Pub Date : 2010-01-01DOI: 10.1080/00051144.2010.11828363
A. Sabanoviç, K. Ohnishi, D. Yashiro, N. Šabanović
In this paper motion control systems with delay in measurement and control channels are discussed and a new structure of the observer-predictor is proposed. The feature of the proposed system is enforcement of the convergence in both the estimation and the prediction of the plant output in the presence of the variable, unknown delay in both measurement and in the control channels. The estimation is based on the available data — undelayed control input, the delayed measurement of position or velocity and the nominal parameters of the plant and it does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters is discussed. Experimental results are shown to illustrate the theoretical predictions.
{"title":"Motion control systems with network delay","authors":"A. Sabanoviç, K. Ohnishi, D. Yashiro, N. Šabanović","doi":"10.1080/00051144.2010.11828363","DOIUrl":"https://doi.org/10.1080/00051144.2010.11828363","url":null,"abstract":"In this paper motion control systems with delay in measurement and control channels are discussed and a new structure of the observer-predictor is proposed. The feature of the proposed system is enforcement of the convergence in both the estimation and the prediction of the plant output in the presence of the variable, unknown delay in both measurement and in the control channels. The estimation is based on the available data — undelayed control input, the delayed measurement of position or velocity and the nominal parameters of the plant and it does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters is discussed. Experimental results are shown to illustrate the theoretical predictions.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"105 23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127455791","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 : 2009-12-01DOI: 10.1109/IECON.2009.5414854
Tatsuhito Watanabe, S. Katsura
In this paper, a method for constructing ideal motion and analyzing difference between current and past motion is proposed. The ideal motion means a motion which is considered from past to current motion information. The proposed method is supposed to apply motion assist by robots. For the motion assist by robots, individual database adjusted to day-by-day variation is necessary. This database should be able to extract ideal motion in daily motion and acquire the difference between current and past motion. By analyzing difference between current and past motion, robots can recognize day-by-day variation of the examinee. For deriving ideal motion and analyses of the difference at the same time, quarry matrix is used. Finally, this paper generates the ideal motion considering the correlations between past ideal motion and the elements in the database. To recognize both ideal motion and differences, this paper extracts the force information using temporal mode. The proposed method enables to analyze the difference between elements in the database without impairing the correlations. The viability of the proposed method is confirmed by experiments.
{"title":"Motion recognition based on temporal mode acquisition","authors":"Tatsuhito Watanabe, S. Katsura","doi":"10.1109/IECON.2009.5414854","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414854","url":null,"abstract":"In this paper, a method for constructing ideal motion and analyzing difference between current and past motion is proposed. The ideal motion means a motion which is considered from past to current motion information. The proposed method is supposed to apply motion assist by robots. For the motion assist by robots, individual database adjusted to day-by-day variation is necessary. This database should be able to extract ideal motion in daily motion and acquire the difference between current and past motion. By analyzing difference between current and past motion, robots can recognize day-by-day variation of the examinee. For deriving ideal motion and analyses of the difference at the same time, quarry matrix is used. Finally, this paper generates the ideal motion considering the correlations between past ideal motion and the elements in the database. To recognize both ideal motion and differences, this paper extracts the force information using temporal mode. The proposed method enables to analyze the difference between elements in the database without impairing the correlations. The viability of the proposed method is confirmed by experiments.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"208 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116400577","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 : 2009-12-01DOI: 10.1109/IECON.2009.5415382
K. Natori, K. Ohnishi
This paper presents a modified structure for robustness enhancement of time-delay systems with communication disturbance observer (CDOB). A time-delay compensation method based on network disturbance (ND) concept and CDOB has been proposed and applied to various time-delay systems. The effectiveness is the same as Smith predictor. In addition, it works even when the value of time delay is unknown, since the method compensates time-delay effects without time-delay models. However, it has a problem of the robustness on system model errors. In case there are model errors of the system, serious steady-state error occurs. In this paper, a modified structure that enhances the robustness of time-delay systems with CDOB is proposed. The structure enhances the robustness and achieves zero steady-state error. The effectiveness of the proposed structure is presented by a case study of a time-delayed motor control system. In addition, this paper addresses stability and transient characteristics of the proposed structure.
