Pub Date : 2008-10-21DOI: 10.1109/SICE.2008.4655158
Li Xu
In this work, we review some new developments accomplished by the author and co-workers very recently for multidimensional (nD) realization and LFR uncertainty modeling. In particular, we shall show some substantial structural insights to this difficult problem that have not been clarified previously and new constructive procedures that can generate a low-order, possibly minimal Roesser model realization for a rational or polynomial nD transfer matrix with numerical or/and symbolic coefficients. It will also be demonstrated by non-trivial examples that the proposed procedures are much more effective than the existing ones.
{"title":"Structural insights in constructive procedures for multidimensional realization and LFR uncertainty modeling","authors":"Li Xu","doi":"10.1109/SICE.2008.4655158","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655158","url":null,"abstract":"In this work, we review some new developments accomplished by the author and co-workers very recently for multidimensional (nD) realization and LFR uncertainty modeling. In particular, we shall show some substantial structural insights to this difficult problem that have not been clarified previously and new constructive procedures that can generate a low-order, possibly minimal Roesser model realization for a rational or polynomial nD transfer matrix with numerical or/and symbolic coefficients. It will also be demonstrated by non-trivial examples that the proposed procedures are much more effective than the existing ones.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129972494","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654875
Tzung-Cheng Chen, Yun Su
This paper focuses on studying the dynamic characteristics of stepper motors. Based on the relation of velocity and torque of stepper motors, a novel algorithm of velocity profile for stepper motor is proposed for straightforwardly realizing on field programmable gate array (FPGA). Missing steps have been a major issue while applying stepper motors on various critical situations. The reason of causing missing steps of stepper motors is due to the high velocity slewing. To alleviate this difficulty, a closed loop control may be applied, but introducing a complex design and more cost than open loop one. If open loop is chosen, the velocity profiles for various applications must be considered to avoid the missing step effect. There are three widespread used profiles: parabolic, trapezoidal, and S-curve profiles. For carrying out the operation of calculating the tedious profiles, a recursive velocity profile algorithm is presented along with a control parameter beta, where 0 < beta < 1, beta=1, and 1 < beta < 2, are corresponding to S-curve, trapezoidal, and parabolic profiles respectively, then this algorithm can be realized on a compact hardware. Thus, a high speed and high precision of stepper motor controller can be achieved by combining a system on chip (SOC) with this hardware.
{"title":"High performance algorithm realization on FPGA for stepper motor controller","authors":"Tzung-Cheng Chen, Yun Su","doi":"10.1109/SICE.2008.4654875","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654875","url":null,"abstract":"This paper focuses on studying the dynamic characteristics of stepper motors. Based on the relation of velocity and torque of stepper motors, a novel algorithm of velocity profile for stepper motor is proposed for straightforwardly realizing on field programmable gate array (FPGA). Missing steps have been a major issue while applying stepper motors on various critical situations. The reason of causing missing steps of stepper motors is due to the high velocity slewing. To alleviate this difficulty, a closed loop control may be applied, but introducing a complex design and more cost than open loop one. If open loop is chosen, the velocity profiles for various applications must be considered to avoid the missing step effect. There are three widespread used profiles: parabolic, trapezoidal, and S-curve profiles. For carrying out the operation of calculating the tedious profiles, a recursive velocity profile algorithm is presented along with a control parameter beta, where 0 < beta < 1, beta=1, and 1 < beta < 2, are corresponding to S-curve, trapezoidal, and parabolic profiles respectively, then this algorithm can be realized on a compact hardware. Thus, a high speed and high precision of stepper motor controller can be achieved by combining a system on chip (SOC) with this hardware.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"275 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134370046","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654660
I. Whang, W. Ra
In this paper, we propose a new time-to-go estimator for conventional PN guided sea-skimming missiles is proposed. In contrast to the conventional method, our method does not only consider the length of the curved homing trajectory caused by the initial heading error, but also tried to mitigate the influence of the seeker measurement noises. In addition, by adopting a new coordinate system moving together with the target in the estimator design, the effect of target movement on the homing trajectory is efficiently took into account. Simulation results show that the proposed filter can estimate the time-to-go very accurately with small computational load.
