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International Conference on Computational Science and its Applications (ICCSA)

作者： Shuhei Miyake Ryuzaburo Sugino Tokyo University of Information Sciences Chiba Japan Department of Systems and Control Engineering Advanced Engineering Course Anan National College of Technology Tokushima Japan

In this study, numerical solution procedures by an integral equation method are presented for the large deflection problem of an inclined cantilever by the elastica theory. Inclined cantilever with a load is analyzed systematically. The problem expressed by a class of nonlinear two-point boundary value problem is transformed into an integral equation by means of integration procedure. Using our numerical scheme, torque-turning angle curves and cantilever configurations are determined for the various loading parameters. Wang's solutions are compared with our solutions obtained by integral equation method. We treat a cantilever with an end load,and various cantilever's shape showing the large deformations in which we can recognize highly nonlinear *** obtained results with various cantilever deformations are visualized by using Mathematica which is powerful computer algebra system.

关键词： Visualization Integral equations Boundary value problems Nonlinear equations Torque Mathematical model Differential equations Informatics control engineering Educational institutions

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Development of assistive technologies for safe operation of electric wheelchairs on sloping sidewalks and grade height differences

Development of assistive technologies for safe operation of ...

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3rd International Symposium on System Integration, SII 2010

作者： Takei, Toshinobu Suzuki, Yusuke Matsumoto, Osamu Adachi, Yoshitaka Sasaki, Yu Kamo, Mitsuhiro University of Tsukuba Graduate School of Systems and Information Engineering Tsukuba Japan Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Tsukuba Japan Department of Machinery and Control Systems Shibaura Institute of Technology College of Systems Engineering Japan AISIN SEIKI Co. Ltd. Japan

ISBN: (纸本)9781424493159

Accidents involving electric wheelchairs in Japan have increased as the nation's population ages. About half of all accidents are caused when the chair tips over sideways or backwards on a sidewalk. The authors have developed two kinds of safe technology intending to prevent such accidents. The first prevents the wheelchair from falling sideways on a sidewalk when the wheelchair is moving across the slope of a sidewalk. On a slope, the wheelchair easily swerves from the desired direction and goes down the slope because of gravity. The second measure prevents a large backward tipping angle when the wheelchair is moving up over grade height differences and slopes. The authors have configured a wheelchair which has a posture sensor, magnetic brake bar and small control board. Results of indoor experiments on not only simulated slopes and grade height differences but also in real outdoor environments have confirmed the effectiveness of the authors' support technology. ©2010 IEEE.

关键词： Wheelchairs

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Simulation environment for the devolopment of serial manipulator robots and their control (PyMani)

Simulation environment for the devolopment of serial manipul...

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作者： Lura, Derek J. Colbert, Steven C. Dubey, Rajiv V. Nassiraei, Amir A. F. Kiguchi, Kazuo University of South Florida Department of Mechanical Engineering Tampa FL United States Saga University Deparment of Advanced Systems and Control Engineering Saga Japan Kyushu Institute of Technology Kitakyushu Fukuoka Japan

ISBN: (纸本)9781424496730

This paper details the development of a virtual simulation tool for serial manipulators in the Python language (PyMani). PyMani uses a modular design to increase the ease of learning and future development. It was used to test a design for an upper-limb assistive exoskeleton robot with seven degrees of freedom (DoF). Future work will focus on creating additional features, the code is open source and available at sourceforge [http://***/projects/ pymani/]. © 2010 TSI Press.

关键词： Python

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"Ee-class"- Interactive lecture support system using the Wii remote

"Ee-class"- Interactive lecture support system using the Wii...

