检索结果-内蒙古大学图书馆

Realization of Advanced Contact Motion with Low Moment of Inertia Using In-Link Actuators

IEEJ Journal of Industry Applications 2025年第3期14卷 423-430页

作者： Morikawa, Kazuma Katsura, Seiichiro Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama223-8522 Japan

Robots should be able to interact more actively with the general public to operate close to them. However, human communication is sometimes performed at high speed and involves collisions, which poses a safety problem when humans and robots interact. To perform these actions safely, the energy involved in a collision should be reduced, and it is useful to reduce the inertia of the robot. Additionally, it is crucial that the back-drivability is sufficiently large to follow external forces. We used an in-link actuator to reduce the inertia of a robot with direct-drive joints. In-link actuators, with a drive mechanism incorporated into the links, enable the creation of a low-inertia robot with joints that can be driven quickly even with a small torque. Experiments were conducted to confirm the effectiveness of the in-link actuator in contact motion. By measuring the force during a collision and moving while holding down a fragile object, we demonstrate that the use of in-link actuators enables a higher level of interaction without damaging the outside object compared to the use of motors. © 2025 The Institute of Electrical Engineers of Japan.

关键词： Accidents

来源：评论

学校读者我要写书评

暂无评论

Three-dimensional Motion Mechanism with Tendon-Driven Gravity Compensation

引用

IEEJ Journal of Industry Applications 2025年第3期14卷 413-422页

作者： Kuroki, Yusaku Katsura, Seiichiro Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama223-8552 Japan

The greater the number of degrees of freedom a manipulator possesses, the higher the gravitational torque required, which can result in excessive energy consumption. One of the solutions to this problem is gravity compensation, which mechanically suppresses the gravitational force and torque without external energy supply. Although numerous studies on gravity compensation have been conducted over the past decades, certain challenges persist, such as increased manipulator weight and restricted range of motion due to additional components required for gravity compensation. Therefore, this study proposed a tendon-driven mechanism of gravity compensation. In this method, springs are employed for gravity compensation, and these elements can be mounted away from manipulators. Moreover, this mechanism has a spherical joint actuated by parallel tendon mechanism, which enables manipulators to realize three-dimensional motion. The novelty of the proposed approach lies in the absence of additional components within the manipulator body. By utilizing a tendon-driven and parallel-tendon mechanism, the proposed design overcomes the limitations of conventional gravity compensation methods. In this study, we created a two-link manipulator according to this proposed mechanism and confirmed the effectiveness of the proposed gravity compensation mechanism. © 2025 The Institute of Electrical Engineers of Japan.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Consensus Control for Resilient Multi-Agent systems Considering Leader Failure

Consensus Control for Resilient Multi-Agent Systems Consider...

引用

2025 SICE International Symposium on Control systems, SICE ISCS 2025

作者： Murakami, Takuya Namerikawa, Toru School of Integrated Design Engineering Keio University Kanagawa Japan Keio University Department of System Design Engineering Kanagawa Japan

ISBN: (纸本)9784907764852

In this paper, we study a consensus control problem for resilient multi-agent systems considering leader failure. We present cooperative control to solve the formation problem, enabling the agents to maintain relative positions even if any agent, including the leader, malfunctions. To accomplish this goal, we designed an algorithm that implements distributed observers for fault detection to assess each agent's reliability. The algorithm reduces the effect of faults by limiting information exchange with low-reliability agents. Next, we extended the adjacency matrix so that any follower can replace the leader in response to the leader's failure. Finally, we verify the proposed method through simulations. © 2025 The Society of Instrument and Control Engineers.

关键词： Fault detection

来源：评论

学校读者我要写书评

暂无评论

Compatibility of liner materials for type IV hydrogen storage vessels and the interlaminar properties of liner/CFRP composites

引用

International Journal of Hydrogen Energy 2025年 133卷 431-439页

作者： Eun, Jong Hyun Kim, Do Hyeon Ahn, Hyun Chul Lee, Joon Seok Department of Materials Design Engineering Kumoh National Institute of Technology Gyeongbuk Gumi39177 Korea Republic of Department of Fiber System Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of

As hydrogen fuel cell vehicles, which use hydrogen as the main fuel to reduce carbon emissions, are gaining attention, safety is emerging as important issues, including the mechanical performance of pressure vessels storing hydrogen fuel made from carbon fiber reinforced plastic (CFRP) and the interfacial properties of the shell liner layer. Despite the importance of using lightweight and easy-to-handle polymers in type IV pressure vessels, few studies discuss the mechanical properties, interfacial properties and compatibility of liner materials in shell and liner layers. Therefore, this study is a research on a type IV hydrogen storage container capable of storing hydrogen in a hydrogen fuel vehicle, and the details are to identify materials suitable for liner material by evaluating compatibility, interface, and mechanical properties between the CFRP layer and liner material of the hydrogen storage container. For this purpose, olefinic high-density polyethylene (HDPE), which has excellent hydrogen blocking properties, is widely used as a liner material for type IV hydrogen storage containers in hydrogen storage containers, and lacks functional groups in the backbone, was selected as an experimental control. In addition, three kinds of polyamides (PA6) with different polymer molecular weights were set as controls and various experiments were conducted, including FT-IR analysis, flexural testing, and MODEI testing. This systematically identifies the interface properties between CFRP and liner. © 2025 Hydrogen Energy Publications LLC

