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IEEE Conference on Decision and Control

作者： C. Sakai H. Ohmori A. Sano Graduate School of Science and Technology Keio University Yokohama Japan Department of System Design Engineering Keio University Yokohama Japan

This paper is concerned with structural vibration control using a semi-active magnetorheological (MR) damper. A simple mathematical model of MR damper is proposed to express its hysteresis effect of dynamic friction characteristics. The model can predict the damping force based on the inputs of velocity, internal state and input voltage to the MR damper. The model can also he used to obtain an inverse dynamic model to analytically determine the necessary input voltage so that the desirable damper force could be added to the structure in an adaptive manner. In conjunction with the LQG control which gives the desired target damping force, the total adaptive algorithm can work effectively even if the MR damper has uncertainty and changeability, which is validated in numerical simulations.

关键词： Shock absorbers Damping Hysteresis Programmable control Adaptive control Vibration control Voltage Mathematical model Friction Predictive models

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Position/force control of a manipulator by using an algebraic relation and evaluations by experiments

Position/force control of a manipulator by using an algebrai...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： T. Ikeda M. Minami System Design Engineering Graduate School of Engineering Fukui University of Technology Fukui Japan Department of Human and Artificial Intelligence Systems Faculty of Engineering Fukui University of Technology Fukui Japan

On the basis of an analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamic system of the robot is modeled first in this paper. In the model, the constrained forces are included and expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for the grinding robot is then constructed according to this control law and without involving any force sensors. Simulations and real experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show that the constrained force is explicitly controlled with proposed control law in simulations and the effectiveness of the controller for real grinding task, have been verified.

关键词： Force control Force sensors Equations Robot sensing systems Automatic control design engineering systems engineering and theory Motion analysis Computer integrated manufacturing Robotics and automation

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Modeling of MR damper with hysteresis and application to vibration control

Modeling of MR damper with hysteresis and application to vib...

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SICE Annual Conference

作者： C. Sakai H. Ohmori A. Sano Graduate School of Science and Technology Keio University Yokohama Japan Department of System Design Engineering Keio University Kohoku-ku Yokohama Japan

This paper discusses structural vibration control using a semi-active magnetorheological damper. The proposed model of MR damper expresses the hysteresis effect compactly, and can be used to obtain an inverse dynamic model so that the desirable damper force by LQG control should be added to the structure in an online adaptive manner. Finally, the total adaptive algorithm can work effectively.

关键词： Shock absorbers Damping Hysteresis Vibration control Inverse problems Force control Voltage Programmable control Adaptive control Friction

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High-cycle fatigue test of nanoscale Si and SiO/sub 2/ wires based on AFM technique

High-cycle fatigue test of nanoscale Si and SiO/sub 2/ wires...

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IEEE International Conference on Micro Electro Mechanical systems

作者： T. Namazu Y. Isono Department of Mechanical and System Engineering Himeji Institute of Technology Graduate School of Engineering Himeji Hyogo Japan Department of Mechanical Engineering Faculty of Science and Engineering Ritsumeikan University Kusatsu Shiga Japan

This paper focuses on revealing the effects of specimen size, frequency and temperature on fatigue lives of nanoscale single crystal silicon (SC-Si) and silicon dioxide NOD wires for reliable design of micro/nano electro-mechanical systems (MEMS/NEMS). Evaluation of fatigue lives for nanoscale fixed-fixed SC-Si and SiO/sub 2/ wires was performed by stress-controlled cyclic bending tests under an atomic force microscope (AFM) at temperatures ranging from 295 K to 573 K. In MEMS-00 and MEMS-01, the quasi-static bending tests under the AFM for nanoscale SC-Si wires were reported, which discussed the effect of specimen size on elastic/plastic deformation behavior of the wires at intermediate temperatures. Here, we exhibit high-cycle fatigue lives of nanoscale SC-Si and SiO/sub 2/ specimens. The specimen size produced a large effect on fatigue life, but frequency and temperature dependences were not observed. The 200 nm-wide SC-Si wires had the fatigue lives of 10/sup 1/-10/sup 2/ times longer than those for 550 nm-wide wires at the same stress level. This research newly proposes fatigue life criteria for nanoscale SC-Si and SiO/sub 2/ specimens using a power law.

