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SICE Annual Conference 2005

作者： Goto, Satoru Ishida, Yuji Usui, Tatsumi Kyura, Nobuhiro Nakamura, Masatoshi Department of Advanced Systems Control Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Electrical and Communication Engineering School of Humanity-Oriented Science and Engineering Kinki University 11-6 Kayanomori Iizuka 820-8555 Japan

In this paper, characteristic of the previously proposed forcefree control with independent compensation, in which inertia, friction and gravity torque were compensated independently, was investigated. The proposed forcefree control with independent compensation was assured for various compensation conditions by comparing between experiment results and theoretical response, and applicable limitation of the forcefree control with independent compensation was derived experimentally. In addition, comparison between forcefree control with independent compensation and other force control methods was described. © 2005 SICE.

关键词： control system analysis

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Hand movement improvement on visual target tracking by model-based compensator

Hand movement improvement on visual target tracking by model...

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作者： Sugi, Takenao Ide, Junko Nakamura, Masatoshi Shibasaki, Hiroshi Department of Electrical and Electronic Engineering Faculty of Science and Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Literature Division of Social Welfare Seinan Gakuin University Fukuoka 814-8511 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga 840-8502 Japan National Institute of Neurological Disorders and Stroke NIH Bethesda United States

ISBN: (纸本)008045108X

Brain dysfunction in the cerebral cortex, cerebellum and/or basal ganglia causes serious movement disorders such as cerebellar ataxia, Parkinson disease and so on. Compensation of hand movement by adding an external force will recover the motor function and will be helpful for improving the quality of patients' daily life. This paper proposes a method for compensating human hand movement on visual target tracking by adding an assistant force. Mathematical model was obtained from the measurement data of visual target tracking for each subject, and the compensator was constructed based on the model. Effectiveness of the compensation method was investigated through the experiment. Copyright © 2005 IFAC.

关键词： Brain

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Fabrication and evaluation results of a micro elliptical collimator lens for a beam shape form of Laser Diode

Fabrication and evaluation results of a micro elliptical col...

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Optomechatronic Micro/Nano Devices and Components

作者： Okada, K. Oohira, F. Hosogi, M. Hashiguchi, G. Mihara, Y. Ogawa, K. Department of Intelligent Mechanical Systems Engineering Faculty of Engineering Kagawa Univ. 2217-20 Hayashi-Cho Takamatsu Kagawa 761-0396 Japan Department of Advanced Materials Science Faculty of Engineering Kagawa Univ. 2217-20 Hayashi-Cho Takamatsu Kagawa 761-0396 Japan

This paper describes a new fabrication process of a micro elliptical collimator lens to form a beam shape for LD(Laser Diode), and the evaluation results of the optical characteristic for this lens. Beam shape of LD is an ellipse because divergent light angle is different between horizontal and vertical direction, which increases a coupling loss with an optical fiber. In this presentation, we propose the lens to form the divergent light of an elliptical beam shape to the collimated light of a circular beam shape. This lens makes it possible to reduce the coupling loss with the optical fiber. For this purpose, we designed one lens, which has different curvature radiuses between incident and output surfaces. In the incident surface, the divergent light is formed to the convergent light, and in the output surface, the convergent light is formed to the collimated light. We simulated the optical characteristic of this lens, and designed for various parameters. In order to fabricate this lens, we propose a new process using a chemically absorbed monomolecular layer, which has an excellent hydrophobic property. This layer is patterned and deposited by a photolithographic technique. Next, we drop a UV(Ultra Violet) cure material on the hydrophilic area, as the result, we can fabricate a micro elliptical lens shape. The curvature radius of this lens can be controlled by the amount of a dropped UV cure material and an elliptical pattern size in horizontal and vertical direction. The formed lens shapes are transferred by the electro-plating and then the micro dies are fabricated. And they are used for molding the plastic lens.

