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检索条件"机构=Dept. of Robotic Science and Technology"

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Torque Derivative Value Manipulated Type Torque Feedback Control System for PMSM 27

Torque Derivative Value Manipulated Type Torque Feedback Con...

引用

27th International Conference on Electrical Machines and Systems, ICEMS 2024

作者： Kawamura, Naoki Hasegawa, Masaru Chubu University Dept. of Robotic Science and Technology Aichi Japan Chubu University Dept. of Astronautics and Aeronautics Aichi Japan

ISBN: (纸本)9784886864406

Various instantaneous torque control method for permanent magnet synchronous motors (PMSMs) has been developed so far, including an one of the standard that control is the field oriented control. Most of these methods, a PI(D) controller which is designed by pole-zero cancellation is used. The electrical parameters fluctuate according to the operating points, which results in insufficient pole-zero cancellation. As a result, the current/torque control performance deteriorates due to this fluctuation, in the worst-case scenario, loss synchronism due to the disturbance such as the delay time, the windup and/or the control delay of integrator in ACR. Thus, a torque control performance is limited using an integrator for controller construction. This paper proposes a novel torque feedback controller for high-performance torque control of PMSMs, which controls a torque by manipulating the torque derivative value without using an integrator. The effectiveness of the proposed method is verified through experiments. © 2024 The Institute of Electrical Engineers of Japan.

关键词： Permanent magnets

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Improved model population analysis in near infrared spectroscopy 1

Improved model population analysis in near infrared spectros...

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1st International Conference of Intelligent Computing and Engineering, ICOICE 2019

作者： Ali Gamal Al-Kaf, Hasan Mohsen, Abdulqader M. Seng Chia, Kim University of Science and Technology Dept. of Computer Science Sanaa Yemen University Tun Hussein Onn Malaysia Dept. of Mechatronics and Robotic Engineering Johor Malaysia

ISBN: (纸本)9781728144870

Model population analysis has been widely used as an effective variable selection method in near infrared spectroscopic analysis. In this study, two model population analysis have been studied and improved i.e. bootstrapping soft shrinkage (BOSS) and interval variable iterative space shrinkage approach (iVISSA). The improved approach was (i) using the reproducible variables i.e. choosing the most consistent variables and applying iterative retained informative variables (IRIV), and (ii) using the uninformative variable elimination based on Monte Carlo (MC-UVE) for unstable variables. This study compares the proposed model with BOSS, iVISSA, and a hybrid model By using four different datasets. The results show that the proposed model outperformed BOSS, iVISSA, and VCPA-IRIV model in all the four datasets. © 2019 IEEE.

关键词： Shrinkage

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Pupillary response reflects vocabulary comprehension

Pupillary response reflects vocabulary comprehension

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2021 ACM Symposium on Eye Tracking Research and Applications, ETRA 2021

作者： Hirata, Takashi Hirata, Yutaka Dept. Education Chubu University Graduate School of Education Japan Dept. Robotic Science and Technology Chubu University Graduate School of Engineering Japan

ISBN: (纸本)9781450383455

It has been known that the pupil of the human eye responds not only to changes in brightness, but also those in cognitive activities. A recent study reported that pupillary dilation reflects one's ability to discriminate English sounds /l/ and /r/, suggesting that pupillary responses may be used to evaluate learner's listening comprehension. Presently, we recorded English learners' pupillary responses in three situations: pre- (Control), in- (Study), and post-study (Test). We then classified our participants into two groups based upon their test scores (high and low), and compared their pupillary responses in the three situations. As the result, significantly different pupillary responses (dilatation) were observed between the two groups in Study. This result suggests that quantitative observation of pupillary responses may replace or be employed in parallel with traditional vocabulary tests to make vocabulary learning more efficient. © 2021 ACM.

关键词： Vocabulary test Pupil Second language acquisition Cognitive load

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Adaptive impedance control with variable viscosity for motion and force tracking system

Adaptive impedance control with variable viscosity for motio...

引用

International Symposium on Micro-NanoMechatronics and Human science, MHS 2015

作者： Pei, Yanling Obinata, Goro Kim, Youngwoo Lee, Jaeryoung Dept. of Robotic Science and Technology Chubu University Japan Korea 1200 Matsumoto-cho Kasugai Aichi487-8501 Japan

ISBN: (纸本)9781479966783

An adaptive impedance control method was proposed to establish a desired dynamical relationship between the robot end point and its environment. Although impedance control-based position or force controllers or hybrid position/force controllers with respect to each axis defined at the contact point, have been successfully applied to various systems, simultaneous control of position tracking and force generation at the end point or at the contact point between the robot and the human has not been proposed. In this study, we propose an adaptive impedance control with variable stiffness which was adjusted on-line based on the tracking error of motion trajectory. We introduce control parameters of weighted control action priorities of the motion tracking task and force generation task, based on the tracking error of the motion trajectory. With the weighted control action priorities, the robot puts higher priority on motion tracking at the robot end point when the position tracking error is large, and also on force generation when the position tracking error is small. Through this control method can make human simultaneously track the motion trajectory and force easily. Through some simulations results, we show the usefulness of the proposed control method. © 2015 IEEE.

