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International Conference on Industrial Electronics, Control and Instrumentation

作者： H. Kondoh T. Hosoi F. Kobayashi S. Hara Department of Control Engineering Tokyo Institute of Technology Meguro Tokyo Japan Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan

A method of reducing overhead caused by the processor synchronization process and common memory access in finely grained tasks is described. The authors propose a hardware configuration to eliminate the synchronization time and a scheduler which minimizes the redundant accesses to shared memory. The proposed scheduler algorithm is processed in parallel. The processes share the common upper bound and the lower bound function which includes the preparation time for shared memory access. The effectiveness of the proposed scheme was confirmed by applying it to the computation of Newton-Euler equations for dynamic arm control, using a multiple digital signal processing system with four TMS320C25 processors.< >

关键词： Parallel processing Processor scheduling Scheduling algorithm Upper bound Robots Hardware Control engineering Concurrent computing systems engineering and theory Application software

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Automatic 3D Measurement system by the Grid Illumination Type Moire Method

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Journal of Robotics and Mechatronics 1991年第3期3卷 177-183页

作者： Arai, Yasuhiko Yokozeki, Shunsuke Yamada, Tomoharu Department of Mechanical Engineering Faculty of Engineering Kansai University 3-3-35 Yamatetho Osaka Suita564 Japan Department of Mechanical System Engineering Faculty of Computer Science and System Enginecring Kyushu Institute of Technology 680-4 Kawazu. Iizuka Fukuoka820 Japan

This paper describes an installation of the fringe scanning method into a shadow-type Moire Topography. The result is a high-precision three-dimensional measuring system and automatic fringe order measuring system using a liquid crystal p:ate. A description of this fullyautomatic measuring system, which does not require the user to have knowledge of measuring instruments, is alse provided. This system was constructed by achieving the automation of Moire topography, which is regarded as difficult due to problems concerning the linkage of independent processes. The validity of the system is illustrated by experimental results for spheres and for planes with a difference in level. © 1991, Fuji technology Press. All rights reserved.

关键词： Liquid crystals

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Various type digital filters for an arbitrary sound environmental system with quantized observation mechanism and its application

Various type digital filters for an arbitrary sound environm...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： E. Uchino M. Ohta K. Hatakeyama Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan Faculty of Engineering Kinki University Higashihiroshima Japan Faculty of Engineering Hiroshima University Higashihiroshima Japan

The authors describe various state estimation methods of a quantized sound environmental system. The elimination of not only the usual background noise but also the quantization noise owing to digital observation is discussed. The methods include the traditional Kalman filter as a special case when Gaussian distribution is employed and where there is no level quantization. The level quantization mechanism is discussed from the statistical viewpoint and from the deterministic viewpoint. The methods presented can estimate any kind of statistic, including the lower and the higher order moments from the level quantized observation data. Not only the linear correlation but also the higher order nonlinear correlations between a state variable and a quantized observation are hierarchically used in the estimation algorithm. The quantized observation data are used in the linear and nonlinear forms. The effectiveness of the proposed methods was confirmed experimentally by applications to room acoustics data.< >

关键词： Digital filters Quantization State estimation Background noise Acoustic noise Working environment noise Gaussian distribution Higher order statistics Statistical distributions Acoustic applications

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Parallel-processable recursive and heuristic method for path planning

Parallel-processable recursive and heuristic method for path...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： H. Suzuki S. Arimoto Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Faculty of Engineering University of Tokyo Bunkyo Tokyo Japan

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.< >

关键词： Path planning Joining processes Space technology Orbital robotics computer science systems engineering and theory technology planning State-space methods Physics Hypercubes

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A Fuzzy Inference Approach to Failure Diagnosis of Adaptive Controlled systems

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IFAC Proceedings Volumes 1991年第3期24卷 657-662页

作者： K. Kumamaru S. Sagara A. Nakai T. Söderström Department of Control Systems Engineering Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Iizuka 820 Japan Department of Electrical Engineering Faculty of Engineering Kyushu University Fukuoka Hakozaki 812 Japan Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O. Box 27 Uppsala Sweden

An on-line scheme to failure diagnosis is proposed for dynamic systems under adaptive control, which is designed based on a direct approach to self-tuning regulator. Failure modes occurred in the system are assumed to be described by unexpected changes in physical parameters of the system. The parameter changes in the controlled system can effectively be detected by using Kullback Discrimination Information (KDI) as an index for model discrimination. In order to decide whether the detected system parameter change is caused by a failure or not, a fuzzy inference approach to failure decision is considered. Some appropriate membership functions which describe fuzzy events of failures are constructed to perform the fuzzy inference. In this way, useful knowledge about failure modes which is available from, e.g., experts can be introduced into the model- based diagnosis technique. Simulation studies of a second-order damped oscillator have been carried out to demonstrate the effectiveness of the method.

关键词： Adaptive control failure diagnosis fuzzy inference Kullback discrimination information parameter estimation

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Mathematical model and experimental verification of shape memory alloy for designing micro actuator

Mathematical model and experimental verification of shape me...

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IEEE International Conference on Micro Electro Mechanical systems

作者： K. Ikuta M. Tsukamoto S. Hirose Department of Mechanical System Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Asahi Chemical Industry Company Limited Tokyo Japan Department of Mechanical Engineering Science Faculty of Engineering Tokyo Institute of Technology Japan

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.< >

关键词： Mathematical model Shape memory alloys Microactuators Temperature Annealing Design engineering Coils Springs Actuators systems engineering and theory

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Non-contact magnetic gear for micro transmission mechanism

Non-contact magnetic gear for micro transmission mechanism

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IEEE International Conference on Micro Electro Mechanical systems

作者： K. Ikuta S. Makita S. Arimoto Department of Mechanical System Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Department of Mathematical Engineering and Information Physics Faculty of Engineering University of Tokyo Hongo Tokyo Japan

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.< >

关键词： Gears Torque Friction Energy loss Magnetic levitation systems engineering and theory Magnetic analysis Safety Machining Magnetic forces

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Development of miniature cybernetic actuator driven by piezoelectric device

Development of miniature cybernetic actuator driven by piezo...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： K. Ikuta A. Kawahara Y. Tsutsui Department of Mechanical System Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Research Laboratory Yaskawa Electric Manufacturing Company Limited Kitakyushu Japan

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.< >

关键词： Cybernetics Piezoelectric actuators Piezoelectric devices Humans Pneumatic actuators Safety Hydraulic actuators Muscles Mechanical systems systems engineering and theory

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Development of Long Span, High Linear Scane by Moire Precision Absolute Fringes

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Journal of Robotics and Mechatronics 1991年第3期3卷 211-214页

作者： Arai, Yasuhiko Yokozeki, Shunsuke Yamada, Tomoharu Kansai University Department of Mechanical Engineering Faculty of Engineering 3-3-35. Yamate-cho. Osaka Suita564 Japan Kyushu Institute of Technology Department of Mechanicat System Engineering Faculty of Computer Science and System Engineering 680-4. Kawazu. Fukuoka Iizuka820 Japan

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Miniature cybernetic actuators using piezoelectric device

Miniature cybernetic actuators using piezoelectric device

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IEEE International Conference on Micro Electro Mechanical systems

作者： K. Ikuta A. Kawahara S. Yamazumi Department of Mechanical System Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Research Laboratory Yaskawa Electric Manufacturing Company Limited Kitakyushu Japan

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.< >

关键词： Cybernetics Piezoelectric actuators Piezoelectric devices Pneumatic actuators Humans Hydraulic actuators Muscles Friction Mechanical systems Biomedical engineering

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