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Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 2011年第776期77卷 1429-1440页

作者： Jindai, Mitsuru Watanabe, Tomio Shibata, Satoru Yamamoto, Tomonori Faculty of Computer Science and System Engineering Okayama Prefectural University Japan

A handshake is an embodied interaction to display closeness using physical contact. In the case of a handshake between a human and a robot, robots can now smoothly communicate and coexist with humans without eliciting feelings of aversion in humans. To enable such a handshake, we proposed a model that simulates a handshake approach motion by analyzing the human-human handshake motion. With this model, a robot generates a handshake motion when a handshake is requested by a human. However, embodied interaction between a human and a robot can be promoted if, instead, a robot requests a handshake from a human. Therefore, in this paper, we propose a handshake request motion model with which a robot requests humans for a handshake. In this model, a robot stretches its hand out to a human to request a handshake. Furthermore, a gaze presentation is generated based on the analysis of the handshake between humans. A handshake robot system with the proposed model is developed, and the effectiveness of the model is experimentally demonstrated. © 2011 The Japan Society of Mechanical Engineers.

关键词： Human robot interaction

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Human-robot interface with instruction of neck movement using laser pointer

Human-robot interface with instruction of neck movement usin...

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Shibata, Satoru Yamamoto, Tomonori Jindai, Mitsuru Graduate School of Science and Engineering Ehime University 3 Bunkyo-cho Matsuyama city Ehime 790-8577 Japan Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan

ISBN: (纸本)9781457715235

A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the robot by rotating his or her head. Robot can realize intended movement by following the movement of the laser spot on the floor. Kansei controller is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. In addition, three modes, stopping mode, following mode, and parameter adjustment mode for the Kansei controller, are considered. The effectiveness of the proposed system was discussed experimentally, and confirmed by the smooth trajectory of the following motion of the mobile robot and good psychological evaluations. © 2011 IEEE.

关键词： Mobile robots

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New Results of Energy-Based Swing-Up Control for Rotational Pendulum

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IFAC Proceedings Volumes 2011年第1期44卷 10673-10678页

作者： Seiji Tanaka Xin Xin Taiga Yamasaki Graduate School of Systems Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan

Abstract In this paper, we revisit the energy-based swing-up control problem for a rotational pendulum. Different from the existing energy-based control solution, first, we present a necessary and sufficient condition for avoiding singular points in the control law and carry out a global motion analysis of the pendulum. Next, we remove the previous required constraint on the initial state of the pendulum and the control parameters for preventing the pendulum getting stuck at the downward equilibrium point by revealing that the point is saddle (hyperbolic and unstable). Specifically, we show that the Jacobian matrix evaluated at the point has two and two eigenvalues in the open left- and right-half planes, respectively. We prove that the pendulum will eventually be swung up into the basin of attraction of any locally stabilizing controller for all initial conditions with the exception of a set of Lebesgue measure zero. Finally, we validate the presented theoretical results via numerical simulation of two rotational pendulums. Our simulation results show that the swing-up control can be achieved quickly under the improved conditions on the control parameters.

关键词： Rotational pendulum energy-based control swing-up control underactuated system Lyapunov stability theory

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Road region extraction with longitudinal slope

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japa...

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Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 2011年第782期77卷 3737-3749页

作者： Matsui, Toshiki Suganuma, Naoki Faculty of Computer Science and System Engineering Okayama Prefectural University 111 kuboiki Soja Okayama 719-1197 Japan

Extraction of road region is a core technology for an autonomous vehicle which achieves safer transport. We propose extraction and modeling method for the road region in front of vehicle, using three-dimensional shape that is analyzed by stereovision. In order to model even if the extracted region has longitudinal slope, a continuous planar model is used. This method uses some structural features of road region. Therefore, it is usable even if the road has no traffic lanes. In this paper, we describe the planar approximation based on principal component analysis. Additionally, a technique of road region candidate selection using a coefficient of determination, and a modeling procedure based on characteristic of image sensor have been proposed. Finally, effectiveness of the method is demonstrated on experiments with various real environment scenes. © 2011 The Japan Society of Mechanical Engineers.

