Pub Date : 2017-12-13DOI: 10.23919/ICCAS.2017.8204211
A. Umehara, Yuya Yamamoto, Haruyoshi Nishi, A. Takanishi, Hun-ok Lim
This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot's height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed. Also, the jumping pattern that is composed of an air-supplying and an air-exhausting pattern of the pneumatic actuator is discussed. The jumping pattern is generated offline taking into account actuator dynamics. A jumping experiment was conducted, and the effectiveness of the mechanism and jumping pattern was verified.
{"title":"Jumping pattern generation for one-legged jumping robot","authors":"A. Umehara, Yuya Yamamoto, Haruyoshi Nishi, A. Takanishi, Hun-ok Lim","doi":"10.23919/ICCAS.2017.8204211","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204211","url":null,"abstract":"This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot's height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed. Also, the jumping pattern that is composed of an air-supplying and an air-exhausting pattern of the pneumatic actuator is discussed. The jumping pattern is generated offline taking into account actuator dynamics. A jumping experiment was conducted, and the effectiveness of the mechanism and jumping pattern was verified.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115568534","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 : 2017-12-13DOI: 10.23919/ICCAS.2017.8204253
Y. Nozaki, T. Yoshimi, K. Takeuchi
The purpose of this study is to investigate how humans feel about the eye contact by robots, especially non-human shaped tabletop robots. The robot detects human's face by color detection and moves its eyes to follow it. Most people feel good and are interested in this kind of robot. However, some people got scared them. In this paper, we describe the evaluation results of our eye contact robot through experiments.
{"title":"A study of eye contact for tabletop robot","authors":"Y. Nozaki, T. Yoshimi, K. Takeuchi","doi":"10.23919/ICCAS.2017.8204253","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204253","url":null,"abstract":"The purpose of this study is to investigate how humans feel about the eye contact by robots, especially non-human shaped tabletop robots. The robot detects human's face by color detection and moves its eyes to follow it. Most people feel good and are interested in this kind of robot. However, some people got scared them. In this paper, we describe the evaluation results of our eye contact robot through experiments.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125866604","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}
This paper experimentally evaluates the effects of a soft wearable robotic suit, which is developed for energy-efficient walking in daily activities, in healthy subjects. The robotic suit provides a small but effective assistance for hip flexion. Moreover, it is lightweight and it does not restrict the motion range of the lower limbs. Experimental results on two healthy subjects show that the robotic suit worn and powered on (PON) reduced oxygen uptake by an average of 3.6 % compared with the condition of worn but powered off (POFF). Moreover, compared with the POFF condition, walk ratio was improved by an average of 2.6 % in the PON condition.
{"title":"Effects of a soft wearable robotic suit on metabolic cost and gait characteristics in healthy young subjects","authors":"Shanhai Jin, Shijie Guo, Kazunobu Hashimoto, Motoji Yamamoto","doi":"10.23919/ICCAS.2017.8204315","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204315","url":null,"abstract":"This paper experimentally evaluates the effects of a soft wearable robotic suit, which is developed for energy-efficient walking in daily activities, in healthy subjects. The robotic suit provides a small but effective assistance for hip flexion. Moreover, it is lightweight and it does not restrict the motion range of the lower limbs. Experimental results on two healthy subjects show that the robotic suit worn and powered on (PON) reduced oxygen uptake by an average of 3.6 % compared with the condition of worn but powered off (POFF). Moreover, compared with the POFF condition, walk ratio was improved by an average of 2.6 % in the PON condition.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"61 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114040525","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 : 2017-12-13DOI: 10.23919/ICCAS.2017.8204300
S. Furukawa, S. Kondo, A. Takanishi, Hun-ok Lim
It is difficult for flying robots with a conventional PID controller to fly stably with external disturbances such as wind. Thus, a flight control method that can change the control parameters of a conventional PID controller according to the external disturbances is described in this paper. The control parameters of the PID controller are automatically adjusted based on a radial basis function neural network (RBFNN). The experimental results show that the control method is capable of effectively dealing with external disturbances.
{"title":"Radial basis function neural network based PID control for quad-rotor flying robot","authors":"S. Furukawa, S. Kondo, A. Takanishi, Hun-ok Lim","doi":"10.23919/ICCAS.2017.8204300","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204300","url":null,"abstract":"It is difficult for flying robots with a conventional PID controller to fly stably with external disturbances such as wind. Thus, a flight control method that can change the control parameters of a conventional PID controller according to the external disturbances is described in this paper. The control parameters of the PID controller are automatically adjusted based on a radial basis function neural network (RBFNN). The experimental results show that the control method is capable of effectively dealing with external disturbances.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116504782","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 : 2017-10-18DOI: 10.23919/ICCAS.2017.8204470
Masahiro Furukakoi, Mohammad Masih Sediqi, S. Chakraborty, M. Hassan, T. Senjyu
Due to the electric power liberalization, many power producers are entering into the deregulated power market. Most of the electrical power companies are introducing Renewable Energy Sources (RES), which will increase the power system uncertainty. Consequently, the underlyng uncertainty imposed by RES will increase the likelihood of voltage instability and voltage collapse. Also, fluctuations in supply and demand are increased by the introduction of renewable energies. On the other hand, Demand Response Program (DRP) is one of the potential solutions that reduces the power fluctuations. In this study, we proposed multi-objective optimal operation based Unit Commitment (UC) considering voltage stability and demand response. The effectiveness of the proposed method is verified by simulation results using the MATLAB.
