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IEEE International Conference on Robotics and Automation (ICRA)

作者： N. Imasaki M. Tomizuka Research & Development Center Systems & Software Engineering Laboratory Toshiba Corporation Kawasaki Japan Department of Mechanical Engineering University of California Berkeley Berkeley CA USA

This paper proposes a control method for robot manipulators that have anti-backlash gears in the joints. The anti-backlash gear is modeled as a three segment flexible joint characteristic. A controller consists of a PD feedback part and a full dynamics feedforward part. This control method employs the sliding control scheme. In order to make the tip of the manipulator track desired trajectories and to eliminate steady state errors, this method utilizes two sliding surfaces for both links and actuators. For this purpose, positions and velocities of both links and actuators are fedback. An anti-backlash inverse characteristic is introduced to obtain the desired trajectories for the actuators from the desired trajectories of the links. An adaptation scheme to the variation of payloads is also investigated.

关键词： Adaptive control Gears Sliding mode control Manipulator dynamics Actuators Robot control Feedback Trajectory Steady-state Payloads

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FAMOUS ARTIST for tennis shots and facial expressions

FAMOUS ARTIST for tennis shots and facial expressions

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： H. Ushida T. Sato A. Imura T. Yamaguchi T. Takagi Laboratory for International Fuzzy Engineering Research Japan Engineering Utsunomiya University Japan Multimedia Software Development Office Matsushita Elecrric Indusrrial Company Limited Japan

The paper shows a system "FAMOUS ARTIST" which creates and refines virtual human models. The system is constructed using FAMOUS (Fuzzy Associative Memory Organizing Units System). Two applications are presented. In the first application, conceptual level learning (CLL) is used to refine a model of human tennis shots. CLL imitates human learning processes in which people learn through multimodal macro instructions represented by language, gestures, and other means. In the second application, chaotic retrieval is used to refine a human facial expression model. The chaotic retrieval method dynamically recalls new patterns from memorized patterns in associative memories. These two methods support people in designing and creativity.< >

关键词： Humans Associative memory Application software Chaos Refining Animation Natural languages Color Laboratories Programming

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Planning-based visual programming system for sequence control

Planning-based visual programming system for sequence contro...

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Conference on Artificial Intelligence for Applications

作者： Y. Namioka H. Tsukimoto H. Mizutani T. Matsudaira Systems and Software Engineering Laboratory Research and Development Center Toshiba Corporation Kawasaki Japan Fuchu Works TOSHIBA Corporation Fuchu Tokyo Japan

The paper presents a planning based visual programming system for sequence control program specification design (VIPS/S-SFCD). VIPS/S-SFCD features an example based programming technique in which designers specify the initial states and goal states of machines using visual representations, and a planning method that infers machine actions and generates the control program specifications. This method is based on the state space model and has the scope to make the searches on the model efficient. We used the planner of VIPS/S-SFCD to experimentally generate control program specifications for actually existing steel plants. The experimental results showed that the quality of control program specifications generated by VIPS/S-SFCD was the same as the ones generated by a design specialist, and the time required for designing control programs was much shorter. According to our experiments, VLPS/S-SFCD can reduce the design time of control programs to 1/3.< >

关键词： Control systems Automatic control Automatic programming State-space methods Steel Productivity software engineering Laboratories Automatic generation control Specification languages

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Artificial neural network of locally active units with cause-oriented parameter modification

Artificial neural network of locally active units with cause...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： K. Makino T. Shimada R. Ichikawa M. Ono T. Endo Research & Development Center Systems & Software Engineering Laboratory Toshiba Corporation Kawasaki Kanagawa Japan Fuchu Works Toshiba Corporation Fuchu Tokyo Japan

In this paper, a 3-layer neural network of locally active units is proposed. In the neural network, each constituent unit of a hidden layer is only activated by input vectors in a bounded domain of the vector space. This feature leads to additional learning, and also leads to knowing the architecture of the neural network and obtaining information suggestive of ways in which forecasting accuracy could be improved. We think that forecasting one-dimensional social quantity, for example, electric load or stock prices, makes the best use of the advantages of the proposed neural network, and we propose a method for detecting the causes of forecasting errors and improving the forecasting ability of the neural network. We examined the performance of the proposed neural network by applying it to daily peak electric load forecasting in summer. Comparing the forecasting result of the network with the conventional error back-propagation algorithm, the maximum error rate is clearly reduced. Carrying out the proposed method for detecting the causes of forecasting errors, forecasting errors are further reduced.< >

关键词： Artificial neural networks Neural networks Load forecasting Multi-layer neural network Object detection Computer errors software engineering Laboratories Casting Computer networks

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Supervisory Control of Power Systems: Reliability Improvement

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IFAC Proceedings Volumes 1995年第25期28卷 211-216页