{"title":"Time-to-go estimation filter for anti-ship missile application","authors":"I. Whang, W. Ra","doi":"10.1109/SICE.2008.4654660","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654660","url":null,"abstract":"In this paper, we propose a new time-to-go estimator for conventional PN guided sea-skimming missiles is proposed. In contrast to the conventional method, our method does not only consider the length of the curved homing trajectory caused by the initial heading error, but also tried to mitigate the influence of the seeker measurement noises. In addition, by adopting a new coordinate system moving together with the target in the estimator design, the effect of target movement on the homing trajectory is efficiently took into account. Simulation results show that the proposed filter can estimate the time-to-go very accurately with small computational load.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131479499","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 : 2008-10-21DOI: 10.1109/SICE.2008.4655114
K. Sekiguchi, M. Ueda, H. Takemura, H. Mizoguchi
In this research, it has aimed at the development of the walking analysis device that takes the influence that the sense machine gives into consideration. The production of six axis power sensor that is the floor reaction force meter to which the use simultaneously with the acquisition of the image of the skin transformation of the back of the foot is required and the evaluation method are described for that.
{"title":"Manufacture and proofreading of 6-axis force sensor for walking analysis","authors":"K. Sekiguchi, M. Ueda, H. Takemura, H. Mizoguchi","doi":"10.1109/SICE.2008.4655114","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655114","url":null,"abstract":"In this research, it has aimed at the development of the walking analysis device that takes the influence that the sense machine gives into consideration. The production of six axis power sensor that is the floor reaction force meter to which the use simultaneously with the acquisition of the image of the skin transformation of the back of the foot is required and the evaluation method are described for that.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131729118","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654692
H. Koyama, H. Sato, A. Namatame
What is the best strategy for efficient search of randomly located targets? This question has been studied in many fields. It is reported that levy flight search is more efficient than random walk search in sparsely target site. On the other hand, when target sites is not sparsely and it is dense, random walk search is more efficient. We have experimented that quantitative comparison between random walk and levy flight, and relation between target density or moving target and search efficiency. It has not also been argued that relation between waiting time and flight length of levy flight for efficient search. In this study we show that relation between waiting time and flight length for efficient search. As a result, it is the most efficient strategy when power index of flight length is 2, which is the same result of the previous experiments. And power index of waiting time is about 3 when searcher needs some waiting times to understand the target.
{"title":"Relation between waiting time and flight length for efficient search","authors":"H. Koyama, H. Sato, A. Namatame","doi":"10.1109/SICE.2008.4654692","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654692","url":null,"abstract":"What is the best strategy for efficient search of randomly located targets? This question has been studied in many fields. It is reported that levy flight search is more efficient than random walk search in sparsely target site. On the other hand, when target sites is not sparsely and it is dense, random walk search is more efficient. We have experimented that quantitative comparison between random walk and levy flight, and relation between target density or moving target and search efficiency. It has not also been argued that relation between waiting time and flight length of levy flight for efficient search. In this study we show that relation between waiting time and flight length for efficient search. As a result, it is the most efficient strategy when power index of flight length is 2, which is the same result of the previous experiments. And power index of waiting time is about 3 when searcher needs some waiting times to understand the target.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"157 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131006712","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 : 2008-10-21DOI: 10.1109/SICE.2008.4655076
K. Ohshima, F. Kojima
This paper is concerned with deep-lying effects in fatigue cracking from eddy current testing (ECT) signals. The fatigue crack often remains tightly closed, and thus difficult to find by visual inspection. It is important to estimate the direction of crack growth because of evaluating the common mode of failure in structural and mechanical engineering components. Our study is aimed at developing a practical method for identifying deep-lying profiles from surface image obtained by scanning ECT probe. A various type of fatigue cracks are made from compact tension (CT) specimen of aluminum alloy samples. ECT signals are collected for those test samples using transmit-receive (TR) probe. We discuss the features of ECT profiles of fatigue cracking which are different from electric discharge machining (EDM) crack signals.
