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2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 526-1042

作者： Norihiro Kamamichi Toshiharu Maeba Masaki Yamakita Toshiharu Mukai Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Chiyoda Tokyo Japan Institute of Physical and Chemical Research Bio-mimetic Control Research Center Nagoya Japan Department of Control and Systems Engineering School of Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Riken Japan BMC Riken Japan

ISBN: (纸本)9781424420575

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In this paper, we demonstrate an automatic fabrication method of the bucky gel devices based on a printing method. By using a dispensing machine, we construct the printing system, and manual forming process is replaced with automatic printing. We investigate the printing of complicated shapes and 3D electrode pattern through experiments.

关键词： Printing Gels Printing process Printing system fabrication FORMING PROCESSES electromotive forces Low voltage

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A novel railway signal control system based on the internet technology and an assurance technology

A novel railway signal control system based on the internet ...

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28th International Conference on Distributed Computing systems Workshops, ICDCS Workshops 2008

作者： Kunifuji, Takashi Miura, Tadao Kogure, Gen Sugahara, Hiroyuki Matsumoto, Masayuki Research and Development Center of JR East Group East Japan Railway Company Kita-kuSaitama-shiSaitama331-8513 Japan Train Control Systems Signalling and Telecommunications Technology Division Railway Technical Research Institute Kita-kuSaitama-shiSaitama331-8513 Japan Electrical and Signal Network System Dep. East Japan Railway Company 2-0Nisshin-cho Kita-kuSaitama-shiSaitama331-8513 Japan

ISBN: (纸本)9780769531731

We have developed a novel railway signal control system that works as a distributed system. It consists of a central control unit (called LC) and terminal devices (called FC) that are distributed at the railroad wayside and operate signal devices. The Internet technologies and optical LAN technologies have been used as communication methods between the LC and the FCs. The FC is a distributed terminal device that has its own processor and placed at the railroad wayside to control the field signal devices. The LC is a centralized computer device that has software arranged by the function of the field devices. An optical network system and multiple communication paths between the LC and the FCs realize robust transmissions. Moreover, the assure performance of controls and transmissions have been investigated, and the autonomous distributed signal control system is also discussed as the next steps of the system. © 2008 IEEE.

关键词： controllers

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Robust Adaptive Fault-Tolerant control of the F-14 Aircraft under Sensor Failures

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IFAC Proceedings Volumes 2008年第2期41卷 10172-10177页

作者： Sajjad Fekri Dawei Gu Ian Postlethwaite Michael Athans Control & Instrumentation Research Group Department of Engineering University of Leicester U.K. (Tel: +44-116-2522567 Fax: +44-116-2522619 Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisbon Portugal also Professor of EE&CS (emeritus) MIT Cambridge MA U.S.A.

This paper presents a novel fault detection and isolation (FDI) architecture applied to the lateral-directional axis of an F-14 aircraft during powered approach to landing under sensor failures. The fault-tolerant architecture employed is based on the so-called “Robust Multiple-Model Adaptive control” (RMMAC) and hence is referred to as “RMMAC/FDI”. The results demonstrate successful stability and performance of the RMMAC/FDI architecture.

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

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A Novel Railway Signal control System Based on the Internet Technology and an Assurance Technology

A Novel Railway Signal Control System Based on the Internet ...

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International Conference on Distributed Computing systems Workshop

作者： Takashi Kunifuji Tadao Miura Gen Kogure Hiroyuki Sugahara Masayuki Matsumoto Research and Development Center of JR East Group East Japan Railway Company Limited Japan Train Control Systems Signalling and Telecommunications Technology Division Railway Technical Research Institute Japan Electrical & Signal Network System Department East Japan Railway Company Limited Saitama Saitama Japan

ISBN: (纸本)9781424431755

关键词： Signal control system Logical controller E-PON Field controller Optical LAN

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control of Formations of UAVs for Surveillance and Reconnaissance Missions

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IFAC Proceedings Volumes 2008年第2期41卷 5161-5166页

作者： T. Kopfstedt M. Mukai M. Fujita C. Ament Research and Development Diehl BGT Defence GmbH und Co. KG 88662 Ueberlingen Germany (Tel: +49-7551-892875 Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka 819-0395 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan System Analysis Group Technical University of Ilmenau 98693 Ilmenau Germany