作者： Y. Hanawa T. Seki S. Kanada M. Kato T. Tanaka H. Watanabe Engineering Research and Development Division Tokyo Electric Power Company Yokohama Kanagawa Japan Heavy Apparatus Engineering Laboratory Toshiba Corporation. Fuchu Tokyo Japan Systems and Software Engineering Laboratory Toshiba Corporation. Kawasaki Kanagawa Japan Utility Power Systems Engineering Department Toshiba Corporation Tokyo Japan

Prediction of future Supervisory Control and Data Acquisition (SCADA) system configuration is difficult because it is closely related with varyings of strategies of system's control/operation and computer architecture. This paper proposes a new approach to realize a reliable and flexible SCADA system under which application programs can hardly be affected by the varyings. SCOPE is a new infrastructure supporting to build the SCADA system. It consists of “Execution dependence part” and “Operation dependence part” in order to realize a reliable and flexible SCADA system under distributed environments. This paper introduces a new design concept, a reliable technique and the evaluation result on SCOPE prototype system.

关键词： Databases distributed computer control systems object modeling techniques power systems supervisory control

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Associative memory based fuzzy knowledge construction and refinement

Associative memory based fuzzy knowledge construction and re...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： H. Ushida T. Yamaguchi T. Takagi Laboratory for International Fuzzy Engineering Research Yokohama Japan Engineering Utsunomiya University Utsunomiya Japan Multimedia Software Development Office Matsushita Elecrric Indusrrial Company Limited Minato Tokyo Japan

A construction method and a refinement method of fuzzy knowledge are proposed in order to apply them to intelligent multi-modal interfaces. This paper supposes that the interface requires the following three functions at least: 1) a function that constructs knowledge using instances instead of if-then rules; 2) a function that transforms mutually between the upper conceptual label represented by words and the lower conceptual label represented by physical values in order to realize multi-modality; and 3) a function that refines the knowledge using qualitative instruction such as a learning process. This paper proposes the methods using fuzzy associative memory organizing units system (FAMOUS) in order to realize these functions and applies them to estimation of human movements. Experimental results show proposed methods provide functions and are suitable to intelligent multi-modal.< >

关键词： Associative memory Humans Fuzzy systems Organizing Refining Neural networks Knowledge engineering Knowledge representation Laboratories Buildings

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FAMOUS ADVISER for estimating tennis shots

FAMOUS ADVISER for estimating tennis shots

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： H. Ushida A. Imura T. Sato T. Yamaguchi T. Takagi Laboratory for International Fuzzy Engineering Research Japan Lab. for Int. Fuzzy Eng. Res. Yokohama Japan Multimedia Software Development Office Matsushita Elecrric Indusrrial Company Limited Japan

The paper shows a system "FAMOUS ADVISER" which estimates human movements in sports using linguistic expression. The system is constructed using FAMOUS (Fuzzy Associative Memory Organizing Units System). To construct the knowledge for estimating human movements, the paper proposes a FAMOUS based method and applies it to a system which estimates human movements in sports. The FAMOUS has the following two features: the knowledge representation is clear; the knowledge is constructed using instances instead of if-then rules. Experimental results show that the proposed method solves the problems and it is suitable for application to estimating human movements.< >

关键词： Appraisal Fuzzy systems Associative memory Knowledge representation Organizing State estimation Color Laboratories Multimedia systems Programming

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PARALLEL AND DISTRIBUTED TLM COMPUTATION WITH SIGNAL-PROCESSING FOR ELECTROMAGNETIC-FIELD MODELING

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INTERNATIONAL JOURNAL OF NUMERICAL MODELLING-ELECTRONIC NETWORKS DEVICES AND FIELDS 1995年第3-4期8卷 169-185页

作者： SO, PPM ESWARAPPA, C HOEFER, WJR NSERC/MPR Teltech Research Chair in RF Engineering Department of Electrical and Computer Engineering University of Victoria Victoria British Columbia V8W 3P6 Canada Poman So received his B.Sc. degree in computer science and physics from the University of Toronto Toronto Onatario Canada in 1985. He obtained his B.A. Sc. and M.A.Sc. degrees in electrical engineering (summa cum laude) from the University of Ottawa Ottawa Ontario Canada in 1987 and 1989 respectively. Mr So was a research engineer in the University of Ottawa from January 1989 to October 1991 his research interests included CAD techniques of microwave circuits and numerical methods for electromagnetic wave modelling. He specialized in the development of electromagnetic engineering CAD software and successfully implemented a number of electromagnetic wave simulators based on the two-dimensional and three-dimensional transmission-line matrix methods. From August 1990 to February 1991 he accompanied Professor W. J. R. Hoefer to Rome Italy and Sophia Antiopolas France. During that time he implemented a parallel version of the 3D-TLM simulator for the CM-2 Connection Machine using C-Star and X Windows Library. He is a research engineer and a Ph.D. student at the University of Victoria Victoria British Columbia Canada. He ported the 2D- and 3D-TLM simulators to DECmpp 1200 massively parallel computer using MPL C and C++. He also combined OSA90/hope a commercially available microwave CAD program with a 2D-TLM simulation module for geometry optimization using the Datapipe technique of OSA90/hope. Recently he has developed a distributed client-server computing technique for the TLM method this technique could accelerate the TLM simulation by more than an order of magnitude. Channabasappa Eswarappa received the M.Tech. degree in electrical engineering from the Indian Institute of Technology Kanpur India in 1983 and Ph. D. degree from the University of Ottawa Canada in 1990. He worked as an Assistant Executive Engineer and later as

