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International Conference on Industrial and Information systems, ICIIS

作者： R. A. R. C. Gopura K. Kiguchi Department of Advanced Systems Control Engineering Science and Engineering Saga University Japan

Exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. It transmits torques from actuators through rigid exoskeletal links to the human joints when it is worn. We have been developing exoskeleton robots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper we propose a three degree of freedom (3DOF) exoskeleton robot for the forearm pronation/supination motion, wrist flexion/ extension motion and ulnar/radial deviation. The paper describes wrist anatomy toward the development of the robot, the hardware design of the exoskeleton (mechanical structure and mechanism, sensors and actuators, power transmission and safety aspects) and potential control methods. Force control using force/torque sensors located at wrist and forearm and electromyographic (EMG) signals based control using skin surface EMG signals of forearm and wrist muscles are the potential control methods for the robot. Experiments have been performed to evaluate the proposed exoskeleton.

关键词： Exoskeletons Humans Wrist Force control Robot sensing systems Joints Actuators Mechanical sensors Electromyography Torque control

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CAD/CAM-based position/force control for a ball-end abrasive tool and its application to an industrial robot

CAD/CAM-based position/force control for a ball-end abrasive...

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4th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2007

作者： Nagata, Fusaomi Hase, Tetsuo Haga, Zenku Omoto, Masaaki Watanabe, Keigo Department of Electronics and Computer Science Tokyo University of Science Yamaguchi Japan Research and Development Center Meiho Co. Ltd. Japan Department of Advanced Systems Control Engineering Saga University Japan

control of robotic mold polishing is considered in this paper. CAD/CAM-based position/force controller that simultaneously performs stable force control and exact pick feed control along curved surface is presented for industrial robots. The force feedback loop controls the polishing force consisting of the contact force and kinetic friction force. During mold polishing, the position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so that the abrasive tool doesn't deviate from the desired trajectory and keeps a constant pick feed. When a mold polishing robot with the controller runs, cutter location (CL) data with normal vectors are used for not only a desired trajectory of tool translational motion but also desired contact directions given to a mold. The CL data allow the robot to realize a complete non-taught operation of the position and contact direction. In this paper, a simple experiment is conducted by using an industrial robot with a ball-end abrasive tool in order to evaluate the effectiveness of the proposed method. The target workpiece is an aluminum PET bottle blow mold after NC machining, whose curved surface has small cusp marks with about 0.3 mm height every pick feed. The results show that the proposed mold polishing robot with the CAD/CAM-based position/force controller can uniformly remove the cusp marks and further achieve mirror-like surface quality without undesirable over-polishing.

关键词： Position control

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A fuzzy logic based approach to the SLAM problem using pseudolinear models with two sensors data association

A fuzzy logic based approach to the SLAM problem using pseud...

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International Conference on Information and Automation for Sustainability (ICIAfS)

作者： Chandima Dedduwa Pathiranage Lanka Udawatta Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan Department of Electrical Engineering Faculty of Engineering University of Moratuwa Sri Lanka

ISBN: (纸本)9781424418992;9781424419005

This paper presents an alternative solution to simultaneous localization and mapping (SLAM) problem by applying a fuzzy Kalman filter using a pseudolinear measurement model of nonholonomic mobile robots. Takagi-Sugeno fuzzy model based on observation for nonlinear system is adopted to represent the process and measurement models of the vehicle-landmarks system. The complete system of the vehicle-landmarks model is decomposed into several linear models. Using the Kalman filter theory, each local model is filtered to find the local estimates. The linear combination of these local estimates gives the global estimate for the complete system. The simulation results prove that the new approach results in more anticipated performances, though nonlinearity is directly involved in the Kalman filter equations, compared to the conventional approach.

关键词： Fuzzy logic Simultaneous localization and mapping Motion control Fuzzy systems Mobile robots State estimation Vehicles Error correction Data engineering Nonlinear systems

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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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International Conference on Industrial and Information systems, ICIIS

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

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 robotpsilas 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 colleaguepsilas 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.

关键词： Intelligent robots control systems Multirobot systems Communication system traffic control Robot control Communication system control Centralized control Human robot interaction Robot sensing systems Decision making

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CPG Based control for Generating Stable Bipedal Trajectories Under External Perturbation

CPG Based Control for Generating Stable Bipedal Trajectories...

