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IEEE International Symposium on Circuits and systems

作者： Kawamoto, Mitsuru Inouye, Yujiro Kohno, Kiyotaka National Institute of Advanced Industrial Science and Technology (AIST) Department of Electronic and Control Systems Engineering Shimane University Japan Department of Electronic Control Engineering Yonago National College of Technology Japan

ISBN: (纸本)9781424420780

Recently we develop two kinds of approaches, that is, the super-exponential method (SEM) and the eigenvector method (EVM), of which both can achieve the blind deconvolution for MIMO-IIR systems. It is shown that these methods are closely related each other. Based on this fact, we propose a new SEM incorporated with the EVM. Simulation results will be presented for showing the validity of the proposed method.

关键词： Eigenvalues and eigenfunctions

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Construction of simulation model for spray flash desalination system

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IEEJ Transactions on Power and Energy 2008年第8期128卷 993-999+1页

作者： Goto, Satoru Yamamoto, Yuji Sugi, Takenao Yasunaga, Takeshi Ikegami, Yasuyuki Nakamura, Masatoshi Department of Advanced Systems Control Engineering Saga University Honjomachi Saga 840-8502 Japan Institute of Ocean Energy Saga University Honjomachi Saga 840-8502 Japan

This paper describes a simulation model for a spray flash desalination system which makes freshwater from seawater by temperature difference between warm surface seawater and cool depth seawater. The spray flash desalination system can be modeled by using the energy conservation law and the mass conservation law. Simulation results of the model are compared with the experimental results and it shows the accuracy of the proposed simulation model. © 2008 The Institute of Electrical Engineers of Japan.

关键词： Seawater

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Development of Omnidirectional Electric Wheelchair with Zabuton sensor

Development of Omnidirectional Electric Wheelchair with Zabu...

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2008 International Conference on control, Automation and systems, ICCAS 2008

作者： Lida, Kenichi Yoshikawa, Hisao Mori, Taichi Hira, Toshio Department of Control Engineering Nara National College of Technology Nara Japan Advanced Mechanical Engineering Course Nara National College of Technology Nara Japan Department of Mechanical Engineering Nara National College of Technology Nara Japan

ISBN: (纸本)9788995003893

In this paper, we propose an Omnidirectional Electric Wheelchair (OEW). The proposed OEW has four omniwheels for the omnidirectional movement. Two of the omniwheels are arranged to X-axis direction and the other two are arranged to Y-axis direction. By controlling the movement of the omniwheels, the OEW can instantaneously rotate and move in all directions. Hence that, especially in the narrow spaced indoor environment, the omnidirectional nature of the OEW has an advantage over the standard wheelchair. Furthermore, the operator's posture is used as signal to the OEW. The operator's posture is measured by a "Zabuton sensor" which uses a pressure sensor to measure the pressure distribution. The effectiveness of proposed the system is reflected by the experimental results of the prototype OEW and Zabuton sensor system. © ICROS.

关键词： Pressure sensors

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Opto-Acoustic microphone system based on Fraunhofer diffraction principle

Opto-Acoustic microphone system based on Fraunhofer diffract...

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15th International Congress on Sound and Vibration 2008, ICSV 2008

作者： Khan, Md. Tawhidul Islam Teramoto, Kenbu Uekihara, Akit Department of Mechanical Engineering Saga University 1 Honjo-machi Saga 840-8502 Japan Department of Advanced Systems and Control Engineering Saga University 1 Honjo-machi Saga 840-8502 Japan Graduate School of Advanced Systems and Control Engineering Saga University 1 Honjo-machi Saga 840-8502 Japan

ISBN: (纸本)9781627481519

Different devices for measuring sound waves are available and until now the most typical one is the condenser microphone. However, the opto-Acoustical measurement technique is a potential candidate now a day for measuring the acoustic wave field due to its non-invasive characteristics. The principle of this technique is based on the Fraunhofer diffraction method. This technique has an ability to capture the projection of the gradient vector of acoustic wave field through the eccentricity of the 0th order Fraunhofer diffraction. Thus, the spatial gradient of the sound pressure can be measured directly by the opto-Acoustic microphone system. A laser beam has been used in the proposed microphone system as an optical source and thus, this system does not contain any diaphragm like condenser microphone. Therefore, the opto-Acoustic microphone technique based on Fraunhofer diffraction effect is very much effective in measuring sound waves in near field as well as in far field. In the present method the integral value of the sound pressure gradient along an arbitrary optical path in the medium is observed as a vector quantity. As a result, the arrival direction of the wave front which passes through the measurement area can be known.

关键词： Acoustic waves

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Defects detection for thin plate via ao-mode lamb-waves eigenvalue imaging method

Defects detection for thin plate via ao-mode lamb-waves eige...