关键词： Fatigue Testing Wires Frequency Atomic force microscopy Temperature distribution Silicon compounds Micromechanical devices Nanoelectromechanical systems Performance evaluation

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Dynamic scheduling issues in SMT architectures

Dynamic scheduling issues in SMT architectures

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International Symposium on Parallel and Distributed Processing (IPDPS)

作者： Chulho Shin Seong-Won Lee J.-L. Gaudiot Samsung Electronics Corporation System Design Technology Laboratory Department of Electrical Engineering-Systems University of Southern California USA Department of Electrical Engineering and Computer Science University of California Irvine USA

Simultaneous multithreading (SMT) attempts to attain higher processor utilization by allowing instructions from multiple independent threads to coexist in a processor and compete for shared resources. Previous studies have shown, however, that its throughput may be limited by the number of threads. A reason is that a fixed thread scheduling policy cannot be optimal for the varying mixes of threads it may face in an SMT processor. Our adaptive dynamic thread scheduling (ADTS) was previously proposed to achieve higher utilization by allowing a detector thread to make use of wasted pipeline slots with nominal hardware and software costs. The detector thread adaptively switches between various fetch policies. Our previous study showed that a single fixed thread scheduling policy presents much room (some 30%) for improvement compared to an oracle-scheduled case. In this paper, we take a closer look at ADTS. We implemented the functional model of the ADTS and its software architecture to evaluate various heuristics for determining a better fetch policy for a next scheduling quantum. We report that performance could be improved by as much as 25%.

关键词： Dynamic scheduling Surface-mount technology Yarn Processor scheduling Detectors Multithreading Throughput Face detection Adaptive scheduling Pipelines

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Mediated exchange interaction in Fe-Nb-B nanocrystalline soft magnetic materials

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Physical Review B 2003年第17期67卷 172409-172409页

作者： Youhui Gao Daisuke Shindo Teruo Bitoh Akihiro Makino Department of Machine Intelligence and System Engineering Faculty of Systems Science and Technology Akita Prefectural University 84-4 Ebinokuchi Tsuchiya-aza Honjo 015-0055 Japan

The magnetic interactions between bcc Fe nanocrystalline particles in Fe84Nb7B9 nanocrystalline soft magnetic alloys are in situ studied by electron holography. Wavy lines of magnetic flux inside magnetic domains reveal local magnetization fluctuations of magnetic ripple structure, which result from the interplay between the exchange and magnetostatic interactions. The longitudinal wavelength decreases with an increase in temperature. It is found that the local stray field greatly weakens the intergranular exchange coupling and reduces the coupled volume at elevated temperatures. The thermal magnetic behaviors of nanocrystalline soft magnetic alloys are explained.

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Simple self-transfer aid robotic system

Simple self-transfer aid robotic system

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Y. Takahashi G. Manabe K. Takahashi T. Hatakeyama Department of System Design Eng. Kanagawa Institute of Technology Atsugi Kanagawa Japan Department of Welfare Systems Engineering Kanagawa Institute of Technology Japan Faculty of Rehabilitation Seijoh University Tokai Aichi Japan

A simple self-transfer aid robotic system is proposed in this paper. A person with weak leg muscles who uses a wheel chair is assumed to be the target user. By using the self-transfer aid robotic system, a user can transfer between a wheel chair and a toilet, for example. The proposed self-transfer aid robotic system is a two DOF system of a single link robotic arm with a saddle on the top, and a horizontal rotation mechanism driven manually. A user puts his/her belly on the saddle of the robotic arm, and then the robotic arm lifts the user's body. After rotating the user's body, the robotic arm lowers the user's body. The experiments on the burden measurements to human and the transfer aid robotic system were conducted to design a simple self-transfer aid robotic system. It is confirmed that a long robotic arm is better to decrease the human's burden; however the robotic burden is increased. The opposite phenomena were obtained using a short robotic arm. Considering the experimental results, a test system of a self-transfer aid robotic system was fabricated. The experiments on the self-transfer aid were conducted with the assistance of elderly test subject. Finally, in order to build into a purchased transfer aid system, the designs of an arm raising control unit are introduced.

