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SICE Annual Conference

作者： O. Bai M. Nakamura Y. Ikegami H. Uehara Institute of Ocean Energy Saga University Saga Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)0780376315

Spring thermal energy conversion (STEC) is a system that converts heat energy into electricity by using the temperature. difference between spring water and sea/river water. Because of the small temperature difference in a STEC plant, its thermal efficiency is low compared with those of other thermal power plants. In order to improve the thermal efficiency of STEC plant, a new power cycle, in which binary mixtures of water and ammonia were used as the working fluid, was developed recently. Because of the use of binary mixtures, there encounters a serious problem about the composition of working fluid flowing into the turbine. If the composition of ammonia is not high enough, the working fluid may condense in the turbine, which results a fatal damage of turbine. This paper describes the controller design for keeping the composition of working fluid into the turbine. Effectiveness of the proposed method has been verified under a developed simulation system for STEC plant.

关键词： Fluid flow control Weight control Particle separators Turbines Springs Energy conversion Ocean temperature Resistance heating Water heating Rivers

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Enhancing the Autonomy of Teleoperated Redundant Manipulators Through Fusion of Intelligent control Modules

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Journal of Robotics and Mechatronics 2002年第3期14卷 278-289页

作者： Thrishantha Nanayakkara, D.P. Kiguchi, Kazuo Murakami, Tsukasa Watanabe, Keigo Izumi, Kiyotaka Department of Biomedical Engineering Johns Hopkins University BaltimoreMD21205 United States Dept. of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University I-Honjomachi Saga840-8502 Japan

This paper presents a method for redundancy resolution of an industrial manipulator in a teleoperated force control task. A seven degree-of-freedom (DOF) industrial manipulator manufactured by the Mitsubishi Heavy Industries Ltd. is used for experiments. The task involves obeying a force command sent from a remote computer while autonomously adapting the posture to avoid unexpected obstacles moving toward the manipulator. Redundancy resolution is employed for autonomous adaptation of the configuration to avoid the obstacle while continuing the force control task. This self-adaptive skill on the slave manipulator side is very important because teleoperation is often performed in dangerous or partially unknown environments where unexpected changes such as moving obstacles can well be expected. In such situations, the control ability of the master side is very limited due to the practical limitations of vision sensors to capture a comprehensive view of the environment and the limitations of the degrees of freedom on the master manipulator. The proposed method relies on two modules of an intelligent controller on the slave side. The first is an on-line fuzzy neural network (FNN) for intelligent force control, and the second is a configuration controller that works in harmony with the first to exploit redundancy to react to avoid moving obstacles such that the latter does not inhibit the progress of the former. The second controller generates joint velocity commands in null space of the hand Jacobian, so that its activation does not affect the force controller. Here we show that the proposed method can skillfully avoid a moving obstacle without stopping the force control task. This skillful adaptation ability can significantly improve the efficiency and safety of teleoperated force control tasks with less burden on the master side. This paper presents some promising experimental results to demonstrate the effectiveness of the proposed method. © 2002, Fuji Technology Pres

关键词： Industrial manipulators

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Intelligent interface of an exoskeletal robot for human elbow motion support considering subject's arm posture

Intelligent interface of an exoskeletal robot for human elbo...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K. Kiguchi S. Kariya T. Tanaka N. Hatao K. Watanabe T. Fukuda Department of Advanced Systems Control Engineering Saga University Saga Saga Japan Center of Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

We develop exoskeletal robots for the motion support of physically weak persons. In this study, the human elbow motion is assisted by the exoskeletal robot system, since the elbow motion is one of the simplest and the most important motion of human beings in everyday life activities. The angular position and impedance of the exoskeletal robot system are controlled by multiple fuzzy-neuro controllers. The skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion are used as input information of the controller. Since the activation level of working muscles tends to vary with the human subject's arm posture, an intelligent interface that cancels out the effect of posture changes of the human subject's arm is proposed in this paper. The experimental results show the effectiveness of the proposed intelligent interface.

关键词： Intelligent robots Humans Elbow control systems Surface impedance Robot control Skin Electromyography Signal generators Wrist

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A decision methodology for maintenance interval of equipment by ordering based on element reparation-replacement rate

A decision methodology for maintenance interval of equipment...

