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European control Conference (ECC)

作者： T. Zhang M. Nakamura Department of Advanced Systems Control Engineering Saga University Saga Japan

This paper presents a general methodology of controller design by the hybrid neuro-inverse control with the knowledge-based nonlinear separation for industrial nonlinear systems. In industrial nonlinear systems, various kinds of uncertainties may cause serious deterioration of system performances. Unfortunately, these uncertainties are usually difficult to identify and compensate from the entire system point of view. With using the knowledge-based nonlinear separation, nonlinear dynamics of a nonlinear system is possibly separated into the input-output nonlinear static part and the nonlinear dynamic part to form a nonlinear separation structure. Hence, partial nonlinear factors of the nonlinear system are described by the input-output nonlinear static part. Uncertainties in the nonlinear system are bounded in the nonlinear dynamic part. In the proposed hybrid neuro-inverse control method, the input-output nonlinear static part is controlled by an inverse controller. A neurocontroller with a rigidly defined and trained neural network using available prior knowledge of the nonlinear system is constructed for the control of the nonlinear dynamic part. With respect to some cases, a PID controller is supplementarily employed to reduce the influence from big uncertainties in the nonlinear dynamic part. Owing to using the knowledge-based nonlinear separation and a PID controller, the neurocontroller is only needed to control a part of the original nonlinear dynamics of industrial nonlinear systems contaminated by uncertainties. The structure of the neural network employed in the neurocontroller becomes simpler and the consumption of time in training is reduced. Meanwhile, system performances of the nonlinear system can be improved by the proposed method. Based on this method, high-precision contour control of industrial articulated robot arm was solved. It demonstrated the generality, practicality and significant potential of this method for realizing the high-performance

关键词： Uncertainty Nonlinear dynamical systems Trajectory Neurocontrollers Training Joints

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A single sensor for force vector measuring based on multi-functional sensing technique

A single sensor for force vector measuring based on multi-fu...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Z. Chi K. Shida Department of advanced systems control engineering Saga University Saga Japan

We propose a multi-functional cylindrical tactile sensor with a single structure to test the magnitude and direction of the contact force imitating the human finger. This sensor consists of two coils and two media. A step-by-step method is used to realize the multi-functional sensing objective and in each step, different quantity is sensed. Based on the special structure of the sensor and the ingenious measuring methods, we realized to test more than one quantity with a single sensor. A detailed analysis of the step-by-step method to the sensor is made.

关键词： Force measurement Force sensors Chemical sensors Testing Coils Tactile sensors Sensor phenomena and characterization Fingers Shape measurement Intelligent sensors

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Evolutionary acquisition of handstand from backward giant circle by a three-link rings gymnastic robot

Evolutionary acquisition of handstand from backward giant ci...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Yamada K. Watanabe K. Kiguchi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

We have already proposed the "rings gymnastic robot" aiming at an application to the gymnastic coaching. We have been also focusing on performance skill acquisition and obtained a skill of a backward giant circle using various models step by step. To apply the skill obtained by the robot to the coaching, many skills collected by a three-dimensional model and experiments are required. However, a handstand has been only realized by a two-link model. Therefore, in this study, we further acquire the performance skill of a handstand from backward giant circle using a three-link model, as a preliminary step toward analyses in three-dimension and experiments.

关键词： Performance analysis Biomechanics Motion measurement Performance evaluation Fuzzy control control engineering Robot control Virtual prototyping Prototypes

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Obstacle Voidance for Quadruped Robots Using a Neural Network

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Journal of advanced Computational Intelligence and Intelligent Informatics 2003年第2期7卷 115-123页

作者： Vamaguchi, Tomohiro Watanabe, Keigo Izumi, Kiyotaka Kiguchi, Kazuo Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan

Legged mobile robots, which differ from wheeled and craw lee need not avoid all obstacles by altering the path in the obstacle avoidance task. Because, legged mobile robots can get over or stride some obstacles, depending on the obstacle configuration and the current state of the robot. Legged mobile robots muse have suitable motion for each leg. We propose body motion control of a quadruped robot using a neural network (NN) for an obstacle avoidance task. Each leg motion is calculated by robot kinematics using body motion from the NN. NN design parameters are tuned off-line by a genetic algorithm (GA). Effectiveness of the present method is proved through an experiment. © 2003 Fuji Technology Press. All rights reserved.

关键词： Genetic algorithms

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A common reference object concept to cooperative transportation

A common reference object concept to cooperative transportat...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xin Yang K. Watanabe K. Izumi K. Kiguchi Department of Production Control Technology Division of Engineering Systems and Technology Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

A concept called "common reference object" is proposed for cooperative transportation and decentralized system consisting of multiple noholonomic mobile robots is constructed to demonstrate the present concept. In this system, one agent acts as the leader, which is able to plan and manipulate the omnidirectional motion of the object. Other agents referred to, as followers are equipped with compliance arms and cooperatively transport the object by keeping a constant position relative to the object. During transportation operation, the leader robot can not only plan the motion of the object but also broadcast the local velocity of the object to other agents. Then, each follower receives such information and generates its own velocity in the local coordinate using a mapping process. In this paper, neural network (NN) and genetic algorithm (GA) are tested in identifying the mapping process. Simulation results show a good performance of the present system.