关键词： Controllers

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Determining Qibla Direction using al-Biruni's First Method from Kitab Tahdid Nihayat al-Amakin with the Implementation Based on Board Arduino MCU, GPS Module, and Digital Compass

Determining Qibla Direction using al-Biruni's First Method f...

引用

2019 International Seminar on Application for technology of Information and Communication, iSemantic 2019

作者： Sanjaya, W. S. Mada Roziqin, Akhmad Kusumorini, Astuti Anggraeni, Dyah Nurrahman, Fikri Ibrahim Kresnadjaja, Winandar Ganis Maulana, Dian Syah Dept. of Physics Faculty of Science and Technology UIN Sunan Gunung Djati Bandung Indonesia Bolabot Techno Robotic Institute CV Bolabot Bandung Indonesia Dept. of Madrasah Ibtidaiyah Teacher Edu. Faculty of Education and Teaching UIN Sunan Gunung Djati Bandung Indonesia Dept. of Biology Faculty of Science and Technology UIN Sunan Gunung Djati Bandung Indonesia

ISBN: (纸本)9781728138329

Qibla is the direction to faces Kaaba (Mecca) when performing various worship of Muslims, especially in Sholat. Because of the Qibla direction is very important, Muslims scientists develop a various mathematical method for determining Qibla direction in a Location which far away from Kaaba. This paper describes the mathematical algorithm for determining Qibla direction using al-Biruni's (973 - 1050 CE) first method from Kitab Tahdid Nihayat Al-Amakin. In this paper, the computation for determining Qibla direction based on al-Biruni's first methods has been implemented using Python, and the result shows that the Qibla direction of al-Biruni's first method is equal to modern spherical trigonometry method. Al-Birunis first method has been implemented to develop an algorithm for Qibla finder devices (Q-Bot Ver. 3 digital instruments) based board Arduino microcontroller, GPS module, and digital compass. © 2019 IEEE.

关键词： Microcontrollers

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Adaptive Impedance Control with Variable Viscosity for Motion and Force Tracking System

Adaptive Impedance Control with Variable Viscosity for Motio...

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International Symposium on Micro-NanoMechatronics and Human science

作者： Yanling Pei Goro Obinata YoungWoo Kim Jaeryoung Lee Dept. of Robotic Science and Technology Chubu University Korea Institute of Machinery & Materials (KIMM)

ISBN: (纸本)9781467382182

An adaptive impedance control method was proposed to establish a desired dynamical relationship between the robot end point and its environment Although impedance control-based position or force controllers or hybrid position/force controllers with respect to each axis defined at the contact point, have been successfully applied to various systems, simultaneous control of position tracking and force generation at the end point or at the contact point between the robot and the human has not been proposed. In this study, we propose an adaptive impedance control with variable stiffness which was adjusted on-line based on the tracking error of motion trajectory. We introduce control parameters of weighted control action priorities of the motion tracking task and force generation task, based on the tracking error of the motion trajectory. With the weighted control action priorities, the robot puts higher priority on motion tracking at the robot end point when the position tracking error is large, and also on force generation when the position tracking error is small. Through this control method can make human simultaneously track the motion trajectory and force easily. Through some simulations results, we show the usefulness of the proposed control method.

关键词： Tracking Force Impedance Adaptive systems Simulation Motion segmentation

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Electronic Nose for Tea Identification Detection based on Machine Learning K-Nearest Neighbors Method and Raspberry Pi 4 2

Electronic Nose for Tea Identification Detection based on Ma...

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2nd International Conference on Computer System, Information technology, and Electrical Engineering, COSITE 2023

作者： Mada Sanjaya, W.S. Roziqin, Akhmad Taqwim, Ahsani Sintia, Putri Alamsyah, Fillah Putra, Thirda Febrilian Mubasyir, Faris Haidar Gustamal, Samsul Temiesela, Agung Wijaya Fauzi Badru Zaman, M. Sari, Nur Azizah Maulina Purnama Anggraeni, Dyah Dept. of Physics Faculty of Science and Technology UIN Sunan Gunung Djati Bandung Indonesia Bolabot Techno Robotic Institute CV Bolabot Bandung Indonesia Dept. of Madrasah Ibtidaiyah Teacher Edu Faculty of Education and Teaching UIN Sunan Gunung Djati Bandung Indonesia

