Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788697
Fowlai Poh, T. Higuchi, K. Yoshida, K. Oka
Reports on a non-contact transportation system for a thin glass plate utilizing an air bearing and electrostatic force. An electrode structure which can accelerate the polarization on the surface of the glass plate, compared with the normal slit type electrode structure, is proposed. Experimental results confirmed that the proposed electrode structure induced an attractive force that was four times that of the normal slit type electrode, for a particular condition. The lateral stability of the glass plate during transportation was also investigated experimentally and it was confirmed that the lateral vibration was absolutely smaller, and hence gave a maximum transportation speed that was about 6 times faster than that of the slit type electrode.
{"title":"Non-contact transportation system for thin glass plate utilizing combination of air bearing and electrostatic force","authors":"Fowlai Poh, T. Higuchi, K. Yoshida, K. Oka","doi":"10.1109/SICE.1999.788697","DOIUrl":"https://doi.org/10.1109/SICE.1999.788697","url":null,"abstract":"Reports on a non-contact transportation system for a thin glass plate utilizing an air bearing and electrostatic force. An electrode structure which can accelerate the polarization on the surface of the glass plate, compared with the normal slit type electrode structure, is proposed. Experimental results confirmed that the proposed electrode structure induced an attractive force that was four times that of the normal slit type electrode, for a particular condition. The lateral stability of the glass plate during transportation was also investigated experimentally and it was confirmed that the lateral vibration was absolutely smaller, and hence gave a maximum transportation speed that was about 6 times faster than that of the slit type electrode.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"81 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129899925","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The obstacle of limb movement caused by brain hurtfuled disease is the patients' most encountered symptom. At present the general measurement and evaluation method is for monitoring the obstacle degree of patient's limb function, which depends on doctor's personal experience and his/hers subjective judgement, that is a visual and subjective method; it is not only fuzzy (non-quantitative) but also non-standardised. In this article a novel approach for the objective and quantitative measurement and evaluation with modern computerized imaging technique is reported. A new marking and grading method for obstacle degrees of limb movement is presented, and a practical computerized imaging system for measuring and evaluation is developed, which has been proved to be effective.
{"title":"Research on quantitative and objective measurement and evaluation for obstacle of limb movement","authors":"Shifu Fan, Hanyuan Jiang, Songshan Xiao, Yanfang Li, Zhendong Sun, Yuchun Zhao, Yingxin Li","doi":"10.1109/SICE.1999.788685","DOIUrl":"https://doi.org/10.1109/SICE.1999.788685","url":null,"abstract":"The obstacle of limb movement caused by brain hurtfuled disease is the patients' most encountered symptom. At present the general measurement and evaluation method is for monitoring the obstacle degree of patient's limb function, which depends on doctor's personal experience and his/hers subjective judgement, that is a visual and subjective method; it is not only fuzzy (non-quantitative) but also non-standardised. In this article a novel approach for the objective and quantitative measurement and evaluation with modern computerized imaging technique is reported. A new marking and grading method for obstacle degrees of limb movement is presented, and a practical computerized imaging system for measuring and evaluation is developed, which has been proved to be effective.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133748137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788730
Jae-Chun Ryu, Chongkug Park
We discuss a flexible robotic finger design and controller, which is used for a micro flexible robotic finger. In this study, we use piezoelectric bimorph cells for the micro flexible robotic finger's actuators. Another problem is controller design for more precise end point force control of the micro flexible finger. The controller adopted is the PD/PI mixed type fuzzy controller. The controller consists of two parts, one is a PD type fuzzy controller for increasing the rising time response, the other is a PI type fuzzy controller for decreasing the steady-state error.
{"title":"A hybrid-fuzzy controller design for the control of a flexible finger","authors":"Jae-Chun Ryu, Chongkug Park","doi":"10.1109/SICE.1999.788730","DOIUrl":"https://doi.org/10.1109/SICE.1999.788730","url":null,"abstract":"We discuss a flexible robotic finger design and controller, which is used for a micro flexible robotic finger. In this study, we use piezoelectric bimorph cells for the micro flexible robotic finger's actuators. Another problem is controller design for more precise end point force control of the micro flexible finger. The controller adopted is the PD/PI mixed type fuzzy controller. The controller consists of two parts, one is a PD type fuzzy controller for increasing the rising time response, the other is a PI type fuzzy controller for decreasing the steady-state error.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133664622","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788709
F. Fukushima, M. Ito, S. Tsujimichi, Y. Kosuge
The fundamental problem of target tracking in a dense multiple-target environment with clutter, false alarms, missed detections, and so forth is the uncertain origin of measurements. In such a dense multiple-target environment, there is a need to perform track-initiation procedure by which the track of each target is detected. After we perform the track-initiation procedure, we can perform track-maintenance procedure. In this paper, we propose a new track-initiation method using measurements obtained by the optical sensors in a multiple-target environment. Moreover, we estimate the performance of the proposed method.