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13th IASTED International Conference on Computers and advanced Technology in Education, CATE 2010

作者： Sugimoto, Masaki Kiyota, Kimiyasu Ezaki, Nobuo Advanced Course of Production System Engineering Toba National College of Maritime Technology 1-1 Ikegami-cho Toba-shi MIE 517-8501 Japan Department of Human-Oriented Information Systems Engineering Kumamoto National College of Technology 2659-2 Suya Koshi Kumamoto 861-1102 Japan

ISBN: (纸本)9780889868670

In recent years, lectures using electronic devices have been tried in various educational institutions. Using these electronic devices is effective as a means of active participation in lectures for students. The Wii remote is one of these devices. In this paper, we propose the "Eeclass," an interactive lecture support system which uses the Wii Remote. One feature of this system is that students can write in the air using Wii - remotes instead of a blackboard. Implemented functions are as follows: (1) Automatic attendance confirmation, (2) Additional writing on electronic blackboard using an electronic pen device, (3) Automatic counting of a show of hands, (4) Voting opinions, and (5) Writing letter in the air. From the experimental result for 1077 Japanese characters using this handwriting function, we confirmed that the recognition accuracy was 78.5% for the first test and for the 15th was 98.8%.

关键词： Students

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Attentive and corrective feedback for adapting robot's perception on fuzzy linguistic information

Attentive and corrective feedback for adapting robot's perce...

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作者： Izumi, Kiyotaka Jayasekara, A.G.B.P. Watanabe, Keigo Kiguchi, Kazuo Department of Advanced Systems Control Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Department of Intelligent Mechanical Systems Okayama University 3-1-1 Tsushima-naka Kita-ku Okayama 700-8530 Japan

ISBN: (纸本)9784907764364

This paper proposes a method for understanding the fuzzy linguistic information based on the user's guidance. A quantitative assessment for a fuzzy linguistic term such as "little" depends on the environmental conditions. Therefore the corrective feedbacks are utilized to adapt the robot's perception toward the corresponding environment. However, the attentive commands like "move carefully" are used to modify the evaluation process of the fuzzy linguistic information according to the user's desire. The primitive behaviors are evaluated by a behavior evaluation network (BEN) and a feedback evaluation system (FES) is utilized to evaluate the corrective feedbacks. An attention level controller is introduced to change the attention level based on the attentive commands. The system is adapted toward the user's perception on the fuzzy linguistic information based on the corrective feedbacks in the adaptation phase. Then the attentive commands are used to modify the evaluation process according to the local requirements. The proposed system is demonstrated by using a PA-10 robot manipulator and a situation of cooperative rearrangement of user's working space is considered. The adaptation of the system toward the environmental conditions by the corrective feedbacks and the capability to use the attentive feedbacks to modify the system during the work, improve the effectiveness of the system. © 2010 SICE.

关键词： Feedback

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Improvement of hand movement on visual target tracking by assistant force of model-based compensator

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and systems 2010年第6期130卷 996-1002+14页

作者： Ide, Junko Sugi, Takenao Nakamura, Masatoshi Shibasaki, Hiroshi Department of Human Sciences Division of Social Welfare Seinan Gakuin University 6-2-92 Nishijin Sawara-ku Fukuoka 814-8511 Japan Department of Advanced Systems Control Engineering Saga University 1 Honjo-machi Saga 840-8502 Japan Research Institute of Systems Control 1340 Nishishirage Yoka-machi Saga 840-0047 Japan Department of Psychosomatic Medicine Takeda General Hospital 28-1 Ishidamoriminami-chou Fushimi-ku Kyoto 601-1495 Japan

Human motor control is achieved by the appropriate motor commands generating from the central nerve system. A test of visual target tracking is one of the effective methods for analyzing the human motor functions. We have previously examined a possibility for improving the hand movement on visual target tracking by additional assistant force through a simulation study. In this study, a method for compensating the human hand movement on visual target tracking by adding an assistant force was proposed. Effectiveness of the compensation method was investigated through the experiment for four healthy adults. The proposed compensator precisely improved the reaction time, the position error and the variability of the velocity of the human hand. The model-based compensator proposed in this study is constructed by using the measurement data on visual target tracking for each subject. The properties of the hand movement for different subjects can be reflected in the structure of the compensator. Therefore, the proposed method has possibility to adjust the individual properties of patients with various movement disorders caused from brain dysfunctions. © 2010 The Institute of Electrical Engineers of Japan.

