Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526642
A. Yabu, Y. Okuyama, F. Takemori
We describe the attitude control of a pendulum system (tumbler) with one joint as a model of a walking robot. The loop-shaping method, a method that utilizes the weighting function based on the H/sub /spl infin// control theory, is applied in the design of the stabilization compensator. The entire control system has been designed according to the concept of the two-degrees-of-freedom system. We herein report the results of computer simulation of a control system using the thus designed compensator, as well as the experimental results of a control system which uses a gyroscope to detect the attitude. The results of our experiments indicate that we have been successful in tumbler stabilization control.
{"title":"Attitude control of tumbler systems with one joint using a gyroscope","authors":"A. Yabu, Y. Okuyama, F. Takemori","doi":"10.1109/SICE.1995.526642","DOIUrl":"https://doi.org/10.1109/SICE.1995.526642","url":null,"abstract":"We describe the attitude control of a pendulum system (tumbler) with one joint as a model of a walking robot. The loop-shaping method, a method that utilizes the weighting function based on the H/sub /spl infin// control theory, is applied in the design of the stabilization compensator. The entire control system has been designed according to the concept of the two-degrees-of-freedom system. We herein report the results of computer simulation of a control system using the thus designed compensator, as well as the experimental results of a control system which uses a gyroscope to detect the attitude. The results of our experiments indicate that we have been successful in tumbler stabilization control.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134257887","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 : 1995-07-26DOI: 10.1109/SICE.1995.526729
S. Shibata, K. Tanaka, A. Shimizu
This paper examines the relations between human emotions and the virtual impedance values of the robot experimentally using the rating scale method. In the experiments, 11 subjects added force or impact to the robot and evaluated its reaction by the rating scale method. The evaluations were done on 48 combinations of virtual mass, viscous coefficient, and stiffness. As the results, the emotions being flexible, pleasant, and human-like were explained by a linear regression model of the impedance values and classified into 4 groups from the view point of the contact force and response speed.
{"title":"Favorable reaction of robots coexisting with humans","authors":"S. Shibata, K. Tanaka, A. Shimizu","doi":"10.1109/SICE.1995.526729","DOIUrl":"https://doi.org/10.1109/SICE.1995.526729","url":null,"abstract":"This paper examines the relations between human emotions and the virtual impedance values of the robot experimentally using the rating scale method. In the experiments, 11 subjects added force or impact to the robot and evaluated its reaction by the rating scale method. The evaluations were done on 48 combinations of virtual mass, viscous coefficient, and stiffness. As the results, the emotions being flexible, pleasant, and human-like were explained by a linear regression model of the impedance values and classified into 4 groups from the view point of the contact force and response speed.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132035327","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 : 1995-07-26DOI: 10.1109/SICE.1995.526727
H. Tomita, S. Yoda, K. Sato, K. Chihara
Range image measurement using structured light has been widely utilized. A new structured light employing modulated patterns is proposed. By projecting the pattern light and signal processing in time domain, it is possible to obtain the 3D geometric information of objects more accurately. By using a matched filter to extract the structured light in an image, it is possible to project multiple structured light from several positions simultaneously for reducing occlusion problem. This paper describes the new method with some experiments.
{"title":"Range finding with simultaneous projection of modulated patterns","authors":"H. Tomita, S. Yoda, K. Sato, K. Chihara","doi":"10.1109/SICE.1995.526727","DOIUrl":"https://doi.org/10.1109/SICE.1995.526727","url":null,"abstract":"Range image measurement using structured light has been widely utilized. A new structured light employing modulated patterns is proposed. By projecting the pattern light and signal processing in time domain, it is possible to obtain the 3D geometric information of objects more accurately. By using a matched filter to extract the structured light in an image, it is possible to project multiple structured light from several positions simultaneously for reducing occlusion problem. This paper describes the new method with some experiments.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"1065 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113981985","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 : 1995-07-26DOI: 10.1109/SICE.1995.526647
Jae-Chun Ryu, Chongkug Park
In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezoelectric unimorph cells. The main problems in force control are overshoot overdamping and unknown environment (e.g. the stiffness of object). So, the main idea is to use dynamic compensation for a known robotic plant and fuzzy compensation is introduced here for an unknown environment to improve the system performance. The fuzzy compensation is implemented by using a rule based fuzzy approach to identified the unknown environment.