{"title":"Characterization of deep-lying fatigue cracking arising in eddy current testing","authors":"K. Ohshima, F. Kojima","doi":"10.1109/SICE.2008.4655076","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655076","url":null,"abstract":"This paper is concerned with deep-lying effects in fatigue cracking from eddy current testing (ECT) signals. The fatigue crack often remains tightly closed, and thus difficult to find by visual inspection. It is important to estimate the direction of crack growth because of evaluating the common mode of failure in structural and mechanical engineering components. Our study is aimed at developing a practical method for identifying deep-lying profiles from surface image obtained by scanning ECT probe. A various type of fatigue cracks are made from compact tension (CT) specimen of aluminum alloy samples. ECT signals are collected for those test samples using transmit-receive (TR) probe. We discuss the features of ECT profiles of fatigue cracking which are different from electric discharge machining (EDM) crack signals.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132087755","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654710
S. Honda
Electric potential difference method is widely used for diagnosing and monitoring flow conduits. We study the prospect of the method to evaluate pipe wall thinning. Based on our previous work on non-intrusive resistance thermometer for fast breeder reactor, this paper describes theoretical analysis and the 3-D exact solution of the electrical potential field in pipe wall. Complex potentials are applied for 2-D approximation of the potential on the wall surface to evaluate the pipe wall thinning.
{"title":"Thinning pipe wall evaluation by using electric potential difference method","authors":"S. Honda","doi":"10.1109/SICE.2008.4654710","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654710","url":null,"abstract":"Electric potential difference method is widely used for diagnosing and monitoring flow conduits. We study the prospect of the method to evaluate pipe wall thinning. Based on our previous work on non-intrusive resistance thermometer for fast breeder reactor, this paper describes theoretical analysis and the 3-D exact solution of the electrical potential field in pipe wall. Complex potentials are applied for 2-D approximation of the potential on the wall surface to evaluate the pipe wall thinning.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132384189","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654986
Shinpei Kato, Takakuni Goto, N. Homma, Makoto Yoshizawa, Y. Yomogida, Y. Sassa, M. Sugiura, Jorge Riera, R. Kawashima
Humans can often conduct both linear and nonlinear control tasks after a sufficient number of trials, even if they initially do not have sufficient knowledge about the systempsilas dynamics and the way to control it. Theoretically, it is well known that some nonlinear systems cannot be stabilized asymptotically by any linear controllers. However, such differences between linear and nonlinear controls from the viewpoint of brain activities are still unclear. In this paper, we have conducted an F-MRI experiment using complex nonlinear control tasks where subjects are required to control a 2-link planar under actuated manipulator (2PUAM). The 2PUAM has nonholonomic constrains and cannot be stabilized asymptotically by any linear controller. Although there are similar activations such as in motor cortex and somatosensory cortex, some differences between linear and nonlinear cases have been observed by the F-MRI. According to the brain function mapping, the result implies that some additional information such as the shape of the manipulator and its trajectory, which are not needed for linear control tasks, may be required to control the 2PUAM. Therefore, this suggests that the difference in linear and nonlinear control tasks can be observed through the brain activities.