关键词： Microlenses

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Neural network learning from hint for the inverse kinematics problem of redundant arm subject to joint limits

Neural network learning from hint for the inverse kinematics...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： S.F.M. Assal K. Watanabe K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

A novel online inverse kinematics solution of redundant manipulator to avoid joint limits is presented. A Widrow-Hoff neural network (NN) with a learning algorithm derived by applying Lyapunov approach is introduced for this problem. Since the inverse kinematics has infinite number of joint angle vectors, a fuzzy neural network (FNN) is designed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector to guide the output of the NN within the self-motion. This FNN is designed based on cooperatively controlling each joint angle of the manipulator. The joint velocity limits as well as the joint limits are incorporated into this method. Experiments are conducted for the PA-10 redundant arm to demonstrate the efficacy of the proposed control system. A comparative study is made with the gradient projection method.

关键词： Neural networks Kinematics Fuzzy neural networks Fuzzy control Manipulators H infinity control control engineering control systems Torque Robots

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Teaching a tele-robot using natural language commands

Teaching a tele-robot using natural language commands

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International Symposium on Micromechatronics and Human science (MHS)

作者： C. Jayawardena K. Watanabe K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

For Internet-based teleoperation systems, user-friendly natural interfaces are advantageous because those systems are intended to be used by non-experts. In developing user friendly interfaces, natural language communication is mandatory. This work presents a system in which a sub-set of natural language is used to command a tele-robot manipulator doing an object sorting task. The paper discusses about referring to objects with natural language commands such as "pick the small red cube". This is achieved by learning individual lexical symbols that refer to colors, shapes, and sizes independently, and then inferring the meaning of a combination of them.

关键词： Education Natural languages Internet Shape Robot sensing systems Robot vision systems Cameras control engineering Sorting Telerobotics

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A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots

A neurointerface with an adaptive fuzzy compensator for cont...

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IEEE Workshop on advanced Robotics and its Social Impacts, ARSO

作者： K. Watanabe R. Syam K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopt a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.

关键词： Programmable control Adaptive control Fuzzy control Robot control Mobile robots Neural networks Payloads Inverse problems Feedforward neural networks Design methodology

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Eco-efficiency of advanced loop-closing systems for vehicles and household appliances in Hyogo Eco-town

Eco-efficiency of advanced loop-closing systems for vehicles...

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作者： Morioka, Tohru Tsunemi, Kiyotaka Yamamoto, Yugo Yabar, Helmut Yoshida, Noboru Division of Sustainable Energy and Environmental Engineering Graduate School of Engineering Osaka University 2-1 Yamadaoka Suita Osaka 565-0871 Japan Division of Sustainable Energy and Environmental Engineering Graduate School of Engineering Osaka University Japan Osaka University National Institute of Advanced Industrial Science and Technology Japan Department of Environmental Systems Faculty of Systems Engineering Wakayama University Wakayama Japan

The closing of material loops is a critical challenge in industrial ecology. It relies mainly on the utilization of recovered materials/ parts/products in the original and principal production system while their original function is retained at the highest level possible. In this study, advanced loop-closing systems for the recycling of end-of-life vehicles and electric household appliances are first designed in "Hyogo Eco-town." Second, a methodology for evaluating the eco-efficiency of these systems is developed. Finally, the eco-efficiency of the designed advanced loop-closing strategies for the two products is evaluated, based on the results of materials flow analysis and life-cycle assessment. The results show that, compared with conventional recycling systems, when an industrial complex and an advanced loop-closing system for end-of-life vehicles are established, the total economic value increases by 114% and the eco-efficiency in terms of the amount of direct material input is improved by 57%. This system permits the utilization of the by-products, wastes, and recovered materials that originate from other industrial sectors as input to production activities. In the case of end-of-life electric household appliances, an advanced loop-closing strategy to lengthen the product life with parts reuse improves the eco-efficiency in terms of carbon dioxide (CO2) emissions by 4% compared with the conventional replacement of the appliance with a new product along with the material recycling option. © 2005 by the Massachusetts Institute of Technology and Yale University.

