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Performance of electric double-layer capacitor simulators

IEEJ Transactions on Industry Applications 2007年第9期127卷 1030-1031页

作者： Funabiki, Shigeyuki Kodama, Shinsuke Yamamoto, Masayoshi Department of Electric and Control Systems Engineering Faculty of Science and Engineering Shimane University 1060 Nishikawatsu-cho Matsue 690-8504

This paper proposes a simulator of EDLC, which realizes the performance equivalent to electric double-layer capacitors (EDLCs). The proposed simulator consists of an electrolytic capacitor and a two-quadrant chopper working as a current source. Its operation principle is described in the first place. The voltage dependence of capacitance of EDLCs is taken into account. The performance of the proposed EDLC simulator is verified by computer simulations.

关键词： Electrolytic capacitors

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Bipedal locomotion control via CPGs with coupled nonlinear oscillators

Bipedal locomotion control via CPGs with coupled nonlinear o...

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4th IEEE International Conference on Mechatronics, ICM 2007

作者： Habib, Maki K. Guang, Lei Liu Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

ISBN: (纸本)142441184X

This paper describes the design and analysis of a biologically inspired central pattern generator (CPG) using a network of mutually coupled nonlinear oscillators to generate rhythmic walking pattern for biped robots. The paper examines the characteristics of a CPG model composed of a network of nonlinear oscillators, and the effect of assigning symmetrical and asymmetrical coupling mechanism among oscillators within the network structure under different possibilities of inhibitions and excitations. The paper highlights the necessity to understand the targeted physical system and its functionalities before concluding the design parameters of the CPG. In addition, the paper considers the way in which the sensory feedback contributes to generate adaptive walking trajectory and enhance gait stability, and how the driving input and external perturbation affect the speed of locomotion and change the period of its own active phase. Modeling of bipedal robot using a CPG based controller and a musculo-skeletal system has been achieved for the purpose to realize the interaction with each other and to study the necessary conditions for stable dynamic walking on dynamic terrain that lead to stable and sustained response from the network. The kinematics and dynamics of a five-link biped robot has been modeled and its joints are actuated through simulation by the proportional torques output from the CPG to generate the trajectories for hip, knee, and ankle joints. The CPG based bipedal locomotion is carried out and evaluated through simulations using MATLAB. ©2007 IEEE.

关键词： Sensory feedback

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Simultaneous Localization and Mapping (SLAM) based on pseudolinear measurement model with a bias reduction approach

Simultaneous Localization and Mapping (SLAM) based on pseudo...

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ICIIS 2007 - 2nd International Conference on Industrial and Information systems 2007

作者： Pathiranage, Chandima Dedduwa Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

ISBN: (纸本)1424411521

This paper describes an improved solution to mobile robot localization and map building problem based on pseudolinear measurement model through bias reduction approach. Accurate estimation of vehicle and landmark states is one of the key issues for successful mobile robot navigation if the configuration of the environment and initial robot location are unknown. Direct linearization of nonlinear models has always come up with information loss of original nonlinear models. A state estimator which uses linearized models can be a solution to a problem where high accuracy is not expected. A state estimator which can be designed to use the nonlinearity as it is coming from the original model has always been invaluable in which high accuracy is expected. Thus to accomplish the above highlighted point, pseudolinear measurement model is directly applied to the Kalman filter equations without losing the original nonlinearity. We address the pseudolinear bias problem through simple geometry translation of system states. This system is simulated using Matlab for vehicle-landmarks system and results show that the new approach performs much accurately compared to that of well known Extended Kalman filter (EKF). ©2007 IEEE.

关键词： Extended Kalman filters

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Radio frequency pulse response of an in-plane-gate field effect transistor

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Journal of Physics: Conference Series 2008年第1期109卷

作者： Kim, Y.K. Kim, H.T. Son, S.H. Yu, Y.S. Ahn, D. Whang, D. Hwang, S.W. Research Center for Time-domain Nano-functional Devices School of Electrical Engineering Korea University Seoul 136-075 South Korea Institute of Quantum Information Processing and Systems University of Seoul Seoul 130-743 South Korea Department of Information and Control Engineering Hankyong National University Anseong 456-749 South Korea School of Advanced Materials Science and Eng. Sungkyunkwan Univ. Jangan Suwon Gyeonggi 440-746 300 Cheoncheon South Korea

We report radio frequency responses of an in-plane-gate field effect transistor (IPGFET) using an electrical pulse and probe technique. A series of high frequency pulses with the frequency up to 3 GHz were superimposed on the DC gate bias, and the time-averaged drain current was measured. The frequency and amplitude dependence of the time-averaged current depended on both the intrinsic gate response time of the IPGFET and the charging/discharging time of the traps at the etched surface. © 2008 IOP Publishing Ltd.

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Behavior Generation Through Interaction in an Emotionally Intelligent Robot System

Behavior Generation Through Interaction in an Emotionally In...