关键词： Carbon phenolic composites

来源：评论

学校读者我要写书评

暂无评论

Consideration of Micro-Macro 4-channel Bilateral Control Scheme Using Piezoelectric Actuator

Consideration of Micro-Macro 4-channel Bilateral Control Sch...

引用

2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Kozu, Saki Nozaki, Takahiro Graduate School of Integrated Design Engineering Keio University Yokohama Japan Keio University Department of System Design Engineering Yokohama Japan

ISBN: (纸本)9798331533892

In micro-manipulations such as cell manipulation, if the operator can feel the tactile sensation of the object, those operations are expected to be more efficient. Scale bilateral control, in which micro-manipulation is performed remotely and position and force information is transmitted bidirectionally between the two systems, could be one of the solutions for tactile transmission. In this control, the use of a linear motor as a human-operating system and a stacked piezoelectric actuator as a micro-manipulating system has been proposed. In this context, a linear motor is an inertial system, and a piezoelectric actuator is a stiff system. However, the control scheme and theory of bilateral control have been established only for inertial systems. In previous studies, piezoelectric actuators were modeled as inertial systems, and the construction of bilateral control systems according to the scheme of inertial systems was attempted. This paper attempts to construct bilateral control by modeling piezoelectric actuators as a second-order linear system close to the actuator's physical properties. Experiments revealed that the proposed bilateral control scheme performs well as the conventional scheme. This study contributes to constructing bilateral control between two systems with different structures. © 2025 IEEE.

关键词： Piezoelectric actuators

来源：评论

学校读者我要写书评

暂无评论

Vibration Suppression and Disturbance Rejection Based on Equivalent Mass and Stiffness Matrices

Vibration Suppression and Disturbance Rejection Based on Equ...

引用

2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Ito, Jin Murakami, Toshiyuki Graduate School of Integrated Design Engineering Keio University Yokohama Japan Keio University Department of System Design Engineering Yokohama Japan

ISBN: (纸本)9798331533892

This paper proposes vibration suppression and disturbance rejection methods for multi-degrees-of-freedom (MDOF) manipulators with flexible joints in the workspace. The proposed methods utilize an equivalent mass matrix (EMM) and equivalent stiffness matrix (ESM) that represent the mass and stiffness in the workspace, respectively. In conventional methods, variations of EMM and ESM can degrade vibration suppression and disturbance rejection performances. Therefore, the proposed methods employ a workspace observer (WOB), resonance ratio control, and load-side workspace observer (LWOB). The WOB and resonance ratio control fix the EMM to constant values and realize stable vibration suppression. The LWOB improves ro-bustness by compensating for disturbances. The stability analyses reveal the parameter conditions. The simulation results show that the proposed methods suppress vibrations and disturbances in the workspace. © 2025 IEEE.

关键词： Stiffness matrix

来源：评论

学校读者我要写书评

暂无评论

Control Stiffness-Based Motion Reproduction for Environmental Impedance Variation

Control Stiffness-Based Motion Reproduction for Environmenta...

引用

2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Takakura, Akira Nozaki, Takahiro Graduate School of Integrated Design Engineering Keio University Yokohama Japan Keio University Department of System Design Engineering Yokohama Japan

ISBN: (纸本)9798331533892

Motion generation technology contributes to the automation of the robots, especially in the industrial field. Imitation learning and motion reproduction system (MRS) are one of the motion generation methods that widely applied. However, machine learning-based methods require a large amount of data and are weak against extrapolation. Although MRS has merit in terms of the data number, it is weak regarding environmental variation. In particular, the environmental impedance variation have occurred, both position and force tracking are impossible. As several conventional studies have been done to reduce only position or force tracking errors, they can not adapt force or position priority tasks, respectively. Therefore, this paper proposes a novel compensation law based on designed control stiffness using the hybrid angle. The validity of this proposal is confirmed by simulation. This paper contributes to the MRS expansion of the environmental impedance variation with consideration of the task's priority physical value. © 2025 IEEE.

关键词： Adversarial machine learning

来源：评论

学校读者我要写书评

暂无评论

A Remote Control Method for Transport Two-Wheeled Mobile Robot

A Remote Control Method for Transport Two-Wheeled Mobile Rob...