{"title":"Track-initiation with the measurements of optical sensors by using MHT techniques","authors":"F. Fukushima, M. Ito, S. Tsujimichi, Y. Kosuge","doi":"10.1109/SICE.1999.788709","DOIUrl":"https://doi.org/10.1109/SICE.1999.788709","url":null,"abstract":"The fundamental problem of target tracking in a dense multiple-target environment with clutter, false alarms, missed detections, and so forth is the uncertain origin of measurements. In such a dense multiple-target environment, there is a need to perform track-initiation procedure by which the track of each target is detected. After we perform the track-initiation procedure, we can perform track-maintenance procedure. In this paper, we propose a new track-initiation method using measurements obtained by the optical sensors in a multiple-target environment. Moreover, we estimate the performance of the proposed method.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134264947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788688
K. Horiguchi
We consider a problem of finding discrete-time positive real functions which interpolate the given input-output characteristics. The input-output characteristics are given by the coefficients of the Taylor series at some complex points in the open unit disk. The problem is a generalization of the interpolation problem of covariance parameters, which is important in signal processing, system realization and system identification. We present an algorithm to parametrize all the discrete-time positive real functions that interpolate the input-output characteristics and have a limited McMillan degree.
{"title":"A parametrization of discrete-time positive real functions interpolating input-output characteristics","authors":"K. Horiguchi","doi":"10.1109/SICE.1999.788688","DOIUrl":"https://doi.org/10.1109/SICE.1999.788688","url":null,"abstract":"We consider a problem of finding discrete-time positive real functions which interpolate the given input-output characteristics. The input-output characteristics are given by the coefficients of the Taylor series at some complex points in the open unit disk. The problem is a generalization of the interpolation problem of covariance parameters, which is important in signal processing, system realization and system identification. We present an algorithm to parametrize all the discrete-time positive real functions that interpolate the input-output characteristics and have a limited McMillan degree.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133375401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788671
In-soo Kim, Yu Shin Chang, I. Hwang, M. Lee
This paper studies the development of a mathematical model and the design of H/sup /spl infin// servo controller to produce precisely mill product of tandem cold mill (TCM). To improve the performance of the automatic gauge control system based on the Taylor linearized model of TCM, a new mathematical model which can complement Taylor linearized model is constructed by using the MIMO output-error state-space model identification algorithm based on the subspace method. The H/sup /spl infin// servo controller is designed for robust stability on the variation of system parameters, restrain disturbances and tracking the setup value of the strip thickness. The H/sup /spl infin// servo problem is modified as a usual H/sup /spl infin// control problem, and this modified problem can be solve by using linear matrix inequality techniques. Consequently, the effectiveness of the proposed H/sup /spl infin// servo controller is shown in comparison with the existing PD feedforward controller.
{"title":"Subspace model identification and H/sup /spl infin// servo control of tandem cold mill","authors":"In-soo Kim, Yu Shin Chang, I. Hwang, M. Lee","doi":"10.1109/SICE.1999.788671","DOIUrl":"https://doi.org/10.1109/SICE.1999.788671","url":null,"abstract":"This paper studies the development of a mathematical model and the design of H/sup /spl infin// servo controller to produce precisely mill product of tandem cold mill (TCM). To improve the performance of the automatic gauge control system based on the Taylor linearized model of TCM, a new mathematical model which can complement Taylor linearized model is constructed by using the MIMO output-error state-space model identification algorithm based on the subspace method. The H/sup /spl infin// servo controller is designed for robust stability on the variation of system parameters, restrain disturbances and tracking the setup value of the strip thickness. The H/sup /spl infin// servo problem is modified as a usual H/sup /spl infin// control problem, and this modified problem can be solve by using linear matrix inequality techniques. Consequently, the effectiveness of the proposed H/sup /spl infin// servo controller is shown in comparison with the existing PD feedforward controller.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130054402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788728
T. Gomi, K. Ide
The development of prototype autonomous transport vehicles for use on construction sites is described. Such vehicles are expected to be in high demand in the near future in countries where the aging of construction workers is becoming a serious problem. Two prototypes have been built so far and have undergone extensive testing. Vision systems used in the very rough operational environment of construction sites is discussed, as well as other aspects of the vehicle. A unique vision-based navigation operated well under extremely dynamic conditions. When completed in the near future, the project is expected to create a vehicle which would lessen the burden of workers on construction sites.
{"title":"The development of an autonomous field transport vehicle with an active vision system","authors":"T. Gomi, K. Ide","doi":"10.1109/SICE.1999.788728","DOIUrl":"https://doi.org/10.1109/SICE.1999.788728","url":null,"abstract":"The development of prototype autonomous transport vehicles for use on construction sites is described. Such vehicles are expected to be in high demand in the near future in countries where the aging of construction workers is becoming a serious problem. Two prototypes have been built so far and have undergone extensive testing. Vision systems used in the very rough operational environment of construction sites is discussed, as well as other aspects of the vehicle. A unique vision-based navigation operated well under extremely dynamic conditions. When completed in the near future, the project is expected to create a vehicle which would lessen the burden of workers on construction sites.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115325080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788714
Y. Liu, S. Ito, K. Teo
Consider the class of LQ optimal control problems with continuous linear state constraints, that is, constraints imposed on every instant of the time horizon. This class of problems are known to be difficult to solve numerically. In this paper, a computational method based on a semi-infinite programming approach is given. The LQ optimal control problem is formulated as a positive quadratic infinite programming problem. This can be done by considering the control as the decision variable while taking the state as a function of the control. After parameterizing the decision variable, an approximate quadratic semi-infinite programming problem is obtained. It is shown that as we refine the parameterization, the solution sequence of the approximate problems converge to the solution of the infinite programming problem (hence to the solution of the original optimal control problem). Numerically, the semi-infinite programming problems obtained above can be efficiently solved using an algorithm based on a dual parameterization method.