{"title":"A modified structure for robustness enhancement of time-delay systems with communication disturbance observer","authors":"K. Natori, K. Ohnishi","doi":"10.1109/IECON.2009.5415382","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415382","url":null,"abstract":"This paper presents a modified structure for robustness enhancement of time-delay systems with communication disturbance observer (CDOB). A time-delay compensation method based on network disturbance (ND) concept and CDOB has been proposed and applied to various time-delay systems. The effectiveness is the same as Smith predictor. In addition, it works even when the value of time delay is unknown, since the method compensates time-delay effects without time-delay models. However, it has a problem of the robustness on system model errors. In case there are model errors of the system, serious steady-state error occurs. In this paper, a modified structure that enhances the robustness of time-delay systems with CDOB is proposed. The structure enhances the robustness and achieves zero steady-state error. The effectiveness of the proposed structure is presented by a case study of a time-delayed motor control system. In addition, this paper addresses stability and transient characteristics of the proposed structure.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131858981","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 : 2009-12-01DOI: 10.1109/IECON.2009.5415297
K. Mikami, Yusuke Kasahara, K. Ohnishi
Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information to operator on remote control. However, the flexible actuators have been developed only for the rotational motion or only for the translational motion. This time, we developed two type wires that are able to transmit rotational and translational motion. In this paper, ”thrust-rotation wire” which transmit rotational and translation motion were developed and characteristics of position/force and angular/torque transmissions of that were verified and both type were compared.
{"title":"An experimental validation of flexible actuator with thrust-rotational wire","authors":"K. Mikami, Yusuke Kasahara, K. Ohnishi","doi":"10.1109/IECON.2009.5415297","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415297","url":null,"abstract":"Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information to operator on remote control. However, the flexible actuators have been developed only for the rotational motion or only for the translational motion. This time, we developed two type wires that are able to transmit rotational and translational motion. In this paper, ”thrust-rotation wire” which transmit rotational and translation motion were developed and characteristics of position/force and angular/torque transmissions of that were verified and both type were compared.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125985857","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 : 2009-12-01DOI: 10.1109/IECON.2009.5414951
R. Fuentes, J. Juliet, J. Estrada, F. Ahumada, F. Campana
In this paper, a design method and some experimental results of a high power factor induction heating system is presented, which is formed by a non-controlled rectifier, a DC-DC buck converter and a resonant inverter using IGBTs. The design method considers the load parameters, the load power and the frequency as input data. Then, electric variables and parameters are calculated according to a theoretic group of relations. Digital simulations of the main electric variables are developed and finally a 15 kW prototype is tested at the laboratory to validate the simulation results. Conclusions and comments about the application of this method for a high power level are presented.
{"title":"Design aspects and experimental results of a high power factor induction heating system","authors":"R. Fuentes, J. Juliet, J. Estrada, F. Ahumada, F. Campana","doi":"10.1109/IECON.2009.5414951","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414951","url":null,"abstract":"In this paper, a design method and some experimental results of a high power factor induction heating system is presented, which is formed by a non-controlled rectifier, a DC-DC buck converter and a resonant inverter using IGBTs. The design method considers the load parameters, the load power and the frequency as input data. Then, electric variables and parameters are calculated according to a theoretic group of relations. Digital simulations of the main electric variables are developed and finally a 15 kW prototype is tested at the laboratory to validate the simulation results. Conclusions and comments about the application of this method for a high power level are presented.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131185797","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 : 2009-12-01DOI: 10.1109/IECON.2009.5415062
S. Ito, Y. Mitsukura, Katsuya Sato, S. Fujisawa, M. Fukumi
This paper discusses the relationship the result classified the electroencephalogram (EEG) patterns while listening to music and the human's nature, which indicates the personal feature of a human, based on the egogram pattern. The EEG analysis calculates the power spectra of the frequency of the EEG signal, divides into the frequency bands based on theta, alpha, and beta rhythms, and evaluates whether the music matches mood of the user or not through EEG pattern classification. A k-nearest neighbor classifier is used to classify the EEG patterns. The egogram is used for detecting nature of the human. Finally, we discuss the relationship the result of EEG pattern classification and the human's nature. An interesting finding was that the recognition accuracy of the EEG pattern meaning the response of them on negative stimuli became high when the subject was classified into the egogram pattern with introverted nature.
{"title":"A study on relationship between personal feature of EEG and human's characteristic for BCI based on mental state","authors":"S. Ito, Y. Mitsukura, Katsuya Sato, S. Fujisawa, M. Fukumi","doi":"10.1109/IECON.2009.5415062","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415062","url":null,"abstract":"This paper discusses the relationship the result classified the electroencephalogram (EEG) patterns while listening to music and the human's nature, which indicates the personal feature of a human, based on the egogram pattern. The EEG analysis calculates the power spectra of the frequency of the EEG signal, divides into the frequency bands based on theta, alpha, and beta rhythms, and evaluates whether the music matches mood of the user or not through EEG pattern classification. A k-nearest neighbor classifier is used to classify the EEG patterns. The egogram is used for detecting nature of the human. Finally, we discuss the relationship the result of EEG pattern classification and the human's nature. An interesting finding was that the recognition accuracy of the EEG pattern meaning the response of them on negative stimuli became high when the subject was classified into the egogram pattern with introverted nature.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133434121","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 : 2009-12-01DOI: 10.1109/IECON.2009.5414839
S. Sakaino, Tomoya Sato, K. Ohnishi
This paper proposes a method for composition of a task hierarchy as an example of oblique coordinate control. As a primary task, position limitation is implemented and bilateral control is realized secondary. This hierarchy is simply given by a multiple of coordinate transform matrices and the problem can be regarded as position-force hybrid controller in oblique coordinate. Thus, the interference of the tasks are easily described by “task mass matrix” and the limitation does not destabilize systems. Validity of the method is confirmed by some experiments.