关键词： Clutter (information theory)

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Interpretation of fuzzy voice commands for robots based on vocal cues guided by user's willingness

Interpretation of fuzzy voice commands for robots based on v...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： A. G. Buddhika P. Jayasekara Keigo Watanabe Kazuo Kiguchi Kiyotaka Izumi Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Intelligent Mechanical Systems Okayama University Okayama Japan

This paper proposes a method for interpretation of fuzzy voice commands based on the vocal cues. The fuzzy voice commands include fuzzy linguistic terms like “little” and quantitative meaning of such terms depends on the environmental conditions. Therefore the robot's perception of the corresponding environment is modified by acquiring the user's perception through a series of vocal cues. The user's willingness to change the robot's perception is identified based on the vocal cues to improve the adaptation process. The primitive behaviors related to the end-effector movements of a robot manipulator are considered and evaluated by a behavior evaluation network (BEN). A vocal cue evaluation system (VCES) is used to evaluate the vocal cues to adapt the robot's perception by modifying the BEN. The user's satisfactory level for the robot's movements is utilized to track the satisfaction of the user. A situation of cooperative rearrangement of the user's working space is used to illustrate the proposed system by a PA-10 robot manipulator.

关键词： Pragmatics Manipulators Training Navigation Humans Electronic mail

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Tool Difference Transition Visualization for Semiconductor Manufacturing

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SICE Journal of control, Measurement, and System Integration 2010年第3期3卷 187-192页

作者： Tomoaki Kubo Masateru Minami Tetsuya Homma Functional Control Systems Shibaura Institute of TechnologyCorporate Manufacturing Engineering Center Toshiba Corporation Research Center for Advanced Science and Technology The University of Tokyo Department of Electronic Engineering Shibaura Institute of Technology

Reducing tool differences is one of the important tasks to improve the yield of semiconductor device manufacturing. Various kinds of methods have been proposed to solve this problem. These methods enable us to find problematic tools from numbers of process tools. However, finding problematic tools is not always enough to work out the problem of tools. Visualization of the transition profile of tool differences provides us additional information to help finding the unknown control parameters. It helps us to find corresponding events such as maintenance, repair, and adjustment. We design a profiling algorithm based on the maximum likelihood estimation. This algorithm introduces a new constraint that “tools are stable at each process step for a short period”, and recursively uses a regression method by employing previous results of the estimation. Simulation results show that our algorithm extracts the transition profile of tool differences more precisely than existing regression methods.

关键词： regression analysis tool difference quality control semiconductor device fabrications manufacturing equipment

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An Outlier Removal Method for SPC in Semiconductor Manufacturing

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SICE Journal of control, Measurement, and System Integration 2010年第4期3卷 292-298页

To maintain stable operation of semiconductor fabrication lines, statistical process control (SPC) methods are recognized to be effective. In semiconductor fabrication lines, there exist a huge number of process state signals to be monitored, and these signals contain both normally and non-normally distributed data, which make the application of SPC difficult. The authors have already proposed an SPC method “ESCM” which can solve these problems. However, this method has a problem that it is highly sensitive to outliers contained in the reference data. In this paper, we propose a new outlier removal method to solve this problem. This method uses the “effective standard deviation” we used in the ESCM to deal with a wide range of non-normal distributions. Basic performances of this method are demonstrated by comparing abilities to detect outliers correctly, and to mistakenly detect non-outlier data with conventional methods. In the demonstration, we use various kinds of artificially generated data and real data observed in process tools in a semiconductor fabrication line. Usefulness of this method is demonstrated by studying the effects of this method when used with ESCM.

关键词： semiconductor manufacturing SPC control chart non-normal distribution outlier

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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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International Conference on control, Automation and systems ( ICCAS)

作者： Masaaki Ikeda Kiyotaka Izumi Keigo Watanabe 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

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.

关键词： Leg Legged locomotion Robot sensing systems Robot kinematics Joints

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