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IEEE Summer Meeting Power engineering Society

作者： T. Zhang M. Nakamura H. Hatazaki Department of Advanced Systems Control Engineering Saga University Saga Japan Kyushu Electric Power Company Inc. Fukuoka Japan

This paper presented a decision methodology for maintenance interval of equipment by ordering based on element reparation-replacement rate, in order to obtain optimal maintenance scheduling and reduce maintenance cost, while keeping average element reliability. Since data of failure are rare in actual equipment definitely, information from element regular maintenance based on an experience can be considered to be adapted for reflecting the feature of reliability. According to the element reparation/replace rate calculated by synthesizing multiple factors, element reliability can be quantitatively described. Through ordering element reliabilities with various average maintenance interval types, maintenance intervals of elements are rearranged meanwhile keeping average element reliability. Therefore, maintenance interval of element can be extended comparing with current maintenance scheduling, so as to reduce maintenance cost. With actual data of electrical elements in thermal power stations of Kyushu Electric Power Co. of Japan, attractive results were obtained and thus the effectiveness of the proposed strategy can be verified.

关键词： Maintenance Job shop scheduling Power generation Power system modeling Frequency Cost function Humans Power measurement Power quality Power system economics

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Optimizing maintenance scheduling of equipment by element maintenance interval adjustment considering system availability

Optimizing maintenance scheduling of equipment by element ma...

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IEEE Winter Meeting Power engineering Society

作者： T. Zhang M. Nakamura H. Hatazaki Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Kyushu Electric Power Company Inc. Fukuoka Japan

ISBN: (纸本)0780373227

Proper maintenance scheduling of equipment can keep high availability of power system, avoid the damage of failure and reduce the waste of cost. In the authors' research, facing up to the difficulty of short of data for maintenance scheduling in the electric power industry, element availabilities with various kinds of maintenance intervals can be calculated by the dimensional reduction method. Considering the system availability, maintenance scheduling of equipment can be optimized by element maintenance interval adjustment. In this paper, sacrificing system availability within allowance and keeping system availability during the process of optimizing maintenance scheduling was discussed in detail. There effectiveness was verified by the proper maintenance scheduling for the electrical elements of thermal power stations.

关键词： Job shop scheduling Power generation Power system modeling Availability Power systems Safety Cost function control engineering Power system planning Load forecasting

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Force-free control of articulated robot arm considering velocity along assigned locus

Force-free control of articulated robot arm considering velo...

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SICE Annual Conference

作者： D. Kushida M. Nakamura S. Goto N. Kyura Venture Business Laboratory Saga University Honjomachi Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi Saga Japan Department of Electrical and Electronic Engineering Kinki University Kyushu Japan

ISBN: (纸本)0780376315

Force-free control with velocity consideration under the assigned locus is proposed for an articulated robot arm. The tip of the robot arm is moved on an objective locus according to the tip velocity. Then, the direction of the tip velocity, which corresponds to the exerted force, is modified to the tangential direction of the assigned locus. The contouring work of an articulated robot arm is, therefore, carried out with a force-free control. The effectiveness of the proposed force-free control is assured by simulation and experimental work on a two-degree-of-freedom articulated robot arm. Applications of the force-free control with an assigned locus are also discussed.

关键词： Force control Velocity control Robot control Robot kinematics Weight control Service robots Servomechanisms Orbital robotics Motion control Friction

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Three improvements on KNN-NPR for traffic flow forecasting

Three improvements on KNN-NPR for traffic flow forecasting

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International Conference on Intelligent Transportation

作者： Xiaoyan Gong Feiyue Wang Intelligent Control and Systems Engineering Center Institute of Automation Chinese Academy and Sciences Beijing China Institute of Automation Chinese Academy and Sciences Beijing China Advanced research in Complex Systems Department of Systems and Industrial Engineering of University of Arizona Tucson Tucson AZ USA

Research has shown nonparametric regression to hold high potential to accurately forecast short-term traffic flows. However, many fundamental questions remain regarding the ability of KNN-NPR(K nearest neighbor nonparametric regression) to meet real-time system requirements and adequate accuracy requirements. So this paper puts forward three improvements which are: effective traffic state vector selection method based on self-association analysis and association analysis; improved variable K search method based on "dense degree"; and advanced data structures based on a dynamic cluster method and hash-function transformation. A field test fully proves that with three improvements, KNN-NPR can adequately meet real-time system requirements and accuracy requirements.