关键词： Environmental engineering

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Learning and recognizing behavioral patterns using position and posture of human body and its application to detection of irregular states

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systems and Computers in Japan 2005年第13期36卷 45-56页

作者： Aoki, Shigeki Iwai, Yoshio Onishi, Masaki Kojima, Atsuhiro Fukunaga, Kunio Graduate School of Engineering Osaka Prefecture University Sakai 599-8531 Japan Bio-Mimetic Control Research Center RIKEN Nagoya 463-0003 Japan Library and Science Information Center Osaka Prefecture University Sakai 599-8531 Japan Department of Electronic Control Engineering Kumamoto National College of Technology Japan Robotics Society of Japan Japan Sharp Corporation Japan Bio-Mimetic Control Research Center RIKEN Japan IEEJ Japan Image and Information Media Society Faculty of Liberal Arts and Sciences Osaka Prefecture University Japan Information Processing Society Japan Society for Artificial Intelligence Department of Informatics Faculty of Engineering Institute of Systems Control and Information Engineers Japan IEEE

It is generally considered that human behavior includes both regularities and habits. In this paper, the regularities and habits of behavior are called the behavioral pattern, and we wish to learn and recognize them. The conventional approaches considered behavioral patterns but used only infrared sensors or information about whether electrical appliances were on or off. Thus, it was difficult to recognize in detail how a person was performing motions in the room. In order to realize a procedure for the detailed recognition of motion in ordinary environments, on the other hand, a large number of models must be prepared beforehand. To deal with this problem, this paper proposes the following technique. Motions conducted in the learning period are automatically classified and individual models are constructed. Then, motions can be recognized in detail without preparing a large number of models, and behavioral patterns can be recognized by considering the sequence of motions. In experiments, human motions and behavioral patterns in an indoor environment were learned and recognized, and the effectiveness of the method was demonstrated. © 2005 Wiley Periodicals, Inc.

关键词： Pattern recognition

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Neuro-fuzzy control of a pH plant

Neuro-fuzzy control of a pH plant

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作者： Fuente, M.J. Sainz, G.I. Alonso, M. Aguado, A. Department of Systems Engineering and Control Faculty of Science University of Valladolid Prado de la Magdalena s/n 47011 Valladolid Spain ETSII University of Valladolid Paseo del Cauce s/n 47011 Valladolid Spain Department of Automatic Control ICIMAF Cuba

ISBN: (纸本)008045108X

This paper studies the control of a pH process by using a neuro fuzzy controller with gain scheduling. As the process to be controlled is highly non-linear the PI-type fuzzy controller that will be used generally is not able to control the system adequately. For this, a very simple feedforward neural network trained on-line, is put at the output of the PI-type fuzzy controller in order to calculate the gain of the controller. This neurofuzzy regulator has been tested in real-time on a bench plant. On-line results show that the designed control system allows the plant to operate in a range of pH values, despite perturbations and variations of the plant parameters, obtaining good performance at the desired workings points. Copyright © 2005 IFAC.

关键词： Scheduling

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Improvement of fault detection method for nonlinear black-box systems based on multi-form Quasi-Armax modeling

Improvement of fault detection method for nonlinear black-bo...

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作者： Kumamaru, K. Inoue, K. Tsubouchi, F. Söderström, T. Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka 820-8502 Fukuoka Japan Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

ISBN: (纸本)008045108X

This paper is concerned with improvement of the KDI-based fault detection method so far developed by authors for nonlinear black-box systems. When modeling the system, Quasi-ARMAX model with multi-model structure is used. A fault due to unexpected change in system parameters will appear as the change of identified model. Kullback discrimination Information (KDI) can then be used as the fault detection index to evaluate the distortion in identified model. Several schemes to improve the fault detection performance are proposed, as well as the realization of a kind of fault isolation function based on a recognition approach in the model parameter space. The effectiveness of the method is verified through simulation studies on the ship propulsion system constructed for benchmark test. Copyright © 2005 IFAC.

关键词： Fault detection

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