{"title":"Task hierarchy for position limitation and bilateral control by oblique coordinate control","authors":"S. Sakaino, Tomoya Sato, K. Ohnishi","doi":"10.1109/IECON.2009.5414839","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414839","url":null,"abstract":"This paper proposes a method for composition of a task hierarchy as an example of oblique coordinate control. As a primary task, position limitation is implemented and bilateral control is realized secondary. This hierarchy is simply given by a multiple of coordinate transform matrices and the problem can be regarded as position-force hybrid controller in oblique coordinate. Thus, the interference of the tasks are easily described by “task mass matrix” and the limitation does not destabilize systems. Validity of the method is confirmed by some experiments.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127883493","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 : 2009-12-01DOI: 10.1109/IECON.2009.5415427
Alberto Sánchez, S. Elvira, Á. de Castro, G. Glez-de-Rivera, R. Ribalda, J. Garrido
This paper presents a low cost indoor ultrasonic-based positioning system. This system allows the mobile nodes of a Wireless Sensor Network to know their location using radiofrequency and ultrasonics. To achieve this goal, a matrix of transmitting anchor points is installed whereas the mobile nodes receive these transmitted signals and estimate the time-of-flight of the ultrasonic signals. Using two time-of-flight measurements and trilateration equations, the location of the mobile nodes can be inferred in a 2-D space.
{"title":"Low cost indoor ultrasonic positioning implemented in FPGA","authors":"Alberto Sánchez, S. Elvira, Á. de Castro, G. Glez-de-Rivera, R. Ribalda, J. Garrido","doi":"10.1109/IECON.2009.5415427","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415427","url":null,"abstract":"This paper presents a low cost indoor ultrasonic-based positioning system. This system allows the mobile nodes of a Wireless Sensor Network to know their location using radiofrequency and ultrasonics. To achieve this goal, a matrix of transmitting anchor points is installed whereas the mobile nodes receive these transmitted signals and estimate the time-of-flight of the ultrasonic signals. Using two time-of-flight measurements and trilateration equations, the location of the mobile nodes can be inferred in a 2-D space.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"59 24","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113937448","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 : 2009-12-01DOI: 10.1109/IECON.2009.5415279
D. Yashiro, A. Sabanoviç, K. Ohnishi
In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is implemented. And some simulations and experiments verify the validity of the proposed method.
{"title":"Central controller for hybrid control over network","authors":"D. Yashiro, A. Sabanoviç, K. Ohnishi","doi":"10.1109/IECON.2009.5415279","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415279","url":null,"abstract":"In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is implemented. And some simulations and experiments verify the validity of the proposed method.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134192844","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 : 2009-12-01DOI: 10.1109/IECON.2009.5415154
G. Mine, T. Handa, T. Tachikawa, Yuji Watanabe, J. Ichimura, H. Nishi
KNIVES (Keio University Network oriented Intelligent and Versatile Energy saving System) is an IT based supply and demand side management system that supports distributed and cooperative power control. In this study, KNIVES is constructed on a real experimental facility of microgrid. The facility includes some distributed power generator and controllable/uncontrollable loads. It is also connected with general power grid. Therefore, it can introduce the electric power from the power grid when the power supply is insufficient. An experiment of demand control was achieved in this facility and the affectivity of KNIVES was confirmed. In this experiment, error ratio of demand balancing with distributed and cooperative demand controls were evaluated and compared with that without the demand control.
{"title":"Evaluation of cooperative demand control system on micro grid","authors":"G. Mine, T. Handa, T. Tachikawa, Yuji Watanabe, J. Ichimura, H. Nishi","doi":"10.1109/IECON.2009.5415154","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415154","url":null,"abstract":"KNIVES (Keio University Network oriented Intelligent and Versatile Energy saving System) is an IT based supply and demand side management system that supports distributed and cooperative power control. In this study, KNIVES is constructed on a real experimental facility of microgrid. The facility includes some distributed power generator and controllable/uncontrollable loads. It is also connected with general power grid. Therefore, it can introduce the electric power from the power grid when the power supply is insufficient. An experiment of demand control was achieved in this facility and the affectivity of KNIVES was confirmed. In this experiment, error ratio of demand balancing with distributed and cooperative demand controls were evaluated and compared with that without the demand control.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134524946","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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