{"title":"Multi-objective optimal operation with demand management and voltage stability","authors":"Masahiro Furukakoi, Mohammad Masih Sediqi, S. Chakraborty, M. Hassan, T. Senjyu","doi":"10.23919/ICCAS.2017.8204470","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204470","url":null,"abstract":"Due to the electric power liberalization, many power producers are entering into the deregulated power market. Most of the electrical power companies are introducing Renewable Energy Sources (RES), which will increase the power system uncertainty. Consequently, the underlyng uncertainty imposed by RES will increase the likelihood of voltage instability and voltage collapse. Also, fluctuations in supply and demand are increased by the introduction of renewable energies. On the other hand, Demand Response Program (DRP) is one of the potential solutions that reduces the power fluctuations. In this study, we proposed multi-objective optimal operation based Unit Commitment (UC) considering voltage stability and demand response. The effectiveness of the proposed method is verified by simulation results using the MATLAB.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124708075","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204283
V. V. R. M. K. Muvva, Naresh Adhikari, Amrita Ghimire
Reinforcement learning (RL) helps an agent to learn an optimal path within a specific environment while maximizing its performance. Reinforcement learning (RL) plays a crucial role on training an agent to accomplish a specific job in an environment. To train an agent an optimal policy, the robot must go through intensive training which is not cost-effective in the real-world. A cost-effective solution is required for training an agent by using a virtual environment so that the agent learns an optimal policy, which can be used in virtual as well as real environment for reaching the goal state. In this paper, a new method is purposed to train a physical robot to evade mix of physical and virtual obstacles to reach a desired goal state using optimal policy obtained by training the robot in an augmented reality (AR) world with one of the active reinforcement learning (RL) techniques, known as Q-learning.
{"title":"Towards training an agent in augmented reality world with reinforcement learning","authors":"V. V. R. M. K. Muvva, Naresh Adhikari, Amrita Ghimire","doi":"10.23919/ICCAS.2017.8204283","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204283","url":null,"abstract":"Reinforcement learning (RL) helps an agent to learn an optimal path within a specific environment while maximizing its performance. Reinforcement learning (RL) plays a crucial role on training an agent to accomplish a specific job in an environment. To train an agent an optimal policy, the robot must go through intensive training which is not cost-effective in the real-world. A cost-effective solution is required for training an agent by using a virtual environment so that the agent learns an optimal policy, which can be used in virtual as well as real environment for reaching the goal state. In this paper, a new method is purposed to train a physical robot to evade mix of physical and virtual obstacles to reach a desired goal state using optimal policy obtained by training the robot in an augmented reality (AR) world with one of the active reinforcement learning (RL) techniques, known as Q-learning.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"165 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121803583","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204341
Yi Zhang, Fan Zhang, Xiao Wu, Junli Zhang, Li Sun, Jiong Shen
This paper proposes a supervisory optimal control structure for the micro-gas-turbine based combined cooling heating and power (MGT-CCHP) system. In the upper layer of the structure, a dynamic optimal reference governor is developed to calculate the optimal operating points according to the given economic performance indexes, and in the lower layer of the structure, model predictive control is utilized to track the given operating points, so that a dynamic optimality can be achieved under the input-output constraints during the optimization. Moreover, a disturbance term is introduced in the model to lump the effect of unmeasured disturbances and plant behavior variations, thus, their influences on the supervisory optimization can be removed. The advantages and effectiveness of the proposed method are demonstrated through the simulations on an 80kW MGT-CCHP simulator.
{"title":"Supervisory optimization of the MGT-CCHP system using model predictive control","authors":"Yi Zhang, Fan Zhang, Xiao Wu, Junli Zhang, Li Sun, Jiong Shen","doi":"10.23919/ICCAS.2017.8204341","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204341","url":null,"abstract":"This paper proposes a supervisory optimal control structure for the micro-gas-turbine based combined cooling heating and power (MGT-CCHP) system. In the upper layer of the structure, a dynamic optimal reference governor is developed to calculate the optimal operating points according to the given economic performance indexes, and in the lower layer of the structure, model predictive control is utilized to track the given operating points, so that a dynamic optimality can be achieved under the input-output constraints during the optimization. Moreover, a disturbance term is introduced in the model to lump the effect of unmeasured disturbances and plant behavior variations, thus, their influences on the supervisory optimization can be removed. The advantages and effectiveness of the proposed method are demonstrated through the simulations on an 80kW MGT-CCHP simulator.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125015019","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204227
Yuken Kanemaru, Y. Kamiya, T. Shimokawa, H. Umezaki, T. Sakaki
Partial weight-bearing exercise is widely used in rehabilitation for patients with lower limb injuries. It is intended to help patients learn to what degree they can bear weight on the affected limb. General weight scales are widely used for this exercise to measure weight-bearing. These are easy to introduce, but involve some problems. One is that patients cannot easily read the scale to calculate weight-bearing rate. The purpose of this study is to develop a rehabilitation device to address this problem. The device combines the Nintendo Wii Balance BoardTM and a PC. It allows patients to observe the display unit while the device automatically calculates weight-bearing rate. In addition, patients can enjoy exercise with the Game Mode.