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SICE Annual Conference

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

ISBN: (纸本)4907764278

This paper presents a system of central pattern generators (CPGs) made of a network of mutually coupled Matsuoka nonlinear neural oscillators. The CPG based controller is used to generate human like rhythmic motion for biped robots. The new design has been investigated through interaction between the dynamics of the coupled CPGs and the dynamics of a five-link musculoskeletal robot model with six DOFs. The scaled outputs of the mutually inhibited oscillators are utilized as torques to actuate the relevant joints of the robot during walking. The effectiveness of the proposed approach is examined through simulations and the results are compared to those of Taga's CPG model, where better and efficient generation of stable rhythmic walking trajectories is shown under external perturbation to disturbances.

关键词： Oscillators Legged locomotion Neurons Mathematical model Differential equations Nonlinear dynamical systems Robustness Robot control Couplings Biological system modeling

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Energy region design using projection for three-link underactuated manipulators

Energy region design using projection for three-link underac...

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SICE Annual Conference

作者： Keisuke Ichida Kiyotaka Izumi Keigo Watanabe Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.

关键词： Manipulator dynamics Actuators control systems Torque control Fuzzy control Fuzzy systems Nonlinear control systems control engineering Design engineering Power engineering and energy

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Task Allocation with a Cooperative Plan for an Emotionally Intelligent System of Multi-Robots

Task Allocation with a Cooperative Plan for an Emotionally I...

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SICE Annual Conference

作者： Sajal Chandra Banik Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

This paper deals with an emotion-based approach to the task allocation of multi-robots, in which one robot requests the assistance of another robot in order to complete a task. A stochastic model of emotion is adapted to achieve a method for well organization of team work. With the emotional capability, each robot can distinguish the changed environment and can react with it with adaptability and also can understand colleague robot's state. The proposed computational architecture to model emotion is based on Markov modeling theory. In our approach, emotional state plays a role in the task allocation among the robots of a team in a productive and efficient manner.

关键词： Intelligent systems Multirobot systems Intelligent robots Humans Robustness Fault tolerance Orbital robotics control engineering Stochastic processes Computer architecture

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Development of portable surface plasmon resonance sensor with multi detection points 11

Development of portable surface plasmon resonance sensor wit...

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11th International Conference on Miniaturized systems for Chemistry and Life sciences, uTAS 2007

作者： Nakajima, Hizuru Hemmi, Akihide Furui, Koji Soh, Nobuaki Nakano, Koji Asano, Yasukazu Uchiyama, Katsumi Kaneki, Noriaki Imato, Toshihiko Department of Applied Chemistry Graduate School of Engineering Kyushu University Japan Mebius Advanced Technology Ltd. Japan Faculty of Urban Environmental Sciences Tokyo Metropolitan University Japan Computer Science and Systems Engineering Muroran Institute of Technology Japan

ISBN: (纸本)9780979806407

We have developed a new portable surface plasmon resonance (SPR) sensor with multi detection points, which consists a single LED and a linear CCD. The size and weight of this sensor are 170 mm (W) x 110 mm (D) x 150 mm (H) and 1.5 kg, respectively. The sensitivity of the SPR sensor is comparable to that of a conventional SPR sensor. A novel strategy for patterning antibodies inside a microchannel of the SPR sensor chip has also been developed for multi immunoassays. © 2007 CBMS.

关键词： Surface plasmon resonance

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Low-Temperature Growth of InAs on Glass and Plastic Film Substrates by Molecular-Beam Deposition

Low-Temperature Growth of InAs on Glass and Plastic Film Sub...

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Indium Phosphide and Related Materials Conference

作者： M. Takushima Y. Kajikawa Y. Kuya M. Shiba K. Ohnishi Department of Electric and Control Systems Engineering Interdisciplinary Faculty of Science and Engineering Shimane University Matsue Shimane Japan

InAs layers were deposited on glass and plastic (polyimide) film substrates by molecular-beam deposition at substrate temperatures of 180-280degC. Atomic force microscopy revealed flat surfaces with RMS roughness of about 10 nm. X-ray diffraction patterns indicated that the InAs layers are poly crystalline textured in the (111) plane with crystallite sizes around 30 nm. Hall effect measurements showed that the films exhibit the n-type conduction with electron concentrations around 5 times 10 18 cm -3 . An InAs film deposited on polyimide showed electron mobility of 460 cm 2 /Vs at room temperature.

关键词： Glass Plastic films Substrates Molecular beam epitaxial growth Polyimides Temperature Atomic force microscopy Crystallization Atomic layer deposition Atomic measurements

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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