計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers 48(6) 359-361 2012年6月
This paper aims at design of network control system for the remote control of robot. As the system includes a communication channel, quantization is required to satisfy communication capacity limitation. Dynamic quantizer is a kind of quantization...
電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and Systems Society 131(10) 1767-1774 2011年10月
This paper proposes a design method of dynamic quantizers for MIMO networked control systems. It is well known that feedback type dynamic quantizers are effective for quantization of the data series in the meaning of noise shaping. The dynamic qua...
計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers 47(4) 217-219 2011年4月
In the field of signal processing, AD/DA converter takes an important role for data compressing and circuits design. This paper proposes new design method of AD/DA system with pre-filter and post-filters for achieving small quantization noise effe...
Electrical wheelchair has been used as a convenient transport device for elderly and handicapped people. Recently, front drive type electric wheelchair has been focused, with which handicapped person get on it from a bed easily. When the wheelchai...
計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers 47(2) 126-133 2011年2月
This paper proposes a design method of the dynamic quantizer for the networked control systems. In the networked control systems, the data size of the signals is limited because of the transmission rate of the communication channel. It is well kno...
Recently, the fractional order PID (FO-PID) control, which is the extension of the PID control, has been focused on. Even though the FO-PID requires the high-order filter, it is difficult to realize the high-order filter due to the memory limitati...
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 130(10) 1175-1181 2010年10月
In manufacturing processes, inappropriate thermal distribution, which is observed in both steady and transient states of the thermal plant, leads to inferior quality. For a plant with strong thermal interaction, decoupling control is effective in ...
計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers 46(3) 149-156 2010年3月
It is well known that plants with time delay are hard to be controlled by using traditional method. For this, controller with delay, such as Internal Model Control (IMC), Smith-method, have been proposed for input-delay systems. However, it would ...
CPM (continuous passive motion) is an orthopedic treatment or a physiotherapy after surgery. After surgery to injury of UCL (ulna, collateral ligament) in the elbow, excessive extension of the UCL aggravates the injury, and reaction force at hand ...
SBW system eliminates the mechanical connection between the driver and the vehicle's front tire. Instead, actuator is located at the pinion shaft of "rack and pinion" part and receive inputs from the control module to turn the wheels accordingly. ...
It is important to clarify how the stiffness and the torque of human arm are controlled in the interaction with the environment. So far, the stiffness of human arm has been measured by adding perturbation. But, it is difficult to measure the stiff...
CPM(Continuous passive motion) is an orthopedic treatment or a physiotherapy after surgery. After surgery for injury of UCL(ulna collateral ligament) in the elbow, excessive extension of the UCL aggravates the injury, and reaction force at hand of...
As is well known there exists the generative force limit on tires, while changes by road surface friction or load to be added to a tire. If the actuators of vehicle generate driving/braking force exceeding this force limit, the vehicle falls into ...
Electric automobile with in-wheel motors have been proposed in recent year. By using diffrential force between left wheel and right wheel can control the yaw moment of the automobile. This framework is known as "Direct Yaw-moment Control (DYC)". I...
計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers 45(3) 153-159 2009年3月
Electric automobiles with four in-wheel moters have been developed in recent year. By using dynamic differential force between wheels, lateral motion of the automobile can be controlled with yaw moment. This framework is known as "Direct Yaw-momen...
電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 129(2) 320-327 2009年2月
For design of the autonomous robot, action learning ability based on the subjective feeling pain is an important issue. In our previous researches, artificial superficial pain model caused by impact had been studied and the transmission mechanism ...
Steer-by-wire (SBW) system, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability. With conventiona...
Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy method that promotes recovery of impaired joints, which is tried to apply for treatment of the shoulder joint disorders. The shoulder joint has a complex structure, where ...
電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 127(12) 2126-2132 2007年12月
Thermal distribution in thermal processes which is observed in both steady and transient states causes inferior quality. Thus, uniform temperature control is extremely required in many industrial application fields for quality improvement. In this...
Continuous Passive Motion (CPM) is a surgical treatment or physiotherapy after surgery or trauma. Most of the CPM devices used for treatment of the elbow joint have one degree of freedom in flex-/extension. For this reason, the patients are limite...
Continuous Passive Motion (CPM) is a surgical treatment or physiotherapy after surgery or trauma. Most of the CPM devices used for treatment of the elbow joint have one degree of freedom in flex-/extension. For this reason, the patients are limite...
電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 127(3) 373-379 2007年3月
In thermal processes, thermal distribution on the conduction surface is observed in both steady state and transient state. Uniform temperature control is required in many industrial application fields for quality improvement. For thermal plant wit...
年次大会講演論文集 : JSME annual meeting 2006(5) 145-146 2006年9月
CPM (Continuous Passive Motion) is a surgical treatment or physiotherapy after operations for disorders. In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the in...
In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the influences of the upper limb joint in CPM are not analyzed. Especially, the influences by accompanying pron...
In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the influences of the upper limb joint in CPM are not analyzed. Especially, the influences by accompanying pron...
CPM(Continuous Passive Motion) is a surgical treatment or physiotherapy following surgery or trauma. CPM devices have been mainly applied to disorders in the lower limbs. One of the problems of CPM devices for upper limbs is that most of CPM devic...
In the coexistence circumstance with humans and robots, sensory and emotional feeling of human should be considered when the robots interact to human. A typical unpleasant feeling at interaction is "pain". We have proposed an artificial superficia...
電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 124(8) 1606-1612 2004年8月
Dynamic uniform temperature on thermal conduction surface is widely required in many applications. In our previous work, the Gradient Temperature Control (GTC) method for the uniform heating has been proposed, and the effectiveness of the control ...
電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 122(11) 1954-1960 2002年11月
This paper concerns an in-process torque control system in drilling processes of machine tools. In drilling processes, it is necessary to increase the drilling speed without drill breakage. However, increase of the drilling speed often leads to br...
This paper presents a real time obstacle avoidance algorithm with the reference generator using piecewise polynomials. The algorithm consists of three steps. At the first step, by using the future information of path, the interaction point of the ...
In recent years, fuzzy control has found significant applications in many engineering fields. However, the design method of fuzzy control systems has not been established yet, and it is difficult to realize a precise control because control signal...
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