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Annual Conference of Industrial Electronics Society

作者： K. Kiguchi K. Watanabe K. Izumi T. Fukuda Department of Advanced Control Systems Engineering Saga University Saga Japan Center of Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

This paper presents an effective force control method in which a fuzzy-neuro force controller is automatically adjusted in accordance with the unknown dynamics of an environment using a neural network. The adjustment strategy of the fuzzy-neural force controller, according to the environment dynamics, is automatically generated by the neural network in off-line manner using genetic algorithms with fuzzy evaluation. The effectiveness of the proposed force controller is evaluated by computer simulation with a 3-DOF planar robot manipulator model.

关键词： Force control Automatic generation control Automatic control Neural networks Genetic algorithms Fuzzy control Fuzzy neural networks Computer simulation Robotics and automation Manipulators

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Speech recognition using stochastic phonemic segment model based on phoneme segmentation

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systems and Computers in Japan 2000年第10期31卷 89-98页

作者： Furuichi, Chieko Aizawa, Katsura Inoue, Kazuhiko Faculty of Engineering Toin University of Yokohama 1614 Kurogane Midori Yokohama 225-8502 Japan Department of Physics Faculty of Science Ochanomizu Women's University Res. Lab. of Precision Engineering Tokyo Institute of Technology Dept. of Control System Engineering Faculty of Engineering Toin Yokohama University Acoustic Society of Japan Department of Control Systems Faculty of Engineering Toin Yokohama University

This paper discusses speech recognition based on a new statistical phoneme segment model which is trained by phoneme parameters derived from automatically extracted phoneme segments. The proposed system operates as follows. In preprocessing before recognition, the phoneme boundaries are detected by segmentation. The phonemes are discriminated using a stochastic phoneme segment model, and a phoneme segment lattice with scores is constructed. Next the speech recognition is performed by matching of symbol sequences to dictionary items. The segmentation system that is employed can infer phoneme boundaries with high accuracy. This helps to eliminate unnecessary parameters, leaving the feature parameters which are effective in separating phonemes. In other words, the phoneme recognition problem in continuous speech can be reduced to a discrimination problem and thus a speaker-independent model can be constructed from a relatively small number of training data. The stochastic phoneme segment model is trained with training samples extracted from a phoneme-balanced word set of 4920 words uttered by 10 speakers. In a recognition experiment with 6709 words uttered by 63 nontraining speakers, a recognition rate of 92.6% was obtained as the average for all speakers, using a word dictionary of 212 words.

关键词： Speech recognition

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Design of an exoskeletal robot for human elbow motion support

Design of an exoskeletal robot for human elbow motion suppor...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： K. Kiguchi S. Kariga T. Niwa K. Watanabe K. Izumi T. Fukuda Department of Advanced Control Systems Engineering Saga University Saga Japan Department of Mechanical Engineering Saga University Saga Japan Center for Cooperative Research in Advanced Science and Tech University of Nagoya Nagoya Japan

We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce a 1DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control the exoskeletal robot system based on vague biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated force by the human subject's wrist during the human elbow motion have been used as input information of the fuzzy controller.

关键词： Humans Elbow Fuzzy control Aging Robot control Biological control systems control systems Skin Electromyography Signal generators

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A design of an associative memory array processor for ultrasonograph image acquisition and processing

A design of an associative memory array processor for ultras...

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作者： Aly, Gamal M. El-Nadi, Nabeel M. Fayed, Zaki T. Faheem, Hossam M. Dept. of Comp. and Control Systems Ain Shams University Faculty of Engineering Cairo Egypt Information Technology Institute Cairo Egypt Department of Computer Science Ain Shams University Fac. of Comp. and Info. Science Cairo Egypt

This paper describes a design of an associative memory array processor that can be used in the acquisition and processing of ultrasonograph images. The major concept is to design a parallel architecture that reduces task's execution time by analyzing multiple parts of the image concurrently. The architecture constitutes a distinctive type of single-instruction stream, multiple-data stream machine that is built around content-addressable associative memory slabs, that allow parallel access of multiple memory words. The basic building block of this architecture is a one-pixel processing element, which can perform the standard load (data acquisition) function and also contains some special comparison logic to enable its content to be compared with an external data. Several image processing operations are implemented in parallel, among them: component labeling, size filtering, pattern centralization, and pattern recognition. The proposed novel architecture can label specific regions into the image and isolate them intelligently. It is also capable of storing templates that may be considered as references for similar cases. The system is able to perform learning process and extract features from several input patterns and store the reference pattern in a slice. Moreover, the system is capable of comparing an input image with a pre-stored template during recognition process. The proposed architecture is of interest because it speeds up the recognition process and helps radiology specialists to write their reports confidently.

关键词： Ultrasonic imaging

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Texture modelling by optimal gray scale structuring elements using morphological pattern spectrum

Texture modelling by optimal gray scale structuring elements...

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International Conference on Pattern Recognition

作者： A. Asano M. Miyagawa M. Fujio Depatment of Mathematical and Information Sciences Faculty of Integrated Arts and Sciencese Hiroshima University Higa Hiroshima Japan Department of Control Engineering and Science Faculty of Computer Science and systems Engineering Kyushu institute of Technology Fukuoka Japan

ISBN: (纸本)0769507506

Proposes a texture modelling method based on the pattern spectrum. The pattern spectrum is a mathematical morphological method to describe the size distribution of objects contained in an image. Our method is based on the idea of obtaining a model of the elementary particles that form a texture by optimizing a gray scale structuring element to fit the shape of elementary particles. The optimization method is applied in two stages: the first stage optimizes the extent of the structuring element and the second optimizes the pixel values in the extent.