This paper describes the implementation of transmission-line matrix (TLM) method algorithms on a massively parallel computer (DECmpp 12000), the technique of distributed computing in the UNIX environment, and the combination of TLM analysis with Prony's method as well as with autoregressive moving average (ARMA) digital signal processing for electromagnetic field modelling. By combining these advanced computation techniques, typical electromagnetic field modelling of microwave structures by TLM analysis can be accelerated by a few orders of magnitude.

关键词： Mathematical models

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Calculation of the temperature distribution in an asynchronous machine

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European Transactions on Electrical Power 1995年第3期5卷 181-186页

作者： Xypteras, J. Maras, K. Spyrelis, D. Associate Professor Dr.-Ing. Jannis Xypteras (1937) Director of the Electrical Machines Laboratory Dept. of Electrical Engineering Aristotle University of Thessaloniki (AUT)/Greece graduated from the Fakultatfur Elektrotechnik of the RWTH AachedGermany. During the years 1965 to 1980 he had been employed in German and Greek factories for electrical machines several years as chief of development departments. In 1978 he obtained his Dr. Electr. Eng. degree in the AUT. His subject was in the area of eddy currents. Since 1984 he is Ass. hofessor in the same University. His special interests: Design and development of electrical machines vibration and noise problems electromagnetic fields eddy currents. (Dept. of Electrical Engineering Aristotle University GR-54006 Thessaloniki/Greece T +30 3 1 I99 62 93 Fax +303 11 99 63 02) Kostas Maras (1966) received his degree in Electrical Engineering from the Electrotechnical Faculty of Aristotle University of Thessaloniki/Greece in 1989. In 1990 he graduated as M.Sc. in Digital Electronics in the King's College London at the University of LondordGB with the project “Design of a Transversal Filter on VLSI CMOS”. Since then he has been working at M. Papasavas S.A. at KallithedGreece as an analyst in developing industrial software. Projects: Design and implementation of a dynamic relational model used to tackle production problems in industry. From 1991 to 93 he was responsible for the development of production planning used in industries. (M. Papasavas S.A. Sofocleus 261 GR-17874 KallithedGreece T +30 119423246 Fax +30 1/9429561) Dimitrios S. Spyrelis (1965) received his Diploma in Electrical Engineering from the University of Thessalonikil Greece in 1989. In 1990 he joined the Coding Center of Greek Army as research Assistant. He is currently working as technical director in a pigpoultry breeding company which includes feed processing industry slaughter houses by product process industry wastes treatment systems from farm livestock. His last fields of interest

In this paper the temperature distribution on the section vertical to the axis of an asynchronous machine is calculated. For the calculation the numerical method of “Control Volumes” has been used. The technique used can be easily modified to fit any kind of machine. It can also analyse transients. Copyright © 1995 John Wiley & Sons, Ltd.

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Object-oriented analysis and design support system using algebraic specification techniques 1

Object-oriented analysis and design support system using alg...

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1st Asia-Pacific software engineering Conference, APSEC 1994

作者： Yamamoto, J. Ohsuga, A. Honiden, S. Systems and Software Engineering Laboratory Research and Development Center Toshiba Corporation 70 Yanagi-cho Saiwai-ku Kawasaki Kanagawa210 Japan

ISBN: (纸本)0818669608

Although many CASE tools for object-oriented methods (OO-CASE tools) have been proposed, few, if any, can verify that the constructed analysis and design models actually match the requirements of the system being developed. In order to realize this kind of verification, we propose a software development method amalgamating OO-CASE tools and algebraic specification techniques. We are developing an experimental system named COOAD (CASE tool for Object-Oriented Analysis and Design) in order to examine the effectiveness of our proposition. COOAD supports object-oriented analysis and design, verification of the analysis and design, and generation of code. In this paper, we propose the software development method, introduce COOAD, and illustrate the facilities of COOAD with several examples. © 1994 IEEE.

关键词： Specifications

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