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ICIIS 2007 - 2nd International Conference on Industrial and Information systems 2007

作者： Banik, Sajal Chandra Pathiranage, Chandima Dedduwa Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)1424411521

This paper deals with the implementation of emotions to generate intelligent behavior among the cooperative and job distributed mobile robots performing a specified task and to develop an easier form of communication. A human emotion model is adapted to multirobot system to achieve their well organized tasks. With the emotional capability, each robot can distinguish the changed environment and can understand colleague robot's state: i.e., it can adapt to and react with changed world. The behavior of a robot is derived from the dominating emotion and emotional interaction in an intelligent manner. Emotional interaction is happened among the robots and a robot is biased by the emotional state of the colleague robot in performing task. Here general emotional interaction rules are used for better understanding to read the colleague's state, for faster communication and better performance eliminating dead time. The characteristics of behavior obtained through simulation are analyzed. A stochastic model based on Markov theory is developed to model the emotional state of each robot. ©2007 IEEE.

关键词： Intelligent robots

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Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots

Central pattern generators based on Matsuoka oscillators for...

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作者： Liu, Guang Lei Habib, Maki K. Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

Biologically inspired control approaches based on central pattern generators (CPGs) with neural oscillators have been drawing much attention to generate rhythmic motion for biped robots that resemble human-like locomotion. This paper describes the design of a neural oscillator based gait rhythm generator using a network of Matsuoka oscillators to generate a walk pattern for biped robots. This includes proper consideration of oscillator's parameters, such as a time constant adaptation rate, coupling factors for mutual inhibitory connections, etc., to obtain a stable and desirable response from the network. The paper examines the characteristics of a CPG network with six oscillators and the effect of assigning symmetrical and asymmetrical coupling coefficients among oscillators within the network structure under different possibilities of inhibitions and excitations. The kinematics and dynamic of a five-link biped robot has been modeled and its joints are actuated through simulation by the torques output from the neural rhythm generator to generate the trajectories for hip, knee, and ankle joints. The parameters of the neural oscillators are tuned to achieve flexible trajectories. The CPG based control strategy are implemented and tested through simulation. ©ISAROB 2007.

关键词： Machine design

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control of three-link underactuated manipulators using a switching method of fuzzy energy regions

Control of three-link underactuated manipulators using a swi...

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作者： Ichida, Keisuke Izumi, Kiyotaka Watanabe, Keigo Uchida, Nobuhiro Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

In general, manipulators used for industry and academic laboratory have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it needs to design parameters related to energy regions and gains of some partly stable controllers based on the computed torque method. The switching method is here applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. ©ISAROB 2007.

关键词： Manipulators

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Improvement of group performance of job distributed mobile robots by emotionally biased control system

Improvement of group performance of job distributed mobile r...

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作者： Banik, Sajal Chandra Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

This paper deals with the implementation of emotions in mobile robots performing a specified task in a group to develop intelligent behavior and easier form of communication. The overall group performance depends on the individual performance, group communication and synchronization of cooperation. With the emotional capability, each robot can distinguish the changed environment, can understand colleague robot's state, enables adaptation and reacts with changed world. The adaptive behavior of a robot is derived from the dominating emotion in an intelligent manner. In our control architecture, emotion plays a role to select the control precedence among the alternatives like behavior modes, cooperation plans and goals. Emotional interaction is happened among the robots and a robot is biased by the emotional state of the colleague robot in performing task. Here emotional control is used for better understanding to read the colleague's internal state, for faster communication and better performance eliminating dead time. ©ISAROB 2007.

关键词： Multi agent systems

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Remote Synchronization Simulation of Onboard Crystal Oscillator for QZSS Using L1/L2/L5 Signals for Error Adjustment

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International Journal of Navigation and Observation 2008年第1期2008卷

作者： Toshiaki Iwata Michito Imae Tomonari Suzuyama Yuji Hashibe Satoshi Fukushima Akira Iwasaki Kenji Kokubu Fabrizio Tappero Andrew G. Dempster National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki 305-8568 Japan Space Engineering Development Co. Ltd. Tokyo Nakano-ku Tokyo 164-0001 Japan Department of aeronautics and astronautics Faculty of Engineering University of Tokyo Tokyo 113-8656 Japan School of Surveying and Spatial Information Systems Faculty of Engineering University of New South Wales Sydney 2052 Australia

A new error adjustment method for remote synchronization of the onboard crystal oscillator for the quasi-zenith satellite system (QZSS) using three different frequency positioning signals (L1/L2/L5) is proposed. The error adjustment method that uses L1/L2 positioning signals was demonstrated in the past. In both methods, the frequency-dependent part and the frequency-independent part were considered separately, and the total time information delay was estimated. By adopting L1/L2/L5, synchronization was improved by approximately 15% compared with that using L1/L2 and approximately 10% compared with that using L1/L5 and a synchronization error of less than 0.77 nanosecond was realized.