关键词： Transportation Robot kinematics Mobile robots Neural networks Motion control Robot sensing systems Centralized control control engineering Production control systems engineering and theory

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Delamination monitoring by the local velocimetry based on the spatio-temporal gradient analysis

Delamination monitoring by the local velocimetry based on th...

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SICE Annual Conference

作者： K. Teramoto K. Tsuruta Department of Mechanical Engineering Saga University Saga Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

In this paper, a novel method of local phase velocimetry based on the spatio-temporal gradient analysis is proposed. The proposed method has an ability to measure the local phase velocity of the zero/sup th/ order anti-symmetric Lamb wave field through the linearity among following four components: a vertical displacement, its vertical velocity, and a pair of out-of-plane shearing strains of the surface. In this study, the computational process in the Lamb wave field near the defects is discussed and their physical meanings are investigated through FDTD-simulations.

关键词： Delamination Monitoring Displacement measurement Velocity measurement Phase measurement Linearity Shearing Strain measurement Surface waves Physics computing

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An exoskeleton system for elbow joint motion rehabilitation

An exoskeleton system for elbow joint motion rehabilitation

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

作者： K. Kiguchi R. Esaki T. Tsuruta K. Watanabe T. Fukuda Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Microsystem Engineering University of Nagoya Nagoya Japan

The paper presents an exoskeleton system designed for elbow joint motion rehabilitation. The proposed system is supposed to be directly attached to the lateral side of a patient's arm and assist the elbow flexion-extension motion of the patient for rehabilitation. In the proposed system, the amount of electromyogram (EMG) signals of biceps and triceps of the patient are monitored and used to control the motion of the system. The assist level (the support level) of the system can be decided for each patient based on his/her physical and physiological condition or rehabilitation phase. The effectiveness of the proposed support system was evaluated by experiment.

关键词： Exoskeletons Elbow control systems Force sensors Automatic control Wrist Electromyography Biomedical monitoring Humans Shafts

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Subsurface crack detection by spation-temporal gradient method

Subsurface crack detection by spation-temporal gradient meth...

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SICE Annual Conference

作者： K. Teramoto K. Tsuruta Department of Mechanical Engineering Saga University Saga Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

This paper presents a defect detection method by spatio-temporal gradient analysis over the lamb wave field. The proposed method has an ability to classify the zero order anti-symmetric mode lamb-wave field through the rank of the covariance matrix which is defined by the four-dimensional vector with following components: a vertical displacement, its vertical velocity, and a pair of out-of-plane shearing strains of the surface. The covariance matrix provides the information about defects. Its determinant, therefore, is proposed as the index of inhomogeneity of the object surface. In this study, the computational process in the lamb wave field near the defects is discussed and their physical meanings are investigated through FDTD-simulations and acoustic experiments.

关键词： Gradient methods Covariance matrix Capacitive sensors Surface acoustic waves Shearing Physics computing Acoustic waves Signal analysis Frequency Narrowband

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Design and control of an exoskeleton system for human upper-limb motion assist

Design and control of an exoskeleton system for human upper-...

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

作者： K. Kiguchi T. Tanaka K. Watanabe T. Fukuda Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Microsystem Engineering University of Nagoya Nagoya Japan

In this paper; we introduce a 3-DOF exoskeleton system to assist the human upper-limb motion (shoulder flexion-extension motion, shoulder adduction-abduction motion, and elbow flexion-extension motion) for daily activity and rehabilitation. The electromyogram (EMG) signals of human muscles are important signals to understand how the patient intends to move. The proposed exoskeleton automatically assists the patient 's motion for daily activity and rehabilitation mainly based on the skin surface EMG signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the patient upper-limb motion (elbow and shoulder motion) based on the EMG signals in a short time because of the difficulty in using the EMG signals as the controller input signals. In order to cope with this problem, fuzzy-neuro control has been applied to realize the sophisticated real-time control of the exoskeleton system for motion assist of the patient. Experiment has been performed to evaluate the proposed exoskeleton and its control system.

关键词： Motion control control systems Exoskeletons Humans Electromyography Elbow Muscles Skin Real time systems Performance evaluation

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control of redundant manipulators by fuzzy linguistic commands

Control of redundant manipulators by fuzzy linguistic comman...

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SICE Annual Conference

作者： K. Pulasinghe K. Watanabe K. Izumi K. Kiguchi Department of Production & Control Technology Graduate School of Science & Engineering Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science & Engineering Saga University Saga Japan

This paper presents a method of controlling redundant manipulators by spoken language commands consisting of fuzzy linguistic information. The present system introduces the fuzzy-neurocontrol paradigm to the contemporary speech controlled robotic systems, which are based on the on-off control paradigm. The system is sensitive to the action activation commands, action modification commands, and action repetition commands of the human-robot conversation carried out by practical dialogues. Credibility of the proposed system is experimentally proven by controlling a manipulator with seven degrees-of-freedom by fuzzy linguistic information enriched spoken language commands to perform an assembling task.

关键词： Fuzzy control Natural languages control systems Humans Senior citizens Fuzzy systems Robot control Speech Medical services Orbital robotics

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