引用

2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Kuwata, Mio Murakami, Toshiyuki Graduate School of Integrated Design Engineering Keio University Yokohama Yokohama Japan Keio University Department of System Design Engineering Yokohama Japan

ISBN: (纸本)9798331533892

This paper investigates the deployment of transport Two-Wheeled Mobile Robots (TWMRs) within warehouse environments. TWMRs have superior maneuverability and a smaller footprint compared to conventional steering-type Autonomous Mobile Robots (AMRs). This feature makes TWMRs well-suited for narrow spaces and high-reach tasks. Despite these advantages, TWMRs are inherently unstable, necessitating sophisticated control systems to maintain balance. In this study, we propose a control system that enables remote operation of the TWMR, allowing the operator to adjust the pitch angle command. The TWMR is equipped with various control mechanisms, including Disturbance Observer (DOB), PD controller and Lyapunov controller. These components work in conjunction to stabilize the TWMR and enhance the translational position tracking performance. Simulation results demonstrated the effectiveness of our approach, showing that the proposed system successfully stabilized the TWMR and reduced pitch angle variations, especially under load conditions. It also suggested the potential of integrating human control ability with advanced control systems for improved TWMR performance. © 2025 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Investigation of Relationship between Electrode Integration Method and Force-to-Volume Ratio in Force Generation system Using Corona Discharge

Investigation of Relationship between Electrode Integration ...

引用

2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Katagiri, Hiroaki Yashita, Shigeki Kitamura, Tomoya Nozaki, Takahiro Graduate School of Integrated Design Engineering Keio University Yokohama Japan Tokyo University of Science Department of Electrical Engineering Noda Japan Keio University Department of System Design Engineering Yokohama Japan

ISBN: (纸本)9798331533892

A force generation mechanism utilizing corona discharge has the advantages of being lightweight, compact, and having no moving parts. The general structure of an electrode used to generate corona discharge is a wire on the high-voltage side and a flat plate on the ground side. To gain greater force generated by corona discharge, it is necessary to install and integrate a large number of electrodes. However, if a large number of electrodes are integrated, the required volume will increase. Therefore, a method of integrating the electrodes to increase the force-to-volume ratio is needed. Therefore, this paper comprehensively examines the two-dimensional arrangement of electrodes on the ground side and investigates the relationship with the force-to-volume ratio. Specifically, the force-to-volume ratio was investigated when the ground side was made of hollow hexagons, squares, or triangles compared to the wire-plate electrode. Also, since it is known that the force is more significant when needles are used on the high-voltage side rather than wires, the high-voltage side was made into a needle for electrodes with hollow polygons. The experimental results show that the force-to-volume ratios of the needle-hollow polygon electrodes were larger when the applied voltage was low, around 20 kV, and that of the wire-plate electrode was larger when the applied voltage was higher than 30 kV. These results show the relationship between the method of integrating the electrodes and the force-to-volume ratio, which was unknown in corona discharge. They can be used as a reference in the design of actuators. © 2025 IEEE.

关键词： Needles

来源：评论

学校读者我要写书评

暂无评论

Thrust Control with Switching in Electrodynamic Propulsion systems with Corona Discharge

Thrust Control with Switching in Electrodynamic Propulsion S...

引用

2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Yashita, Shigeki Katagiri, Hiroaki Kitamura, Tomoya Nozaki, Takahiro Graduate School of Integrated Design Engineering Keio University Yokohama Japan Tokyo University of Science Department of Electrical Engineering Noda Japan Keio University Department of System Design Engineering Yokohama Japan

ISBN: (纸本)9798331533892

Electroaerodynamics (EAD) is one phenomenon that manipulates gas with high voltage. Corona discharge is a typical example and is known to produce thrust quietly without moving parts. Therefore, it is expected to be utilized in various ways, such as a thrust source of drones. As thrust with corona discharge depends on the applied voltage, it is necessary to manipulate the applied voltage for thrust control. However, large-scale systems require several tens of kV, and there is little adequate research on these systems. Thus, an adequate switching method is essential, and it is also crucial to elucidate the effect of switching on thrust. Hence, this study conducted thrust control with corona discharge and analyzed the influence of switching on thrust. Specifically, a resistor is connected in series to the electrode, and a switching element is connected in parallel with the resistor. The proposed method stabilizes and limits the voltage applied to the switching element and effectively controls the thrust and the voltage applied to the electrode. Two experiments were conducted to reveal the electrical characteristics of the electrode in corona discharge and confirm the effectiveness of the proposal. The first experiment showed the potential of switching for the electrode with corona discharge on the collector side. Moreover, the second experiment demonstrated that the proposed switching method worked properly, and thrust can be controlled by changing the duty ratio of switching. The achievements of this study are expected to control levitation systems EAD, such as corona discharge, and realize stable control. © 2025 IEEE.

关键词： Electric corona

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：