This paper reports experimental analyses of human characteristic in machine operation. We build a hovercraft simulator, designed the giant slalom task, and measured the operator's line-of sight to know switching-t...
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This paper reports experimental analyses of human characteristic in machine operation. We build a hovercraft simulator, designed the giant slalom task, and measured the operator's line-of sight to know switching-timing of human control property. By combining the identification with ARX model and statistic analysis, the process and factors for the operation skill were investigated. As the results, common factors for the skill in all participants could be found. And, it could be shown quantitatively that enhancement of immersion sense into virtual 3D work space has significant relation to the skill.
Controlling heat and vibration produced by the motor & variable drive systems when integrated as an integral motor are the problems affecting the reliable operation of the system. In this paper a new-generation in...
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Controlling heat and vibration produced by the motor & variable drive systems when integrated as an integral motor are the problems affecting the reliable operation of the system. In this paper a new-generation integral motor-drive has been demonstrated, true innovation in its design and development is a technological advancement. It is a truly integrated motor-drive unit with a design to overcome heat, vibration and electromagnetic interference which are damaging to sensitive electronics without requirement of any additional cooling system. It proposes a compact unit built to operate in arduous industrial environments.
In this paper, we propose a voice-controlled electric wheelchair with a system for detecting the position and direction. Thus far, we have studied systems that incorporated voice instructions with our indoor navigatio...
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ISBN:
(纸本)9781424417612
In this paper, we propose a voice-controlled electric wheelchair with a system for detecting the position and direction. Thus far, we have studied systems that incorporated voice instructions with our indoor navigation equipment using RF tags. An operating method which is different in order to clarify the problem of the operation method of an existing wheelchair was measured in the same environment. We then evaluated the results from the viewpoint of the usability of each operation in order to determine the most suitable assisting operation. We found that it is very effective to memorize one of the possible stopping positions and the angles of rotations to desired directions, which could adequately assist the movement of a wheelchair.
In this paper the derivation of mathematical model of a horizontal active magnetic bearing (AMB) system in deterministic form is presented. The system is open-loop unstable and highly coupled due to nonlinearities inh...
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In this paper the derivation of mathematical model of a horizontal active magnetic bearing (AMB) system in deterministic form is presented. The system is open-loop unstable and highly coupled due to nonlinearities inherited in the system such as gyroscopic effect and mass imbalance. Based on the equation of motions of the rotor and dynamic equation of electromagnetic coils, the dynamic model of the system with eight inputs is derived and represented in state-space format in which the system matrix is 16times16 in size. By using the upper and lower bounds of the parameter and the state variables of the system, the model is transformed into deterministic form where it can be shown that the system contains mismatched uncertainties in the state and disturbance matrices. This final system model with its numerical values can be used for the design of a class of a dynamic controller for system stabilization
Our previous work, SLAM with visual plane, allowed correct data association and computationally feasible solution for vision-based SLAM. In this paper, we propose a scheme of generating a hybrid visual map based on th...
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Our previous work, SLAM with visual plane, allowed correct data association and computationally feasible solution for vision-based SLAM. In this paper, we propose a scheme of generating a hybrid visual map based on the visual plane framework. The hybrid visual map has two levels of map representations: 1) absolute map representation of distinctive visual planes via EKF-SLAM and 2) relative map representation of dense visual features for each visual plane via sparse information filter update. It can inherit the advantages of the visual plane by maintaining the absolute map. Moreover, the relative map can reconstruct a 3-D map of visual features efficiently without loosing dense visual information. The performance of the proposed method was verified by the experimental results of consistent hybrid visual maps in two real indoor environments.
A custom designed robotic system, FUSBOT‐US (acronym for Focal Ultrasound Surgery Robot), for non‐invasive surgery of deep‐seated cancers of the urological organs was devised at RRC, NTU. This robotic system has mo...