This paper presents a method for control of formations of Unmanned Aerial Vehicles (UAVs) in urban environments with several obstacles. Therefore the trajectories for each UAV are planned using mixed integer quadratic programming (MIQP) to describe a minimization problem. The result of this minimization problem then characterizes a collision free trajectory for each UAV using the commanded formations to fulfil the missions. The description of the UAVs, the inter UAV collision avoidance, the collision avoidance with obstacles as well as the description of formations will be shown in detail together with some simulation results in this paper. In addition the introduction explains the fields of interest in such formations of UAVs and what kind of advantage they can bring in comparison to today's solutions. The novelty in the approach in this paper is the description of formations of UAVs used in combination with MIQP to change formations, to add additional UAVs into an existing formation and to split formations, simply by changing some parameters in the description of the formation.

关键词： Autonomous systems Description of Formation Flights Hybrid systems Optimal control Mixed Integer Quadratic Programming

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Enhanced IEC 61499 system model for evolution of control applications in distributed industrial-process measurement and control systems 9

Enhanced IEC 61499 system model for evolution of control app...

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2007 9th European control Conference, ECC 2007

作者： Strasser, Thomas Sunder, Christoph Rooker, Martijn N. Hummer, Oliver Zoitl, Alois Muller, Ingomar PROFACTOR Research Robotics and Adaptive Systems Steyr-Gleink4407 Austria Automation and Control Institute Vienna University of Technology Gusshausstr. 25-27 Vienna1040 Austria

ISBN: (纸本)9783952417386

Future manufacturing is envisioned to be highly flexible and adaptable. New technologies for efficient engineering of reconfigurable systems and their adaptations are preconditions for this vision. Without such solutions, engineering adaptations of Industrial-Process Measurement and control systems (IPMCS) will exceed the costs of engineered systems by far and the reuse of equipment will become inefficient. Especially the evolution of control applications is not sufficiently solved by State-of-the-Art technology. This paper discusses a new approach for the evolution of control applications for downtimeless system evolution of control applications on basis of the IEC 61499 standard. © 2007 EUCA.

关键词： Process control

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Further evaluation of the RMMAC method with time-varying parameters

Further evaluation of the RMMAC method with time-varying par...

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2007 Mediterranean Conference on control and Automation, MED

作者： Rosa, P. Athans, M. Fekri, S. Silvestre, C. Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal Department of EECS M.I.T. United States Control and Instrumentation Research Group University of Leicester Leicester United Kingdom

ISBN: (纸本)142441282X

We demonstrate, using Monte-Carlo simulations, the superior performance of the "Robust Multiple-Model Adaptive control (RMMAC)" method for different time-varying uncertain parameter waveforms, performance bandwidths and constant disturbance intensities using the test example designed and studied in Refs. [1] and [2]. We further show that the RMMAC RMS performance is just about 10-16% worse than that obtained from a system that has perfect model identification (which is unrealizable), while remaining vastly superior to the performance associated with the best robust non-adaptive design. ©2007 IEEE.

关键词： Uncertainty analysis

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Evaluation of the RMMAC/XI method with time-varying parameters and disturbance statistics

Evaluation of the RMMAC/XI method with time-varying paramete...

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2007 Mediterranean Conference on control and Automation, MED

ISBN: (纸本)142441282X

We demonstrate, using Monte-Carlo simulations, the robust performance of the adaptive control methodology denoted by RMMAC/XI introduced and discussed in Refs. [1-3]. The RMMAC/XI architecture can handle simultaneous time-variations in the plant uncertain parameters as well as the disturbance intensity statistics. We compare the RMMAC/XI performance vs that of the best possible robust nonadaptive design using the same physical example described in Refs. [1-4]. Whenever possible, we also compare the RMMAC/XI performance with that of the (unrealizable) "Perfect Model Identification (***)" introduced in [4]. © 2007 IEEE.

关键词： Intelligent systems

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Enhanced IEC 61499 system model for evolution of control applications in distributed Industrial-Process Measurement and control systems

Enhanced IEC 61499 system model for evolution of control app...

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European control Conference (ECC)

作者： Thomas Strasser Christoph Sünder Martijn N. Rooker Oliver Hummer Alois Zoitl Ingomar Müller PROFACTOR Research Robotics and Adaptive Systems Austria Automation and Control Institute University of Technology Vienna Austria

关键词： IEC standards control systems Automation Hardware Manufacturing systems Real-time systems

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