关键词： Shape Optimization methods Elementary particles Art Mathematical model Morphology Application software Image texture analysis Pattern analysis control engineering

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Prosthetic hand control based on torque estimation from EMG signals

Prosthetic hand control based on torque estimation from EMG ...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Morita K. Shibata X.Z. Zheng K. Ito Department of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Japan Department of Electrical and Electronic Engineering Faculty of Engineering Oita University Oita Japan Advanced Software Technology and Mechatronics Research Institute of Kyoto Kyoto Japan

In this paper, we propose a direct torque control method for the prosthetic hand. In order to estimate the joint torque from EMG signals, an artificial neural network by the feedback error learning schema is used. 2-DOF motions, i.e. hand grasping/opening and arm flexion/extension, are picked up. In the experiments, two measurement conditions of EMG signal are prepared: the forearm from which the EMG signal is measured is free or fixed. Then it is verified that the neural network can learn the relation between the EMG signal and the joint torque under these two measurement conditions.

关键词： Prosthetic hand Torque control Electromyography Muscles Humans Artificial neural networks Joints Neurofeedback Grasping Motion control

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Polishing robot using a joystick controlled teaching system

Polishing robot using a joystick controlled teaching system

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作者： Nagata, F. Watanabe, K. Hashino, S. Tanaka, H. Matsuyama, T. Hara, K. Interior Design Research Institute Fukuoka Industrial Technology Center Agemaki-405-3 OhkawaFukuoka831-0031 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi-1 Saga840-8502 Japan Fukuoka Industrial Technology Center Kamikoga 3-2-1 ChikushinoFukuoka818-8540 Japan Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center Yahatanishiku Norimatsu 3-6-1 KitakyusyuFukuoka807-0831 Japan

An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation;and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot. © 2000 IEEE.

关键词： Industrial robots

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Polishing robot using a joystick controlled teaching system

Polishing robot using a joystick controlled teaching system

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Annual Conference of Industrial Electronics Society

作者： F. Nagata K. Watanabe S. Hashino H. Tanaka T. Matsuyama K. Hara Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Fukuoka Industrial Technology Center Fukuoka Japan Mechanics &Electronics Research Institute Fukuoka Industrial Technology Center Fukuoka Japan

An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation; and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot.

关键词： Educational robots control systems Education Service robots Force control Industrial control Electrical equipment industry Impedance Position control Robot sensing systems

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Erratum: “Optical anisotropy of (11l)-oriented strained quantum-wells calculated with the effect of the spin-orbit split-off band” [J. Appl. Phys. 86, 5663 (1999)]

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Journal of Applied Physics 2000年第6期88卷 3784-3784页

作者： Yasutomo Kajikawa Department of Electric and Control Systems Engineering Interdisciplinary Faculty of Science and Engineering Shimane University 1060 Nishi-Kawatsu Matsue Shimane 690 Japan

Yasutomo Kajikawa; Erratum: “Optical anisotropy of (11l)-oriented strained quantum-wells calculated with the effect of the spin-orbit split-off band” [J. Appl.

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Cu/Zn- and Mn-superoxide dismutases are specifically up-regulated in neurons after focal brain injury

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Developmental Neurobiology 2000年第1期45卷

作者： Akihide Takeuchi Osamu Miyaishi Kazutoshi Kiuchi Ken-ichi Isobe Department of Basic Gerontology National Institute for Longevity Sciences 36-3 Gengo Morioka-cho Oobu 474-8522 Japan Laboratory for Genes of Motor Systems Bio-Mimetic Control Research Program RIKEN 2271-130 Anagahora Shimoshidami Moriyama-ku Nagoya 463-0003 Japan Department of Biomolecular Science Faculty of Engineering Gifu University 1-1 Yanagido Gifu 501-1193 Japan

In previous studies, we have demonstrated that damaged neurons within a boundary area around necrosis fall into delayed cell death due to the cytotoxic effect of microglial nitric oxide (NO), and are finally eliminated by activated microglia. In contrast, neurons in a narrow surrounding region nearby this boundary area remain alive even though they may encounter cytotoxic NO. To investigate the mechanism by which neurons tolerate this oxidative stress, we examined the in vitro and in vivo expression levels of superoxide dismutase (SOD) under pathological conditions. Results from our in situ hybridization and immunohistochemical studies showed up-regulation of Cu/Zn-SOD only in neurons outside the boundary area, whereas up-regulation of Mn-SOD was detected in both neurons and glial cells in the same region. In vitro experiments using rat PC12 pheochromocytoma and C6 glioma cell lines showed that induction of both Cu/Zn- and Mn-SOD mRNA could only be detected in PC12 cells after treatment with NO donors, while a slight induction of Mn-SOD mRNA alone could be seen in C6 glioma cells. The mechanism of resistance toward oxidative stress therefore appears to be quite different between neuronal and glial cells. It is assumed that these two types of SOD might play a critical role in protecting neurons from NO cytotoxicity in vivo, and the inability of SOD induction in damaged neurons seems to cause their selective elimination after focal brain injury. © 2000 John Wiley & Sons, Inc. J Neurobiol 45: 39–46, 2000

关键词： superoxide dismutase neuronal damage free radicals PC12 cells C6 cells

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