Engineering Iowa State University Ames IA 50011 Department of Statistics Iowa State University Ames IA 5001 Corporate Research Process Laboratory 3M Center St. Paul MN 55144

Dynamic models that describe strong physical relationships are typically difficult to create from plant data. The application of a recently developed method by Rollins, et al. for Hammerstein block-oriented modeling to 3M data revealed feasibility. The Hammerstein system consists of a nonlinear static block followed by a linear dynamic block.

关键词： Plants (botany)

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A novel tactile sensor using a matrix of LEDs operating in both photoemitter and photodetector modes

A novel tactile sensor using a matrix of LEDs operating in b...

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IEEE SENSORS

作者： J. Rossiter T. Mukai Bio-Mimetic Control Research Center RIKEN Institute of Physical and Chemical Research Nagoya Japan Department of Engineering Mathematics University of Bristol Bristol UK

We present a novel tactile sensor based on a matrix of light emitting diodes (LEDs). Unlike previous optical-based tactile sensors this approach relies on only one matrix of elements to perform the roles of both light source and light detector. This is possible by exploiting the little-known property of LEDs to act as photodetectors when operated in the photovoltaic or photoconductive modes. The tactile sensor is composed of a pliable foam surface over a substrate onto which a matrix of LEDs is mounted. A two-way detection process enables a point force and position pair to be calculated directly using just two LEDs. Initial results are presented from a 4times4 prototype tactile sensor using infrared LEDs. Experimental results using a neural network function approximator show a sensor accuracy of 94.7%

关键词： Tactile sensors Light emitting diodes Photodetectors Stimulated emission Optical sensors Light sources Photovoltaic systems Solar power generation Photoconductivity Force sensors

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A time varying state space approach for sugar crystallization process modelling and monitoring

A time varying state space approach for sugar crystallizatio...

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作者： Simoglou, A. Georgieva, P. Martin, E.B. Morris, A.J. De Azevedo, S. Feyo Center for Process Analytics and Control Technology Merz Court University of Newcastle Newcastle upon Tyne NE1 7RU United Kingdom Department of Chemical Engineering Faculty of Engineering University of Porto R. Dr. Roberto Frias 4200-465 Porto Portugal Department of Electronics and Telecomunications University of Aveiro Campus Universitario de Santiago 3810-193 Aveiro Portugal

ISBN: (纸本)008045108X

The present paper contributes to the issues of batch process modelling and monitoring by proposing a time-varying state space (TVSS) model for the evaporative sugar crystallization industrial process. The study is focused on issues of on-line detection of changes in crystallization process operation, the early warning of process malfunctions and potential production failures;problems that have not been directly addressed by existing statistical monitoring schemes. The TVSS methodology is compared with current state-of-the-art techniques and the results obtained demonstrate the superior performance of the TVSS approach to successfully detect abnormal events and periods of bad operation. Copyright © 2005 IFAC.

关键词： Statistical process control

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Independent control of metal and ceramic characteristics during simultaneous flame spray synthesis

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Chemie-Ingenieur-Technik 2005年第8期77卷 1223-1223页

作者： Schulz, H. Mädler, L. Strobel, R. Jossen, R. Pratsinis, S.E. Johannessen, T. Particle Technology Laboratory Department of Mechanical and Process Engineering Swiss Federal Institute of Technology Zurich CH-8092 Zurich Switzerland Interdisciplinary Research Center for Catalysis Department of Chemical Engineering Technical University of Denmark DK-2800 Lyngby Denmark

The role of the supporting metal oxide on the noble metal particle size was systematically investigated for the flame spray pyrolysis process. The materials were produced at fixed process conditions such as resident time of the particles in the flame, energy input and maximum temperature. The materials exhibited different noble metal particle sizes, having the same surface area of the support and metal loading. The mechanisms of metal particle formation in the flame and the effect of the metal oxide support were presented for the controlled production of a desired metal particle size. With these concepts, the properties of the noble metal on the metal oxide support and the interaction with the support can be tailored for specific applications.

关键词： Ceramic materials

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