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Abstracts for the 6th Congress of Asian Sleep Research Society

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Sleep and Biological Rhythms 2009年第4期7卷 A1-A49页

作者： Seog Ju Kim In Kyoon Lyoo Yu-Jin Lee Do-Un Jeong Hirohiko Kanai Masanori Ookubo Atsushi Yoshimura Masako Okawa Noto Yamada Takeshi Munezawa Yoshitaka Kaneita Yoneatsu Osaki Hideyuki Kanda Tadahiro Ohtsu Masumi Minowa Kenji Suzuki Susumu Hijuchi Hiroyuki Suzuki Takashi Ohida Takashi Abe Yoko Komada Shoichi Asaoka Yuichi Inoue Jin-Seong Lee Sang-Yong Cho Deependra Kumar Hruda N. Mallick Velayudhan M. Kumar Mahesh K. Kaushik Akihiro Karashima Noiihiro Katayama Mitsuyuki Nakao Ravindra P. Nagendra Sathiamma Sulekha Sathyaprabha T. Narasappa Pradhan Nityanadan Bindu M. Kutty M. Nirmala P. N. Ravindra Basavaraj Ramappa Tubaki T. N. Sathyaprabha D. Sudhakar G. S. Lavekar C. R. Chandrashekar Kazuyoshi Kitaoka Mika Shimizu Sachiko Chikahisa Kazuo Yoshizaki Hiroyoshi Sei Jong-Won Kim Misa Takegami Shin Yamazaki Yasuaki Hayashino Rei Ono Koji Otani Miho Sekiguchi Shinichi Konno Shunichi Fukuhara Antonia J. Jakobson Paul Fitzgerald Russell Conduit Xin Shirley Li Siu Ping Joyce Lam Wai Man Mandy Yu Yun Kwok Wing Kazue Okamoto-Mizuno Koh Mizuno Mituaki Yamamoto Shuichiro Shirakawa Hirokazu Doi Mikako Kato Kazuyuki Shinohara Masako Tamaki Shiori Matsuda Katsuo Yamazaki Tadao Hori Keiko Ogawa Kazumi Takahashi Kunio Kitahama Katuo Yamazaki Yoshimasa Koyama Kohei Shioda Yugo Ueda Yukiko Nakamura Clara Inoue Kazushige Goto Sunao Uchida Yuko Morita Yoshiko Honda Tohru Kodama Mari Hagihara Toru Nakajima Masato Saito Yoshihiko Koga Shinichiro Tanaka Hiroshi Yamadera Madoka Takahara Sachiko Suwa Minoru Onozuka Sadao Sato Fumiharu Togo Taiki Komatsu Takeshi Mitani Jongbae Choi Bin Zhang Taeko Sasai Hiromi Mitsubayashi Mitsuhiro Ohtsu Isao Hasegawa Tatsuya Ishii Akira Komori Asami Suzuki Yue Nakahara Mitsuyasu Hiroki Mariko Nakauma Nobuo Someya Tomomasa Ochiai Shouhei Komori Rayleigh Ping-Ying Chiang Zai-Ting Yeh Seong T. Kim Seung H. Yoon Jeong S. Kwon Jong H. Choi Hyung J. Ahn Youngsoo Kim Bolortuya Yunren Lichao Chen Radhika Basheer Robert W. Mccarley Robert E. Strecker Makoto Honda Tetsuaki Arai Miyuki Fukazawa Yutaka Honda Kuniaki T Department of Psychiatry Gachon University of Medicine and Science Incheon Republic of Korea Department of Psychiatry Seoul National University Seoul Republic of Korea Department of Neuropsychiatry and Center for Sleep and Chronobiology Seoul National University Hospital Seoul Republic of Korea Department of Neuropsychiatry Seoul National University Hospital Seoul Republic of Korea Seoul National University Hospital Seoul Republic of Korea Department of Psychiatry Shiga University of Medical Science Otsu Japan Division of Public Health Department of Social Medicine Nihon University School of Medicine Tokyo Japan Department of Public Health Nihon University School of Medicine Tokyo Japan Division of Environmental and Preventive Medicine Department of Social Medicine Faculty of Medicine Tottori University Yonago Japan Department of Hygiene and Preventive Medicine Fukushima Medical University Fukushima Japan Department of Public Health Showa University School of Medicine Tokyo Japan Faculty of Humanities Seitoku University Matsudo Japan Section on Behavioral Science Division of Clinical Research National Hospital Organization Kurihama Alcoholism Center Yokosuka Japan Department of Otolaryngology Second Hospital Fujita Health University Nagoya Japan National Hospital Organization Kurihama Alcoholism Center Kanagawa Japan Metropolitan Police Department Criminal Investigation Laboratory Tokyo Japan Japan Somnology Center Neuropsychiatrie Research Institute Tokyo Japan Department of Somnology Tokyo Medical University Tokyo Japan Japan Somnology Center Neuropsychiatric Research Institute Tokyo Japan Department of Somnology Tokyo Medical and Dental University Tokyo Japan Center for Sleep and Chronobiology Department of Psychiatry and Behavioral Science Seoul National University College of Medicine Seoul Republic of Korea Department of Psychiatry and Behavioral Science Center for Sleep and Chronobiology Seoul Republic of Korea Department of Physiology Al

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