A real-valued bent function is newly defined and shown to be useful to design polyphase sequences with optimal correlation properties. As an application of practical importance, balanced quadriphase sequences with opt...
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A simple approach is presented for simultaneous on-line identification of the time delay and the system parameters of continuous-time systems based on discrete-time measurements. The linear integral filter is used bot...
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A simple approach is presented for simultaneous on-line identification of the time delay and the system parameters of continuous-time systems based on discrete-time measurements. The linear integral filter is used both to construct the derivatives of input-output signals and to avoid estimating the unknown initial conditions. The time delay and the system parameters are directly estimated by an on-line algorithm which is derived using Newton’s method. Severed identification methods such as the bias-compensating method and the instrumental variable methods are applied for eliminating the asymptotic bias of the parameter estimates in noisy situations. The present algorithm is applicable to the case when the time delay is not an integral multiple of the sampling interval, and can also be used for model reduction.
A problem of task planning of a robot can result in, another problem of finding a path that connects some given initial point and final point. The article suggests prospect of a 'wave front method' that can fi...
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A problem of task planning of a robot can result in, another problem of finding a path that connects some given initial point and final point. The article suggests prospect of a 'wave front method' that can find one of the shortest paths in a computation time being proportional to the length of the shortest paths. This wave front method is based on an analogy of the Huygens' principle known in physics, and can be extended into the time dimension.< >
An advanced mathematical model of a shape memory alloy (SMA) useful for designing SMA micro-devices is proposed and applied to coil spring theory to analyze the appropriate mechanical and electrical characteristics. T...
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An advanced mathematical model of a shape memory alloy (SMA) useful for designing SMA micro-devices is proposed and applied to coil spring theory to analyze the appropriate mechanical and electrical characteristics. This model can handle three phases of the SMA: the parent phase, the martensitic phase, and the R-phase. of three steps. First, the mechanical properties of the three phases are modeled at the solid mechanics level. Second, a model of thermoelectric transformation is obtained at the thermodynamic level. Finally, the first and second steps are combined. The model was applied to coil spring theory and was verified successfully by experiments under general conditions.< >
A method is shown for estimating the three-dimensional shape from a silhouette outline. It is shown how such a shape can be estimated on the basis of symmetry analysis. This is a consistent analysis and is based on ri...
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A method is shown for estimating the three-dimensional shape from a silhouette outline. It is shown how such a shape can be estimated on the basis of symmetry analysis. This is a consistent analysis and is based on rigid geometry as well as rigid logic. It is particularly interesting that the method is based on division of the plane. The Voronoi diagram represents territories of the dots, and the Delaunay triangulation represents the neighboring relation of the dots. Thus, the proposed method analyzes the visual field, and this analysis seems to reflect the psychophysics of human vision. More important is the fact that the edges of the plane division never intersect with each other. Therefore, there arise no crossings among the lines connecting the symmetric dot pairs. In this sense, the method is stable and applicable to complex shapes.< >
A unique transmission mechanism using a non-contact magnetic gear (NCMG) is proposed for micro and miniature electromechanical systems. A miniature NCMG has been produced and the basic characteristics were evaluated e...
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A unique transmission mechanism using a non-contact magnetic gear (NCMG) is proposed for micro and miniature electromechanical systems. A miniature NCMG has been produced and the basic characteristics were evaluated experimentally. The theoretical approach for analyzing the transmittable torque of the NCMG was developed and verified experimentally. It is concluded that the NCMG system has great potential for use in safe miniature transmission mechanisms for medical applications and in micro transmission systems for microelectromechanical systems.< >
This paper discusses a design for a robotic finger with the capability of joint torque sensing. The finger joint torque around a drive pulley is proportional to the tension difference on both ends of the pulley. Using...
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This paper discusses a design for a robotic finger with the capability of joint torque sensing. The finger joint torque around a drive pulley is proportional to the tension difference on both ends of the pulley. Using a coupling mechanism between tendons, this tension difference can be measured directly, without sensing individual tendon-tensions. The tension differential type torque sensor (TDT sensor) is based on this idea. With a single body of small size and fewer signal lines, the TDT sensor has several advantages in comparison with the conventional approach that obtains the torque by attaching tension sensors at both ends of the drive pulley and feeding sensor signals to a differential circuit.< >
New types of miniature actuators so called cybernetic actuator for biomedical robotics are developed. The cybernetic actuator has four driving states: free, increasing, decreasing and lock. The state of free and lock ...
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New types of miniature actuators so called cybernetic actuator for biomedical robotics are developed. The cybernetic actuator has four driving states: free, increasing, decreasing and lock. The state of free and lock provides safety characteristics for both human and mechanism by avoiding damage from overload. The rotary type and linear type of cybernetic actuators are designed and developed. Feasibility of both actuators is verified by experiments. Four driving states are confirmed and unique driving principle is verified successfully.< >
A new type of miniature actuator, the so-called cybernetic actuator, for medical application has been proposed and developed. The cybernetic actuator has four driving states: free, increasing, decreasing and locked. A...
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A new type of miniature actuator, the so-called cybernetic actuator, for medical application has been proposed and developed. The cybernetic actuator has four driving states: free, increasing, decreasing and locked. A rotary-type cybernetic actuator and a linear-type cybernetic actuator driven by piezoelectric devices have been constructed. The feasibility of both actuators was verified by driving experiments.< >
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