This paper proposes an efficient and convenient approach to frequency domain subspace identification for continuous-time systems. In the case of continuous-time models, the data matrices often become ill-conditioned i...
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This paper proposes an efficient and convenient approach to frequency domain subspace identification for continuous-time systems. In the case of continuous-time models, the data matrices often become ill-conditioned if we simply rewrite the Laplace operator s as s = jw where w denotes the frequency. To avoid the ill-conditioned problem, the operator w = ( s - b.α)/( s + b.α) is introduced such that the system can be identified based on a state-space model in the w -operator. And then the estimated w -operator state-space model can be transformed back to the common continuous-time state-space model. An instrumental variable matrix in the frequency domain is also proposed to obtain consistent estimate in the presence of measurement noise.
We propose a new type tactile sensor, called the "double-octagon tactile sensor" (DOTS), in order to overcome the difficulty of the strength and the sensitivity of a tactile sensor, and show the structure an...
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We propose a new type tactile sensor, called the "double-octagon tactile sensor" (DOTS), in order to overcome the difficulty of the strength and the sensitivity of a tactile sensor, and show the structure and sensing principle of the DOTS. The sensor can sense the touch force from grams to several kilograms, and it can also detect the slip between hand fingers and grasped object. The robot hand installed with the sensor can successfully grasp soft tofu and heavy hardware. Furthermore, we develop an intelligent method to control the hand fingers for obtaining the optimum grasping force to the object based on the information sensed by the tactile sensor. The grasping control method can be applied to grasp any unknown objects quickly and automatically. Example of tightening a steel bolt and a light glass bulb by a robot hand equipped with the DOTS are also shown to verify the efficiency of the DOTS and the intelligent grasping control method.
A flexible and adaptive artificial system must have two different capabilities: the diverse behavior of the system should be dynamically inducible, and the induced unstable behavior should be able to be coordinated in...
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A flexible and adaptive artificial system must have two different capabilities: the diverse behavior of the system should be dynamically inducible, and the induced unstable behavior should be able to be coordinated into a specified stable state. It can be considered that flexibility is a phenomenon where a system has non-trivial behavior, and adaptability is the ability to find a certain state that is well-fulfilled in a specified situation from within such non-trivial behavior. A decentralized autonomous system framework gives the capability of flexibility for an artificial system by its instability characteristics being within the composition of its framework. On the other hand, adaptability can be derived by self-organization to coordinate the diverse system's behavior towards a certain state. This paper shows a formalism of self-organization in a decentralized autonomous system framework in a company with the feasibility of applying self-organization into a concrete engineeringsystem problem.
In the field of MEMS (Micro Electro Mechanical system), mechanical friction and pneumatic viscosity are very important factors for their easy motions. Thus, there are some reports [1,2] on small-sized active magnetic ...
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In the field of MEMS (Micro Electro Mechanical system), mechanical friction and pneumatic viscosity are very important factors for their easy motions. Thus, there are some reports [1,2] on small-sized active magnetic bearings (AMBs) with contact-free rotors. However, there exist few reports on AMB's with small cylindrical rotors. For the reason above, our group has developed a millimeter-sized magnetic hearing with a cylindrical rotor [2]. This time. we apply the small magnetic bring to a PM motor. The levitation-type PM motor like this has rarely been reported elsewhere.
A novel wire communication system which consists of low-power switched-mode DC-DC power converters is proposed in this paper. A converter acts as not only a power supply but also a transmitter. The main power unit in ...
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A novel wire communication system which consists of low-power switched-mode DC-DC power converters is proposed in this paper. A converter acts as not only a power supply but also a transmitter. The main power unit in a conventional system can be removed and the system reliability is much increased, because converters construct a parallel-connected system with respect to DC power. Transmission of signals is performed by the use of output voltage ripple. At transmission, this ripple is increased intentionally and modulated. Both analog modulation and digital modulation are acceptable.
This paper presents an adaptive control scheme for nonlinear systems based on a quasi-ARMAX prediction model that is a specially constructed associative memory network consisting of multiple neurofuzzy models and is d...
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This paper presents an adaptive control scheme for nonlinear systems based on a quasi-ARMAX prediction model that is a specially constructed associative memory network consisting of multiple neurofuzzy models and is distinctive to usual neural networks in that it is linear in both the parameters to be estimated and the input variables to be synthesized in a control system. This advantage is taken to develop a nonlinear adaptive control scheme similarly to linear one.
The purpose of this study was to investigate ways to separate and extract various visual information from the continuous images of a rotating object and to recover 3D shapes by integrating the results. In this study, ...
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The retina is an intelligent vision sensor indispensable in real-time image information processing of animals. The parallel image processing function of the retina was realized in an analog CMOS integrated circuit (vi...
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