{"title":"F-MRI analysis of the human brain activities during manual control of a nonholonomic system","authors":"Shinpei Kato, Takakuni Goto, N. Homma, Makoto Yoshizawa, Y. Yomogida, Y. Sassa, M. Sugiura, Jorge Riera, R. Kawashima","doi":"10.1109/SICE.2008.4654986","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654986","url":null,"abstract":"Humans can often conduct both linear and nonlinear control tasks after a sufficient number of trials, even if they initially do not have sufficient knowledge about the systempsilas dynamics and the way to control it. Theoretically, it is well known that some nonlinear systems cannot be stabilized asymptotically by any linear controllers. However, such differences between linear and nonlinear controls from the viewpoint of brain activities are still unclear. In this paper, we have conducted an F-MRI experiment using complex nonlinear control tasks where subjects are required to control a 2-link planar under actuated manipulator (2PUAM). The 2PUAM has nonholonomic constrains and cannot be stabilized asymptotically by any linear controller. Although there are similar activations such as in motor cortex and somatosensory cortex, some differences between linear and nonlinear cases have been observed by the F-MRI. According to the brain function mapping, the result implies that some additional information such as the shape of the manipulator and its trajectory, which are not needed for linear control tasks, may be required to control the 2PUAM. Therefore, this suggests that the difference in linear and nonlinear control tasks can be observed through the brain activities.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"437 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132650915","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654931
M. Hayakawa
The VLF/LF receiving network is established in Japan (and also Kamchatka, Taiwan and Indonesia) composed of seven observing stations (Moshiri (Hokkaido), Chofu (UEC), Tateyama (Chiba), Shimizu, Kasugai (Nagoya) and Kochi). At each station we observe simultaneously several VLF/LF transmitter signals (Japanese JJI (40 kHz, Fukushima), JJI (Ebino, Kyusyu), and foreign VLF transmitters (NWC (Australia), NPM (Hawaii), NLK (USA). This Japanese VLF/LF network is used to study the ionospheric perturbations associated with earthquakes, and we present a few case studies (like Niigata Chuetsu earthquake, Sumatra earthquake) and statistical studies on the correlation between ionospheric perturbations (in the form of VLF/LF propagation anomaly) and earthquakes.
{"title":"Subionospheric VLF/LF probing of ionospheric perturbations associated with earthquakes (earthquake prediction)","authors":"M. Hayakawa","doi":"10.1109/SICE.2008.4654931","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654931","url":null,"abstract":"The VLF/LF receiving network is established in Japan (and also Kamchatka, Taiwan and Indonesia) composed of seven observing stations (Moshiri (Hokkaido), Chofu (UEC), Tateyama (Chiba), Shimizu, Kasugai (Nagoya) and Kochi). At each station we observe simultaneously several VLF/LF transmitter signals (Japanese JJI (40 kHz, Fukushima), JJI (Ebino, Kyusyu), and foreign VLF transmitters (NWC (Australia), NPM (Hawaii), NLK (USA). This Japanese VLF/LF network is used to study the ionospheric perturbations associated with earthquakes, and we present a few case studies (like Niigata Chuetsu earthquake, Sumatra earthquake) and statistical studies on the correlation between ionospheric perturbations (in the form of VLF/LF propagation anomaly) and earthquakes.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128814290","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 : 2008-10-21DOI: 10.1109/SICE.2008.4655089
T. Matsuo, T. Yokoyama, K. Ishii
Robots and robotics technologies are expected as new tools, especially in the extreme environments where are very dangerous to access directly by human beings such as underwater environments, volcanic areas, nuclear power plants, etc. Robots for such the extreme environments should be robust and strong enough to disturbance and breakdowns. We can find out a solution to realize robust robot system from interesting approaches in creatures. Animals adapt well to environmental changes in both short and long time periods. On nervous systems of animals, it becomes clear that motion patterns, such as walking, respiration, flap, etc, are controlled by rhythm generator mechanisms called the central pattern generator (CPG). In this paper, a robot motion control system using CPG is proposed and applied to a multi link mobile robot.
{"title":"Biomimetic motion control system using CPG for a multi link mobile robot","authors":"T. Matsuo, T. Yokoyama, K. Ishii","doi":"10.1109/SICE.2008.4655089","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655089","url":null,"abstract":"Robots and robotics technologies are expected as new tools, especially in the extreme environments where are very dangerous to access directly by human beings such as underwater environments, volcanic areas, nuclear power plants, etc. Robots for such the extreme environments should be robust and strong enough to disturbance and breakdowns. We can find out a solution to realize robust robot system from interesting approaches in creatures. Animals adapt well to environmental changes in both short and long time periods. On nervous systems of animals, it becomes clear that motion patterns, such as walking, respiration, flap, etc, are controlled by rhythm generator mechanisms called the central pattern generator (CPG). In this paper, a robot motion control system using CPG is proposed and applied to a multi link mobile robot.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131685839","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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