{"title":"Development of rehabilitation device for standing position weight bearing exercise using Wii balance board","authors":"Yuken Kanemaru, Y. Kamiya, T. Shimokawa, H. Umezaki, T. Sakaki","doi":"10.23919/ICCAS.2017.8204227","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204227","url":null,"abstract":"Partial weight-bearing exercise is widely used in rehabilitation for patients with lower limb injuries. It is intended to help patients learn to what degree they can bear weight on the affected limb. General weight scales are widely used for this exercise to measure weight-bearing. These are easy to introduce, but involve some problems. One is that patients cannot easily read the scale to calculate weight-bearing rate. The purpose of this study is to develop a rehabilitation device to address this problem. The device combines the Nintendo Wii Balance BoardTM and a PC. It allows patients to observe the display unit while the device automatically calculates weight-bearing rate. In addition, patients can enjoy exercise with the Game Mode.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126757783","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204274
Hosu Lee, M. R. Afzal, Jungwon Yoon
In recent years, several robotic devices have been developed for lower limb rehabilitation. However, the post-training functional improvements in gait abilities after using those devices are reported to be either similar to conventional rehabilitation therapy or even lower in some cases. Meanwhile, those existing devices have several drawbacks such as heavy, complex mechanisms, expensive, restriction of mobility. Thus, this paper suggests a system which can help to realize lower limb joint torque on real ground without restriction of mobility. A walker combined with wire driven actuation of lower limb is proposed. The advantages of the proposed system are that the system is lightweight, easy to wear, can be implemented with simplistic control scheme and provides walking experience on the actual ground. In this paper, we have presented the design of the proposed device and performed analysis of its dynamics by using ADAMS® to assess its actuation. In future work the optimization of the design and fabrication of the system will be carried out.
{"title":"Design of a haptic walker system based on cable driven actuator for lower limb rehabilitation","authors":"Hosu Lee, M. R. Afzal, Jungwon Yoon","doi":"10.23919/ICCAS.2017.8204274","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204274","url":null,"abstract":"In recent years, several robotic devices have been developed for lower limb rehabilitation. However, the post-training functional improvements in gait abilities after using those devices are reported to be either similar to conventional rehabilitation therapy or even lower in some cases. Meanwhile, those existing devices have several drawbacks such as heavy, complex mechanisms, expensive, restriction of mobility. Thus, this paper suggests a system which can help to realize lower limb joint torque on real ground without restriction of mobility. A walker combined with wire driven actuation of lower limb is proposed. The advantages of the proposed system are that the system is lightweight, easy to wear, can be implemented with simplistic control scheme and provides walking experience on the actual ground. In this paper, we have presented the design of the proposed device and performed analysis of its dynamics by using ADAMS® to assess its actuation. In future work the optimization of the design and fabrication of the system will be carried out.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"11 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114953848","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 : 2017-10-01DOI: 10.23919/ICCAS.2017.8204414
M. A. C. Ramos, B. C. C. Leme, L. F. D. de Almeida, F. C. P. Bizarria, J. W. P. Bizarria
This work presents the implementation of a method for classification of wear particle contaminant present in industrial oil by using image processing and neural networks. It is based on morphological data obtained from a computer vision system and employs Self-Organizing Maps to classify particles' features intro different wear debris groups. The dataset used for training the neural network and further validation of the results was gathered using reports provided by a specialist company in wear particle analysis. The objective is to develop a system feasible for most industries to turn the process of particle classification more autonomous and faster. The results demonstrate that our proposed system could classify particles considering their shape in a reliable and autonomous way.
{"title":"Clustering wear particle using computer vision and self-organizing maps","authors":"M. A. C. Ramos, B. C. C. Leme, L. F. D. de Almeida, F. C. P. Bizarria, J. W. P. Bizarria","doi":"10.23919/ICCAS.2017.8204414","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204414","url":null,"abstract":"This work presents the implementation of a method for classification of wear particle contaminant present in industrial oil by using image processing and neural networks. It is based on morphological data obtained from a computer vision system and employs Self-Organizing Maps to classify particles' features intro different wear debris groups. The dataset used for training the neural network and further validation of the results was gathered using reports provided by a specialist company in wear particle analysis. The objective is to develop a system feasible for most industries to turn the process of particle classification more autonomous and faster. The results demonstrate that our proposed system could classify particles considering their shape in a reliable and autonomous way.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115536898","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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