关键词： Mobile robots Wheelchairs Humans Automatic testing Leg Muscles Anthropometry system testing Senior citizens Control systems

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Stretch walking pattern generation for a biped humanoid robot

Stretch walking pattern generation for a biped humanoid robo...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Yu. Ogura Hun-ok Lim A. Takanishi Graduate School of Science and Engineering Waseda University Shinjuku Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Japan Humanoid Robotics Institute Waseda University Japan

This paper describes the knee stretch walking of the biped robot that has three degrees of freedom (DOF) in the ankle, one DOF in the knee and three DOF in the hip. To create the stable stretch walking pattern, a walking pattern generation method capable of specifying arbitrarily the knee joint angle is introduced. The motion of the waist avoids the singularity of the swing leg that can exist in single support phase. A compensatory motion algorithm to cancel the moments generated by the motion of the lower-limbs calculates the waist motion. Through stretch walking simulations, the effectiveness of the pattern generation method is confirmed.

关键词： Legged locomotion Humanoid robots Leg Humans Knee Hip Pelvis Joints Foot Force control

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Dynamic analysis of facial color by using the force feedback system for virtual arm wrestling

Dynamic analysis of facial color by using the force feedback...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： T. Yamada T. Watanabe Electronic Mechanical Engineering Department Yuge National College of Maritime Technology Ochi Ehime Japan Faculty of Computer Science and System Engineering Okayama Prefectural University CREST of Japan Science and Technology Agency Okayama Japan

In this paper, we develop a 4-DOF force display system for the analysis by synthesis of facial color for the interaction with anthropomorphic agent. By using the system, we analyze the changes in facial skin temperature and facial color associated with circulation dynamics in response to forced actions. On the basis of the analysis, we propose a synthetic method for the affect display of virtual face with facial color and expression in force display, and the effectiveness of the method is confirmed. Finally, we develop a prototype of virtual arm wrestling system with anthropomorphic agent using synthesized dynamic three-dimensional facial color and expression.

关键词： Force feedback Image color analysis Computer displays Valves Humans Skin Virtual prototyping Force sensors Drives Torque

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Diamond AFM probe with piezoelectric sensor and actuator

Diamond AFM probe with piezoelectric sensor and actuator

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： T. Shibata K. Unno E. Makino Department of Mechanical Engineering Faculty of Engineering Ibaraki University Hitachi Ibaraki Japan Electronics and Information Engineering Graduate School of Engineering Hokkaido University Sapporo Japan Department of Intelligent Machines and System Engineering Faculty of Science and Technology Hirosaki University Hirosaki Japan

In order to develop a diamond AFM probe with a piezoelectric sensor and actuator, we fabricated lead zirconate titanate (PZT) thin film on a diamond thin film substrate and examined its piezoelectric properties. The PZT thin film was sputtered at room temperature and then annealed in a nitrogen (N/sub 2/) ambient to obtain a perovskite structure. On diamond thin film substrates, the value of piezoelectric constant, d/sub 31/, was as low as about -20 pC/N due to rough surface of the diamond film. After a poling treatment, however, its piezoelectric constant improved to about -65 pC/N. For realization of a PZT sensor and actuator on a diamond cantilever, the PZT thin film was also successfully patterned by reactive ion etching (RIE) in SF/sub 6/ plasma using a Pt upper electrode layer as an etching mask without any damage on a diamond layer. Based on the fabrication and patterning of PZT thin film together with microfabrication techniques of CVD diamond film, we demonstrate the diamond AFM probe of 150 /spl mu/m in length, 50 /spl mu/m in width and 5 /spl mu/m in thickness with a PZT sensor and actuator of 1 /spl mu/m in thickness. The resolution of image sensing and actuation force were estimated to be about 0.4 nm at a resolution of charge measurement of 1/spl times/10/sup -15/ C and 12 /spl mu/N at an applied voltage of 8 V, respectively.

关键词： Probes Piezoelectric actuators Thin film sensors Piezoelectric films Sputtering Substrates Etching Image resolution Titanium compounds Plasma temperature

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