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IEEE Conference on Control Technology and Applications (CCTA)

作者： Hamzah Ahmad Toru Namerikawa Division of Electrical Engineering and Computer Science Graduate School of Natural Science and Technology Kanazawa University Ishikawa Japan Department of System Design Engineering Keio University Yokohama Japan

In this paper, we examine the H ∞ Filter-based SLAM especially about its convergence properties. In contrast to Kalman Filter approach that considers zero mean gaussian noise, H ∞ Filter is more robust and may provide sufficient solutions for SLAM in an environment with unknown statistical behavior. Due to this advantage, H ∞ Filter is proposed in this paper, to efficiently estimate the robot and landmarks location under worst case situations. H ∞ Filter requires the designer to appropriately choose the noise's covariance with respect to γ to obtain a desired outcome. We show some of the conditions to be satisfy in order to achieve better estimation results than Kalman Filter. From the experimental results, H ∞ Filter performs better than Kalman Filter for a case of bigger robot initial uncertainties. Subsequently, this proved that ∞ Filter can provide another available estimation method for especially in SLAM.

关键词： Hafnium Simultaneous localization and mapping Noise Covariance matrix Estimation Probabilistic logic

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Worst-case timing analysis in UDSM era

Worst-case timing analysis in UDSM era

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International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Ji Yeon An Taehoon Kim Hyung Gyun Yang Young Hwan Kim Division of Electrical and Computer Engineering Pohang University of Science and Technology South Korea Advanced Design Team Hynix Semiconductor Inc. South Korea

ISBN: (纸本)9781424456062;9789746724913

Moving to deeper in the ultra-deep sub-micron (UDSM) era continuously increases process variation. Although reliable timing analysis is necessary to ensure quality design, the increase of process variation tends to degrade the validity of the worst-case corner (WC) timing analysis. In this paper, we investigate the validity of WC timing analysis, as compared to statistical static timing analysis, under the UDSM design environment. Experimental results indicated that even the 3σ values of 10% in die-to-die (D2D) and within-die (WID) variations induced the WC timing analysis to make acceptably large overestimation, degrading its validity seriously. In addition, we found that the WID variation is more important than the D2D variation in maintaining the validity of WC timing analysis.

关键词： Timing Optical wavelength conversion Delay Degradation Information analysis design engineering Computational complexity Circuit analysis Circuit analysis computing Very large scale integration

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A Sensor Network Configuration Considering Priori Estimation Error and Communication Energy

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IFAC Proceedings Volumes 2010年第8期43卷 341-346页

作者： Takashi Takeda Toru Namerikawa Division of Electrical Engineering and Computer Science Graduate School of Natural Science and Technology Kanazawa University Kakuma-machi Kanazawa 920-1192 JAPAN Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 JAPAN

This paper deals with a network configuration considering priori estimation error variance and communication energy in sensor networked feedback system. Each sensor transmits information to a fusion center via multi-hop communication network. We propose a novel network configuration algorithm that each sensor node transmits information with a same dimension. The transmitted information is merged in each sensor node and consists of measurement data with time delay. Then the priori estimate can be minimum variance estimation. The proposed algorithm achieves sub-***optimal network topology with minimum energy and a desired variance. Experimental results show an effectiveness of the proposed method.

关键词： sensor network communication energy data fusion priori estimation error variance multi-hop communication

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Bilateral teleoperation of multiple cooperative robots with time-varying delay

Bilateral teleoperation of multiple cooperative robots with ...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Duc Do Nam Yusuke Yamashina Toru Namerikawa Kanazawa Daigaku Kanazawa Ishikawa JP Division of Electrical Engineering and Computer Science Kanazawa University Kakuma-machi Kanazawa-City JAPAN Department of System Design Engineering Keio University Kohoku-ku Yokohama JAPAN

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots under time varying delay in the communication line. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics: the Shape-System describing dynamics of the cooperative works, and the Locked-System representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation.

关键词： Delay Grasping Force Robot kinematics Equations Dynamics

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Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem

Impedance control for force - Reflecting teleoperation with ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Do, Nam Duc Namerikawa, Toru Division of Electrical Engineering and Computer Science Kanazawa University Japan Department of System Design Engineering Keio University Japan

ISBN: (纸本)9784907764333

This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm. © 2009 SICE.

关键词： Slave robots

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H∞ filtering convergence and it's application to SLAM

H∞ filtering convergence and it's application to SLAM

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Ahmad, Hamzah Namerikawa, Toru Division of Electrical Engineering and Computer Science Kanazawa University Kakuma Machi Kanazawa Ishikawa 920-1167 Japan Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan

ISBN: (纸本)9784907764296

KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H ∞ filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H∞ filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H∞ filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H ∞ filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H∞ filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM. © 2009 SICE.

