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SICE Annual Conference 2008 - International Conference on Instrumentation, control and Information Technology

作者： Fujihara, Yutaka Hanamoto, Takayuki Dai, Fengzhi Department of Control Engineering Matsue College of Technology Shimane Japan Advanced Electronic and Information Systems Matsue College of Technology Shimane Japan

ISBN: (纸本)9784907764296

Presently, breakthrough industrial technology and scientific technology produce various instruments of downscale and weight saving. But the metal parts are widely used for magnetic motors. It is difficult to lighten the weight and to miniaturize the motor. Therefore, we need small, light actuators that can be built into motor. We focus attention on the polymer material artificial muscle that responds to electrical stimulation with a significant shape or size change. In this research, the artificial muscle was produced by using the conductive grease and the polymer material. We used several kinds of polymer material films in our experiments to compare the performance of them. The displacement when the voltage is applied to electrode was measured. At last the result and conclusion are given. © 2008 SICE.

关键词： Muscle

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Anti-disturbance filter design for a class of stochastic systems with fading channels

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Science China(Information Sciences) 2020年第11期63卷 327-329页

作者： Yang LIU Zidong WANG Hongli DONG Hongjian LIU College of Electrical Engineering and Automation Shandong University of Science and Technology Department of Computer Science Brunel University London Institute of Complex Systems and Advanced Control Northeast Petroleum University School of Mathematics and Physics Anhui Polytechnic University

Dear editor,As a significant topic in control and signal processing communities, the filtering problem has been attracting persistent research attention in the past few decades [1]. In practical engineering, the parameter perturbations are unavoidable due mainly to exogenous disturbances, environmental changes and some other phenomena.

关键词： Stochastic systems fault detection model uncertainty anti-disturbance fading channel

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Construction of simple communication method by use of neuro-biological signals

Construction of simple communication method by use of neuro-...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Thara, Takahiro Sugi, Takenao Eriguchi, Makoto Asami, Toyoko Nakamura, Masatoshi Department of Electrical and Electoronic Engineering Saga University Saga Japan Saga University Hospital Saga Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

Many persons suffer from severe disabilities such as amyotrophic lateral sclerosis (ALS) caused by neurological disorders. Such kinds of disabilities bring various restrictions to communication and circumstance in their daily life. A simple communication method using neuro-biological signal will be effective and helpful to enhance their life quality In this study, a simple on-off communication method using electroencephalogram (EEG) and electrooculogram (EOG) was proposed. In case of EEG, parameters for linear regressive equation were selected by AIC. The results showed that the accuracy was extremely high with both communication methods. © 2009 SICE.

关键词： Brain computer interface

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Global path planning of mobile robots as an evolutionary control problem

Global path planning of mobile robots as an evolutionary con...

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1999 European control Conference, ECC 1999

作者： Watanabe, K. Hashem, M.M.A. Izumi, K. Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan

ISBN: (纸本)9783952417355

A new method for global path planning of mobile robots is presented using an Evolutionary Strategy (ES). A two-dimensional autonomous path planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. From the visibility concept, each polygonal obstacle is enclosed by a circle so that the visible side of the obstacle will be contained inside a circle. An appropriate fitness function for the problem is constructed by applying a penalty function approach. Simulation results show that the proposed evolutionary approach is quite robust, and it is guaranteed to yield a path terminating at the goal with minimum time and distance while avoiding polygonal obstacles. © 1999 EUCA.

关键词： Mobile robots

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Navigation strategy for a quadruped robot on soft flat ground

Navigation strategy for a quadruped robot on soft flat groun...

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作者： Ikeda, Masaaki Izumi, Kiyotaka Watanabe, Keigo Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Mechanical Engineering Saga University Saga Japan Department of Intelligent Mechanical Systems Okayama University Okayama Japan

ISBN: (纸本)9781424474530

Tasks important for a mobile robot are the environmental recognition and the obstacle avoidance in the real world. The legged robot can be adapted for rough terrains. It is because the legged robot has a high degree of freedom in order to avoid an obstacle to three dimensions. In this paper, we propose a locomotion strategy on the terrain with stiffness which is different in each. The propriety of a continuation walk is determined by the force sensor mounted to the bottom of each leg of a quadruped robot. The effectiveness of the proposal approach is verified from the result of the experiment which uses the prevalent quadruped robot called TITAN-VIII. ©ICROS.

关键词： Mobile robots

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Evaluating fuzzy voice commands by user guided visual attention for controlling a robot manipulator

Evaluating fuzzy voice commands by user guided visual attent...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Buddhika, A.G. Jayasekara, P. Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784907764296

This paper proposes a method for evaluating fuzzy voice commands (FVCs) by user guided visual attention. FVCs inherit fuzzy linguistic information due to the inclusion of fuzzy linguistic terms such as "very little." The contextual meaning of such information depends on the environmental arrangement. Therefore, visual attention system (VAS) is utilized to evaluate the fuzzy linguistic information based on the environmental conditions. It is implemented by assuming that the corresponding distance value for a particular FVC depends on the spatial arrangement of the surrounding objects in the environment. A fuzzy logic based voice command evaluation system (VCES) is proposed to assess the fuzzy linguistic information in user commands. In addition, the user has been given the freedom to adjust command evaluation process by changing the attention level. It is achieved by using attentive voice commands such as "move carefully." A situation of object manipulation by navigating the tip of a robot manipulator through the user's working space is demonstrated to illustrate the system where a PA-10 robot manipulator is used. © 2009 SICE.

关键词： Fuzzy logic

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An underactuated control for VTOL aerial robots with four rotors via a chained form transformation

An underactuated control for VTOL aerial robots with four ro...

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作者： Tanaka, Kouki Watanabe, Keigo Izumi, Kiyotaka Okamura, Kensaku Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288020

We present a new control strategy for a VTOL aerial robot. A kinematics control law is derived using Astolfi's discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based control system, instead of guaranteeing a global stability of the control system. Finally, a computer simulation is shown to demonstrate the effectiveness of our approach. ©ISAROB 2008.

关键词： Antennas

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control of three-link underactuated manipulators using a switching method of fuzzy energy regions

Control of three-link underactuated manipulators using a swi...

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作者： Ichida, Keisuke Izumi, Kiyotaka Watanabe, Keigo Uchida, Nobuhiro Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

In general, manipulators used for industry and academic laboratory have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it needs to design parameters related to energy regions and gains of some partly stable controllers based on the computed torque method. The switching method is here applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. ©ISAROB 2007.

关键词： Manipulators

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Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots

Central pattern generators based on Matsuoka oscillators for...

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作者： Liu, Guang Lei Habib, Maki K. Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

Biologically inspired control approaches based on central pattern generators (CPGs) with neural oscillators have been drawing much attention to generate rhythmic motion for biped robots that resemble human-like locomotion. This paper describes the design of a neural oscillator based gait rhythm generator using a network of Matsuoka oscillators to generate a walk pattern for biped robots. This includes proper consideration of oscillator's parameters, such as a time constant adaptation rate, coupling factors for mutual inhibitory connections, etc., to obtain a stable and desirable response from the network. The paper examines the characteristics of a CPG network with six oscillators and the effect of assigning symmetrical and asymmetrical coupling coefficients among oscillators within the network structure under different possibilities of inhibitions and excitations. The kinematics and dynamic of a five-link biped robot has been modeled and its joints are actuated through simulation by the torques output from the neural rhythm generator to generate the trajectories for hip, knee, and ankle joints. The parameters of the neural oscillators are tuned to achieve flexible trajectories. The CPG based control strategy are implemented and tested through simulation. ©ISAROB 2007.

关键词： Machine design

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