A custom designed robotic system, FUSBOT‐US (acronym for Focal Ultrasound Surgery Robot), for non‐invasive surgery of deep‐seated cancers of the urological organs was devised at RRC, NTU. This robotic system has modular multi‐axes manipulation components, guiding a set of HIFU transducers through a pre‐determined and image‐guided trajectory. HIFU is applied using extra‐corporeal means with approach to the targets from multiple routes. The robot automatically positions and registers the diagnostic and HIFU probes with respect to each other and with respect to the target in a desired configuration under supervisory control. The user is prompted to select target‐areas on subsequent 2‐D images and the selected protocol is replayed either in manual or auto mode. In laboratory set‐up, the system is tested for tissue phantoms in‐vitro and ex vivo trials. The compensated end‐point accuracy during these trials is accomplished to within 0.5mm.
This paper presents a robust adaptive control methodology for piezoelectric actuation systems to track specified motion trajectories. This methodology is proposed to deal with the control problems of unknown or uncert...
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This paper presents a robust adaptive control methodology for piezoelectric actuation systems to track specified motion trajectories. This methodology is proposed to deal with the control problems of unknown or uncertain system parameters, nonlinearities including the hysteresis effect, and external disturbances in the piezoelectric actuation systems, without any form of feed-forward compensation. In this paper, a special class of positive definite functions is employed to formulate the control methodology such that the closed-loop system stability can be guaranteed. The control formulation as well as the stability analysis is detailed. Furthermore, an experimental investigation is also conducted. Implementation of the control methodology is practical as only a knowledge of the estimated system parameters is required. In the experimental study, a promising tracking ability in following a specified motion trajectory is demonstrated. With the capability of motion tracking under the aforementioned conditions, the robust adaptive control methodology is very attractive in realising high performance control applications in the field of micro/nano manipulation.
This paper is concerned with development of a wireless sensor system, which is small and compact enough to be installed to mobile robots such as a segway-type robot. The sensor system has gyro and acceleration sensors...
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This paper is concerned with development of a wireless sensor system, which is small and compact enough to be installed to mobile robots such as a segway-type robot. The sensor system has gyro and acceleration sensors, and the noise reduction is important for improving the measurement accuracy. The transmission delay is also important factor to realize the real-time control. Filtering of noise-contaminated measurement signals, information loss and delay of wireless transmission are taken into account. To evaluate these consideration, the wireless sensor system is installed to a segway-type robot, and is utilized for the stabilizing control of the robot. The considerations are effective, and leads to the successful stabilizing control and the improvement of the control performance.
Path planning problems involve computing or finding a collision free path between two positions. A special kind of path planning is complete coverage path planning, where a robot sweeps all area of free space in an en...
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Path planning problems involve computing or finding a collision free path between two positions. A special kind of path planning is complete coverage path planning, where a robot sweeps all area of free space in an environment. There are different methods to cover the complete area; however, they are not designed to optimize the process. This paper proposes a novel method of complete coverage path planning based on genetic algorithms. In order to check the viability of this approach the optimal path is tested in a virtual environment. The simulation results confirm the feasibility of this method.
A new readout approach for the Hamiltonian Path Problem (HPP) in DNA computing based on the real-time polymerase chain reaction (PCR) is experimentally implemented and analyzed. Several types of fluorescent probes and...
A new readout approach for the Hamiltonian Path Problem (HPP) in DNA computing based on the real-time polymerase chain reaction (PCR) is experimentally implemented and analyzed. Several types of fluorescent probes and detection mechanisms are currently employed in real-time PCR, including SYBR Green, molecular beacons, and hybridization probes. In this study, real-time amplification performed using the TaqMan probes is adopted, as the TaqMan detection mechanism can be exploited for the design and development of the proposed readout approach. Double-stranded DNA molecules of length 140 base-pairs are selected as the input molecules, which represent the solving path for an HPP instance. These input molecules are prepared via the self-assembly of 20-mer and 30-mer single-stranded DNAs, by parallel overlap assembly. The proposed readout approach consists of two steps: real-time amplification in vitro using TaqMan-based real-time PCR, followed by information processing in silico to assess the results of real-time amplification, which in turn, enables extraction of the Hamiltonian path. The performance of the proposed approach is compared with that of conventional graduated PCR. Experimental results establish the superior performance of the proposed approach, relative to graduated PCR, in terms of implementation time.
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