关键词： Kalman filters

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Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem

Impedance control for force - Reflecting teleoperation with ...

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SICE Annual Conference

作者： Nam Duc Do Toru Namerikawa Division of Electrical Engineering and Computer Science Kanazawa University Japan Department of System Design Engineering Keio University Japan

关键词： Force control Impedance Communication system control Delay Stability Proposals Control systems Reflection Time varying systems Communication channels

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H∞ filtering convergence and it's application to SLAM

H∞ filtering convergence and it's application to SLAM

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SICE Annual Conference

作者： Hamzah Ahmad Toru Namerikawa Division of Electrical Engineering and Computer Science Kanazawa University Kanazawa Ishikawa Japan Department of System Design Engineering Keio University Yokohama Japan

KF-SLAM (Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H infin filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H infin filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H infin filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H infin filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H infin filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM.

关键词： Simultaneous localization and mapping Filters Application software Robots Convergence Electronic mail Gaussian noise Noise robustness Space exploration Performance analysis

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GIMC structure based Anti-Windup control considering L2 performance

GIMC structure based Anti-Windup control considering L2 perf...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Yusuke Nakashima Toru Namerikawa Division of Electrical Engineering and Computer Science Kanazawa University Kakuma Kanagawa Japan Department of System Design Engineering Keio University Yokohama Japan

This paper deals with GIMC (generalized internal model control) structure based anti-windup (AW) control system design. First, we setup a L 2 performance criterion based on GIMC structure for anti-windup control problems. The design problem is formulated as an optimization problem with a parameter Q. Then we calculate the optimization problem and find an optimal Q. Finally, the effectiveness of proposed method is shown by experimental results for a magnetic suspension system.

关键词： Control systems design optimization design methodology Control system synthesis Robust control Robust stability Magnetic levitation Feedback control Observers Processor scheduling

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Comparison of international learning outcomes and development of engineering curricula

Comparison of international learning outcomes and developmen...

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2009 ASEE Annual Conference and Exposition

作者： Alkhairy, Ashraf Blank, Leland Boning, Duane Cardwell, David Carter, W. Craig Collings, Nick Hayhurst, Allan Milne, William Robinson, Peter Seering, Warren Sheppard, Sallie Smith, Kenneth Stronge, Bill Alfaisal University Saudi Arabia Texas A and M University Qatar United States Department of Electrical Engineering and Computer Science MIT United States Department of Engineering University of Cambridge United Kingdom Department of Materials Science MIT United States Department of Chemical Engineering Cambridge University United Kingdom Department of Electrical Engineering Cambridge University United Kingdom Electronic Devices and Materials Group United Kingdom Department of Computer Technology Computer Laboratory University of Cambridge United Kingdom Department of Mechanical Engineering MIT United States Department of Engineering Systems MIT United States Design and Systems Division of Mechanical Engineering Nissan Cambridge Basic Research Laboratory MIT Center for Innovation in Product Development Department of Computer Science Texas A and M University United States Department of Chemical Engineering MIT United States Whitaker College of Health Sciences and Technology United States Department of Applied Mechanics Cambridge University United Kingdom University of California Davis United States

Various national and regional engineering accreditation bodies have developed sets of learning or program outcomes that serve as the foundation for the evaluation of curriculum quality. Some of the outcome structures are very broadly defined, leaving the details of curriculum design and the justification to the university and the accreditation evaluators. Other accreditation bodies define outcomes more thoroughly in topic and depth, with accreditation hinging on the general fit of the curriculum to these specifications. Most of these outcome structures have been developed and used as accreditation standards predominantly over the last decade. During this time, existing curricula are usually altered and upgraded (that is, 'retrofitted') to meet the outcomes requirements. However, new degree programs and new engineering colleges have the opportunity to use the relevant outcomes as design specifications. Such a design ensures quality, prepares the college for future accreditation evaluation, and can be tailored to meet the needs of students and prospective employers. This paper compares the outcomes structure and contents of several accreditation bodies, including the engineering Council of the UK (EC UK), EUR-ACE of the EU, and ABET of the USA. Similarities and differences between the outcomes of the bodies will be highlighted. The use of these accrediting standards as the basis of design specifications for engineering degrees at the Alfaisal University in Riyadh, Saudi Arabia will be presented. The designs for integrated BS, MS and PhD curricula were developed over a two-year period, based on the defined learning outcomes, by a committee comprised of the Founding Dean of engineering and faculty from the Massachusetts Institute of Technology (MIT), the University of Cambridge and independent reviewers. Example BS and MS curricula and their fit to the outcome specifications are described. © American Society for engineering Education, 2009.

关键词： Accreditation

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