{"title":"A semi-infinite programming approach to continuously constrained LQ optimal control problems","authors":"Y. Liu, S. Ito, K. Teo","doi":"10.1109/SICE.1999.788714","DOIUrl":"https://doi.org/10.1109/SICE.1999.788714","url":null,"abstract":"Consider the class of LQ optimal control problems with continuous linear state constraints, that is, constraints imposed on every instant of the time horizon. This class of problems are known to be difficult to solve numerically. In this paper, a computational method based on a semi-infinite programming approach is given. The LQ optimal control problem is formulated as a positive quadratic infinite programming problem. This can be done by considering the control as the decision variable while taking the state as a function of the control. After parameterizing the decision variable, an approximate quadratic semi-infinite programming problem is obtained. It is shown that as we refine the parameterization, the solution sequence of the approximate problems converge to the solution of the infinite programming problem (hence to the solution of the original optimal control problem). Numerically, the semi-infinite programming problems obtained above can be efficiently solved using an algorithm based on a dual parameterization method.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131034055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788690
Y. Choe
A method to synthesize the transfer function of a simple plant from experimentally obtained magnitude and phase data is presented. In Hassul and Shahian (1992), the relevant formulas to estimate parameters were derived in terms of linearizing the quadratic error criterion so that students could follow the development without any mathematical difficulty. This method, however, inevitably is accompanied by a significant difference between the real and identified model especially in the low frequency region. As a method to decrease this difference in the low frequency region, a weighting function matrix that is directly related to the measured frequency data of the plant is introduced. That is, we propose an effective method to determine a weighting function based upon the results of identification. An efficient identification procedure for the proposed method is suggested to improve the quality of the model under the given circumstance. We confirm the validity of this method through several simulations and an experiment.
{"title":"Frequency domain identification for a simple plant","authors":"Y. Choe","doi":"10.1109/SICE.1999.788690","DOIUrl":"https://doi.org/10.1109/SICE.1999.788690","url":null,"abstract":"A method to synthesize the transfer function of a simple plant from experimentally obtained magnitude and phase data is presented. In Hassul and Shahian (1992), the relevant formulas to estimate parameters were derived in terms of linearizing the quadratic error criterion so that students could follow the development without any mathematical difficulty. This method, however, inevitably is accompanied by a significant difference between the real and identified model especially in the low frequency region. As a method to decrease this difference in the low frequency region, a weighting function matrix that is directly related to the measured frequency data of the plant is introduced. That is, we propose an effective method to determine a weighting function based upon the results of identification. An efficient identification procedure for the proposed method is suggested to improve the quality of the model under the given circumstance. We confirm the validity of this method through several simulations and an experiment.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126652003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788702
K. Sasaki, M. Yamazaki
We propose an automated vector compression of bird songs spectra in water-sites by linear prediction method and principal component analysis, and present the experimental validation of the special features and effectiveness of the proposed method through automatic Bayesian discrimination of compressed vectors of the 14 different songs gathered. The result shows that the whole information to classify the songs completely can be fundamentally compressed to a vector of at least 30 dimensions consisting of the variance of residue series and optimal prediction coefficients. Further compression is proposed by unification of covariance matrices of different characteristics among the classes, and principal component analysis has the special features that it makes Bayesian discrimination possible even for cases where the conventional can not conduct the discrimination, with enhanced rates of 1.58 to 1.73 times and within reduction of mean correct classification rate only of 0.8%.
{"title":"Vector compression of bird songs spectra in water sites by using the linear prediction method and its application to an automated Bayesian species classification","authors":"K. Sasaki, M. Yamazaki","doi":"10.1109/SICE.1999.788702","DOIUrl":"https://doi.org/10.1109/SICE.1999.788702","url":null,"abstract":"We propose an automated vector compression of bird songs spectra in water-sites by linear prediction method and principal component analysis, and present the experimental validation of the special features and effectiveness of the proposed method through automatic Bayesian discrimination of compressed vectors of the 14 different songs gathered. The result shows that the whole information to classify the songs completely can be fundamentally compressed to a vector of at least 30 dimensions consisting of the variance of residue series and optimal prediction coefficients. Further compression is proposed by unification of covariance matrices of different characteristics among the classes, and principal component analysis has the special features that it makes Bayesian discrimination possible even for cases where the conventional can not conduct the discrimination, with enhanced rates of 1.58 to 1.73 times and within reduction of mean correct classification rate only of 0.8%.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117306392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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