关键词： Image processing

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Embodied communication support using a presence sharing system under teleworking

Embodied communication support using a presence sharing syst...

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14th International Conference on Human-computer Interaction, HCI International 2011

作者： Ishii, Yutaka Watanabe, Tomio Information Science and Technology Center Kobe University 1-1 Rokkodai Nada Kobe Hyogo 657-8501 Japan Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan CREST of Japan Science and Technology Agency Japan

ISBN: (纸本)9783642220944

We have proposed the concept of a presence sharing system Ghatcha [GHost Avatar on a Telework CHAir] in which the users' embodiment is not indicated by the avatars but by the chairs that suggest the presence of avatars. This system provides the same communication space for the users' embodiment, thus creating a feeling of working alongside remote workers. In this paper, we develop prototype systems using a virtual or a real environment. And the effectiveness of the virtual prototype system is confirmed in the experiment. © 2011 Springer-Verlag.

关键词： Human computer interaction

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Ride quality investigation of seat with an active control system to minimize vertical vibrations from seat to human body in a vehicle (1st Report, verification of an optimization algorithm)

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japa...

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Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 2011年第779期77卷 2601-2612页

作者： Ota, Shinichiro Nishiyama, Shuji Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja-shi Okayama 719-1197 Japan

This paper describes an active control system intended to minimize the vertical vibrations transferred from the seat to the human body in a vehicle. This system controls mechanical properties such as the spring constants and damping coefficients of each part of the vehicle seat by using an optimization algorithm that comprises vibration analysis and an optimization method. To examine the feasibility of the optimization algorithm, we designed a vibration model for the seatoccupant system and calculated the reduction in vibration due to the algorithm by numerical analysis. The mechanical properties of the back and front side of the seat were controlled with reference to the standard condition in the range of 1/1.5-1.5 times, 1/2-2 times, and 1/4-4 times. These results suggest that the respective rates of vibration reduction for the head in the frequency range of 3.6 - 8.5 Hz are 36 % - 52 %, 40 % - 63 %, and 55 % - 76 % for the seat controlled with reference to the standard condition in the range of 1/1.5-1.5 times, 1/2-2 times, and 1/4-4 times, respectively. In summary, the proposed algorithm successfully reduced vibrations from the seat to the human body in a vehicle. © 2011 The Japan Society of Mechanical Engineers.

关键词： Quality control

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Design of an H-plane waveguide intersection with high isolation

Design of an H-plane waveguide intersection with high isolat...

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作者： Ikeuchi, Hiroaki Kawai, Tadashi Kishihara, Mitsuyoshi Ohta, Isao Department of Electrical Engineering and Computer Sciences Graduate School of Engineering University of Hyogo Himeji-shi 671-2280 Japan Department of Communication Engineering Faculty of Computer Science and System Engineering Okayama Prefectural University Soja-shi 719-1197 Japan University of Hyogo Kobe-shi 650-0044 Japan

This paper proposes a novel waveguide intersection separating two H-plane waveguide systems from each other. If a four-port network in a four-fold rotational symmetry is completely matched, it has necessarily intersection properties. The proposed waveguide intersection consists of a square H-plane waveguide planar circuit connected four input/ output waveguide ports in a four-fold rotational symmetry, and several metallic posts inserted at the junction without destroying the symmetry to realize a perfect matching. By optimizing the circuit parameters, high isolation properties are obtained in a relatively wide frequency band of about 8.6% for return loss and isolation better than 20 and 30 dB, respectively, for a circuit designed at 10 GHz. The proposed waveguide intersection can be analyzed by H-plane planar circuit approach, and possess advantages of compactness, simplicity, and high-power handling capability. Furthermore, an SIW intersection is designed by applying H-plane planar circuit approach to a waveguide circuit filled with dielectric material, and high isolation properties similar to H-plane waveguide intersection can be realized. The validity of these design concepts is confirmed by em-simulations and experiments. Copyright © 2011 The Institute of Electronics, Information and Communication Engineers.