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作者： Teramoto, Kenbu Khan, Tauhidul Islam Department of Advanced Systems Control Engineering Saga University Saga 8408502 Japan Department of Mechanical Engineering Saga University Saga 8408502 Japan

ISBN: (纸本)9781627481519

Ultrasonic guided waves, because of their long range inspection ability, are now being used more and more as a very efficient and economical nondestructive evaluation method for large area inspection. In this study, the eigenvalue imaging method is proposed which has an ability to classify the Lamb wave fronts scattered by sub-surface defects. The eigenvalues are defined by the covariance matrix defined over the 4-dimensional vector space which is spanned by following components:(l)a vertical (z-directional) displacement, (2)its vertical particle velocity, (3)x-directional (4)y-directional out-of-plane strains. In this study, the computational process in the Lamb wave field near the defects is discussed and their physical meanings of the third eigenvalue are investigated through several acoustic experiments.

关键词： Surface waves

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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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A computational model of emotion through the perspective of benevolent agents for a cooperative task

A computational model of emotion through the perspective of ...

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作者： Banik, Sajal Chandra 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)9784990288020

This paper deals with a computational model of emotions and its application for cooperative benevolent agents. A stochastic emotion model based on Markov theory is adapted to perform their well organized tasks to achieve goal. The emotional model consists of four basic emotions: joy, anger, fear and sad. Different emotional behavior is obtained by updating the state transition matrix of stochastic model. Perception of stimuli has an impact on emotion inducing factors and thus, affects on emotion dynamics. With the developed model, a Matlab based simulation is performed to analyze the behavior of the agents with the emotional capability. ©ISAROB 2008.

关键词： Stochastic models

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A robotic forceps based on a fuzzy coach-player system using hierarchical instructions

A robotic forceps based on a fuzzy coach-player system using...

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

ISBN: (纸本)9784990288020

A fuzzy coach-player system is here improved as an instruction system with voice interface. However, this system deals with some fuzziness included in voice instructions and introduces hierarchical instructions, which is composed of two instruction levels. One is a local instruction level that uses any action commands directly. The other is a global instruction level that uses a task command. Such a fuzzy coach-player system is applied for the manipulation of a robotic forceps and the effectiveness of the present system is verified through some experiments. ©ISAROB 2008.

关键词： Robotics

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Real time tracking and monitoring of human behavior in an indoor environment

Real time tracking and monitoring of human behavior in an in...

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作者： Habib, Maki K. Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan American University Cairo Egypt

ISBN: (纸本)9783540690306

This chapter reports the development of a real time 3D sensor system and a new concept based on space decomposition by encoding its operational space using limited number of laser spots. The sensor system uses the richness and the strength of the vision while reducing the data-load and computational cost. The chapter presents the development and implementation of an intelligent 3D Fiber Grating (FG) based vision-system that can monitor and track human being status in real time for monitoring purposes to support wide range of applications. The 3D visual sensor is able to measure three-dimensional information with respect to human, objects and surrounding environment. The sensor system consists of a CCD camera, a laser spot array generator (constitutes: laser diode and driver, lens, fiber gratings and holder), and a processing unit with alarm facilities and interfacing capabilities to a higher-level controller and decision-making along with a user-friendly interface. The system works by projecting a two-dimensional matrix of laser spots generated through two perpendicularly overlaid layers of FGs. Then, the spot array generator projects the laser spot array on the front scene within the active view of the CCD camera and the reflected laser spots from the scene play an essential role in detecting and tracking targets. It is possible to adjust or translate the position of the laser spot generator with respect to the CCD camera to have better and balanced resolution. In addition, it is possible to rotate the FG in order to obtain a better laser spot pattern that can facilitate processing and enhance accuracy. Furthermore, multi-laser spot generators can be configured with one CCD camera to widen the operational coverage of the developed sensor system. This chapter introduces and illustrates the structure of the developed sensor system, its operational principles, performance analysis and experimental results. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： CCD cameras

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Affection based multi-robot team work

Affection based multi-robot team work

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作者： Banik, Sajal Chandra Watanabe, Keigo Habib, Maki K. Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan American University Cairo Egypt

ISBN: (纸本)9783540690306

Multi-robot task allocation, cooperation and interaction among the members of a team are very complex topics that need to be explored more. A task can be accomplished by a multi-robot team with required performance and reliability being operated with a proper cooperative plan. A proper cooperative plan includes an intelligent task allocation method in a productive and efficient manner such that the assigned task to the team is performed with a level of performance satisfaction. The robots need to be intelligent enough to dynamically adjust with changing workload either by changing actions or by making new cooperative plan. In this chapter, we describe proposed approaches to multi-robot task allocation and cooperation in a chronological way such that they can be studied and compared for future development with affection based augmentation. In respect of some drawbacks (like high communication overhead, dead lock, etc) with the existing approaches, we present the affection based task allocation and cooperation that has been used for a very few cases. We also present the complexity of the affective method and give some hints to compensate the complexity problems. Later on, we present also a stochastic approach for affection based task allocation, cooperation and interaction for a multi-robot team. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Industrial robots

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