ISBN: (纸本)9798350343069

This study aims to identify the types of tea to determine their authenticity and quality using the Machine Learning K-Nearest Neighbors (KNN) method and Raspberry Pi 4. The developed system uses tea aroma data collected through an Electronic Nose (E-Nose) connected to Raspberry Pi 4, which utilizes eight gas sensors (MQ 2, MQ 3, MQ 4, MQ 6, MQ 7, MQ 8, MQ 9, MQ 135) to measure the gas levels formed by various volatile compounds that evaporate in different types of tea with varying compositions, namely 100% green tea, 100% jasmine tea, 100% black tea, 80% green tea and 20% jasmine tea, and 75% green tea and 25% jasmine tea. The data is processed using the Machine Learning KNN method to classify tea types based on the detected aroma patterns. The evaluation of the analysis takes into account metrics such as accuracy, precision, recall (sensitivity), true negative rate (specificity), F-1 score, confusion matrix, and Principal Component Analysis (PCA). The results of this study indicate that the Machine Learning KNN method using Raspberry Pi 4 can accurately identify the types of tea. The evaluation of the analysis shows satisfactory model performance, with high levels of accuracy, precision, recall, specificity, and F1 scores. The confusion matrix provides a clear picture of the model’s ability to classify tea types, while the PCA plot provides an intuitive understanding of the data structure, making it easier for researchers and stakeholders to interpret and analyze the complexity of the data with ease. The results of this study show that the E-Nose system with the KNN method is capable of differentiating between green tea, black tea, and a combination of green tea and black tea, with an accuracy value of up to 93%. © 2023 IEEE.

关键词： Nearest neighbor search

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Analysis of Hadley Chaotic System and Its Application in Digital Image Encryption 2

Analysis of Hadley Chaotic System and Its Application in Dig...

引用

2nd International Conference on Computer System, Information technology, and Electrical Engineering, COSITE 2023

作者： Mada Sanjaya, W.S. Roziqin, Akhmad Temiesela, Agung Wijaya Fauzi Badru Zaman, M. Wibiksana, Aria Dewa Anggraeni, Dyah Dept. of Physics Faculty of Science and Technology UIN Sunan Gunung Djati Bandung Indonesia Bolabot Techno Robotic Institute CV Bolabot Bandung Indonesia dept. of Madrasah Ibtidaiyah Teacher Edu. Faculty of Education and Teaching UIN Sunan Gunung Djati Bandung Indonesia

ISBN: (纸本)9798350343069

Data security has become crucial in the current digital era, as a lot of important information is stored in digital form. One method that can be utilized in data security systems is chaotic systems, such as the Hadley chaotic system. The initial research in this paper involves the analysis of phase diagrams and bifurcation diagrams of the Hadley system, which is utilized as a random number generator for the XOR method to produce cipher data. This paper conduct s an analysis to evaluate the effectiveness of the algorithm used for image encryption, including histogram analysis, correlation analysis, entropy analysis, sensitivity analysis, and noise attack analysis. The findings suggest that the Hadley system has the potential to be used as a data transmission masking technique based on the research findings. Numerical simulations using Python are conducted in this paper to support the research findings. It is expected that this research can contribute to enhancing communication security in the digital era. © 2023 IEEE.

关键词： Chaotic systems

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Torque Derivative Value Manipulated Type Torque Feedback Control System for PMSM

Torque Derivative Value Manipulated Type Torque Feedback Con...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Naoki Kawamura Masaru Hasegawa Dept. of Robotic Science and Technology Chubu University Aichi Japan Dept. of Astronautics and Aeronautics Chubu University Aichi Japan

ISBN: (数字)9784886864406

ISBN: (纸本)9798350379105

关键词： Pulse width modulation inverters Torque Fluctuations Windup Torque control Permanent magnet motors Delays Adaptive control Voltage control Standards

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Improving ASTRO's Perception Capability for a more Natural Follow-Me Task 6

Improving ASTRO's Perception Capability for a more Natural F...

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6th Experiment at International Conference, exp.at 2023

作者： Ferreira, Bruno Sorrentino, Alessandra Menezes, Paulo Batista, Jorge Dias, Jorge Fiorini, Laura Cavallo, Filipo University of Coimbra Institute of Systems and Robotics Dept. of Electrical and Computer Engineering Coimbra Portugal Khalifa University of Science and Technology Khalifa University Center for Autonomous Robotic Systems Abu Dhabi United Arab Emirates University of Florence Dept. of Industrial Engineering Florence Italy BioRobotics Institute Scuola Superiore Sant'Anna Pisa Italy

ISBN: (纸本)9798350314403

Social assistive robots usually encompass a great compromise between the advanced perception models that one can use and their computing capabilities. The ideal approaches are always oriented towards low power consumption while maintaining a higher order of responsiveness to the surroundings. Therefore, we present in this paper, an improvement of the follow-me system on ASTRO. In detail, we propose the use of Mediapipe SDK for human detection and tracking, when ASTRO is meant to accompany someone that is walking. A study on the new velocity and distance profiles that the robot keeps from the individuals is presented and we have also evaluated how it affects their perception of being safe. The presented results show that our new approach allows the system to achieve real-time performance by becoming ≈ 9.1× faster, smoothing, and keeping a more natural distance from the user. © 2023 IEEE.

关键词： Human robot interaction

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