关键词： Dielectric materials

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Disturbance attenuation property for random disturbances in two-degree-of freedom optimal servo control systems

Disturbance attenuation property for random disturbances in ...

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2011 International Conference on Advanced Mechatronic systems, ICAMechS 2011

作者： Kishimoto, Yusuki Masuda, Shiro Yano, Akira Faculty of System Engineering Tokyo Metropolitan University 6-6 Asahigaoka Hino Tokyo Japan Faculty of Electrical Engineering Mathematics and Computer Science Tokyo Metropolitan University 6-6 Asahigaoka Hino Tokyo Japan Department of Systems Engineering Graduate School of Okayama University 3-1 Tsushima-naka Okayama Japan

ISBN: (纸本)9780955529375

The two-degrees-of-freedom optimal servo control systems have advantages that the integral gain can be tuned for improving feedback properties such as disturbance attenuation properties, while tracking property is independently designed of feedback properties using nominal controlled process model. However, the earlier works have not studied the effect of the integral. This paper considers the effect of the integral gain in the two-degrees-of-freedom optimal servo control systems in the presence of random disturbances. From the simulation study, there exist a tradeoff relation between the tracking property and output variance depression. © 2011 Intl Journal of Adv Mechatr.

关键词： Feedback

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A rate adaptation scheme according to channel conditions in wireless LANs

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and systems 2011年第7期131卷 1347-1354页

作者： Numoto, Daisuke Inai, Hiroshi Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja 719-1197 Japan

Rate adaptation in wireless LANs is to select the most suitable transmission rate automatically according to channel condition. If the channel condition is good, a station can choose a higher transmission rate, otherwise, it should choose a lower but noise-resistant transmission rate. Since IEEE 802.11 does not specify any rate adaptation scheme, several schemes have been proposed. However those schemes provide low throughput or unfair transmission opportunities among stations especially when the number of stations increases. In this paper, we propose a rate adaptation scheme under which the transmission rate quickly closes and then stays around an optimum rate even in the presence of a large number of stations. Via simulation, our scheme provides higher throughput than existing ones and almost equal fairness. © 2011 The Institute of Electrical Engineers of Japan.

关键词： IEEE Standards

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Trajectory Tracking Control of Pendulum with Variable Length by Partial Energy Shaping * *

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IFAC Proceedings Volumes 2011年第1期44卷 10679-10684页

作者： Xin Xin Tatsuya Shinji Taiga Yamasaki Changyin Sun Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan School of Automation Southeast University Nanjing 210096 China

Abstract This paper concerns a trajectory tracking control problem for a pendulum with variable length, which is an underactuated mechanical system of two degrees-of-freedom with a single input of adjusting the length of the pendulum. We aim to study whether it is possible to design a time-invariant control law to pump appropriate energy into the variable-length pendulum for achieving a desired swing motion (trajectory) with given desired energy and length of the pendulum. First, we show that it is difficult to avoid singular points in the controller designed by using the conventional energy-based control approach in which the total mechanical energy of the system is controlled. Second, we propose a tracking controller free of singular points by shaping only the kinetic energy of rotation and the potential energy of the pendulum and not utilizing the kinetic energy related to the motion along the rod. Third, we analyze globally the motion of the pendulum and clarify the stability issue of some closed-loop equilibrium points; and we also provide some conditions on control parameters for achieving the tracking objective. Finally, we present numerical simulation results to validate the presented theoretical results.

关键词： Trajectory tracking control nonlinear control pendulum swing variable length stability analysis energy shaping Lyapunov stability

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