关键词： Traffic control Real time systems Intelligent transportation systems Accuracy Automatic testing Integrated circuit testing Senior members Filtering algorithms Parametric statistics Databases

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MODELING AND ANALYSIS OFHAND MOVEMENT FOR IMPROVING MOTORFUNCTION

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IFAC Proceedings Volumes 2002年第1期35卷 217-222页

作者： Takenao Sugi Masatoshi Nakamura unko Ide Hiroshi Shibasaki Department of Electrical and Electronic Engineering Faculty of Science and Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga 840-8502 Japan Department of Commerce Seinan Gakuin University Fukuoka 814-8511 Japan Departments of Neurology and Human Brain Research Center Kyoto University Graduate School of Medicine Kyoto 606-8507 Japan

Skillful motor control of human is achieved by the appropriate motor commands generating from the central nerve system. Internal model in the cerebellum may have great contribution for realizing accurate motor control. In this paper, the model for human motor control on manual tracking to moving visual target was constructed based on the experimental data of the visual tracking test for three groups; normal healthy adults, patients with cerebellar ataxia and patients with Parkinson disease. Relationship between the model parameters and movement disorders were investigated. Furthermore, the compensation method for improving the motor function of patients were also considered.

关键词： Motor control Visual Tracking Test Motor Function Modeling Predictive control Movement Disorders

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Adaptive PI control method for positioning control using linear slider feedforward control approach

Adaptive PI control method for positioning control using lin...

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IEEE Conference on control Technology and Applications (CCTA)

作者： K. Sato H. Honda A. Hayakawa K. Watanabe Department of Advanced Systems Control Engineering Graduate School of Saga University Saga Japan Research Laboratory Motor Drives Research Section Yaskawa Electric Corporation Kitakyushu Japan

In this paper, we present a feedforward control system using adaptive PI strategy for a positioning mechanism with stand. Due to the rapid motion of a moving table, the vibration phenomena in a stand may be induced by the reaction force of a motion of a moving table. However in previous research, the dynamics of the stand does not consider. Besides, in such a system, rapid and accurate positioning of a moving table is required for the high productivity and quality. To cope with this problem, we present the dynamic model of the positioning mechanism with stand using linear slider, apply a feedforward control method with adaptive PI control strategy to the system and show the effectiveness of our method, compared to the conventional research.

关键词： Programmable control Adaptive control Pi control control systems Adaptive systems Vibration control Productivity Manufacturing control engineering Laboratories

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Intelligent control of a 7-DOF manipulator based on model primitives

Intelligent control of a 7-DOF manipulator based on model pr...

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IEEE International Symposium on Intelligent control (ISIC)

作者： D.P. Thrishantha Nanayakkar K. Watanabe K. Kiguchi R. Shadmehr Dept. of Biomed. Eng. Johns Hopkins Univ. Sch. of Med. Baltimore MD USA Department of Advanced Systems Control Engineering Saga University Saga Japan School of Medicine Department of Biomedical Engineering Johns Hopkins University Baltimore MD USA Department of Biomedical Engineering School of Medicine Baltimore MD USA

This paper presents a method to control industrial redundant manipulators based on a method similar to the mechanism ascribed to the human motor system that adaptively combines motor primitives to control human body motions. The idea is to identify a set of local model primitives based on Runge-Kutta-Gill neural networks (RKGNNs) and control the manipulator based on an adaptive selection and fusion method. The adaptive selection is carried out using a resonance signal that recalls only the most relevant memory primitives given a situation, and adaptive fusion is carried out by a method based on fuzzy memberships. This method imitates few recent findings on how human motor skills are developed by adaptive combination of motor primitives. Experiments on an industrial manipulator with seven degrees of freedom shows that the proposed method is a potentially viable approach to model based control of redundant robot manipulators.

关键词： Intelligent control Humans Biological system modeling Motion control control systems Industrial control Manipulators Electrical equipment industry Neural networks Programmable control

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