{"title":"Force control of a flexible robotic finger with piezoelectric actuators using fuzzy algorithms","authors":"Jae-Chun Ryu, Chongkug Park","doi":"10.1109/SICE.1995.526647","DOIUrl":"https://doi.org/10.1109/SICE.1995.526647","url":null,"abstract":"In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezoelectric unimorph cells. The main problems in force control are overshoot overdamping and unknown environment (e.g. the stiffness of object). So, the main idea is to use dynamic compensation for a known robotic plant and fuzzy compensation is introduced here for an unknown environment to improve the system performance. The fuzzy compensation is implemented by using a rule based fuzzy approach to identified the unknown environment.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132175686","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 : 1995-07-26DOI: 10.1109/SICE.1995.526973
Jingwei Wu, T. Ishihara, H. Inooka
Discusses LTR (loop transfer recovery) design of predictor-based LQG controllers for a plant consisting of a lumped non-minimum phase part and an output time-delay. The authors focus their attention on the feedback property achieved at the plant output side. First, the authors give an explicit representation of the sensitivity matrix obtained by enforcing the conventional LTR procedure. In addition, the authors discuss an application of the partial LTR technique which has been proposed for lumped non-minimum phase plants. The authors show that a feedback property recovered by enforcing the conventional LTR procedure can be recovered by the partial LTR technique. A simple numerical example is presented to illustrate the feedback properties achieved by the LTR techniques.
{"title":"LTR techniques for non-minimum phase plants with time-delay","authors":"Jingwei Wu, T. Ishihara, H. Inooka","doi":"10.1109/SICE.1995.526973","DOIUrl":"https://doi.org/10.1109/SICE.1995.526973","url":null,"abstract":"Discusses LTR (loop transfer recovery) design of predictor-based LQG controllers for a plant consisting of a lumped non-minimum phase part and an output time-delay. The authors focus their attention on the feedback property achieved at the plant output side. First, the authors give an explicit representation of the sensitivity matrix obtained by enforcing the conventional LTR procedure. In addition, the authors discuss an application of the partial LTR technique which has been proposed for lumped non-minimum phase plants. The authors show that a feedback property recovered by enforcing the conventional LTR procedure can be recovered by the partial LTR technique. A simple numerical example is presented to illustrate the feedback properties achieved by the LTR techniques.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132273215","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 : 1995-07-26DOI: 10.1109/SICE.1995.526657
Lansun Shen, Wenhui Jia, Pei Chen
Subband coding (SBC) has been widely used in the applications of speech and image coding, the main technique of which is the designing of analysis/synthesis filter banks. This paper introduces several kinds of filter banks used in SBC, and compare their characteristics in image applications. Simulation results are also given.
{"title":"Filter banks for image subband coding","authors":"Lansun Shen, Wenhui Jia, Pei Chen","doi":"10.1109/SICE.1995.526657","DOIUrl":"https://doi.org/10.1109/SICE.1995.526657","url":null,"abstract":"Subband coding (SBC) has been widely used in the applications of speech and image coding, the main technique of which is the designing of analysis/synthesis filter banks. This paper introduces several kinds of filter banks used in SBC, and compare their characteristics in image applications. Simulation results are also given.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134134543","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 : 1995-07-26DOI: 10.1109/SICE.1995.526661
Hangju Cho
In this paper we study some numerical integration methods based on the classical Runge Kutta formula for the digital simulation of differential equations driven by white noise. As a result, we show that the n-th moments of the Riggs and Phillips approximations (1987) converge to those of the solution of Ito equation, which is in contrast to the case of the standard Runge Kutta method. Therefore we must convert the white noise differential equations into the equivalent Ito equations before we use the Riggs and Phillips method for digital simulation. An improved version of the Riggs and Phillips method is also presented.
{"title":"Digital simulation of white noise differential equations using Runge Kutta method","authors":"Hangju Cho","doi":"10.1109/SICE.1995.526661","DOIUrl":"https://doi.org/10.1109/SICE.1995.526661","url":null,"abstract":"In this paper we study some numerical integration methods based on the classical Runge Kutta formula for the digital simulation of differential equations driven by white noise. As a result, we show that the n-th moments of the Riggs and Phillips approximations (1987) converge to those of the solution of Ito equation, which is in contrast to the case of the standard Runge Kutta method. Therefore we must convert the white noise differential equations into the equivalent Ito equations before we use the Riggs and Phillips method for digital simulation. An improved version of the Riggs and Phillips method is also presented.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125927799","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 : 1995-07-26DOI: 10.1109/SICE.1995.526644
S. Saha
In the simulation of a space robot, factorization of its inertia matrix is necessary to solve for the joint accelerations. Usually this factorization is done numerically. For that, the computational complexity is cubic in the degrees of freedom (DOF) of the system at hand. In this paper, a symbolic factorization of the inertia matrix is presented. This allows one to calculate the joint accelerations with the complexity that is linear in the DOF. The approach is originally introduced for the simulation of fixed-base industrial manipulators. Here, the method is extended to serial type space robots.
{"title":"Symbolic factorization of inertia matrix for space robot simulation","authors":"S. Saha","doi":"10.1109/SICE.1995.526644","DOIUrl":"https://doi.org/10.1109/SICE.1995.526644","url":null,"abstract":"In the simulation of a space robot, factorization of its inertia matrix is necessary to solve for the joint accelerations. Usually this factorization is done numerically. For that, the computational complexity is cubic in the degrees of freedom (DOF) of the system at hand. In this paper, a symbolic factorization of the inertia matrix is presented. This allows one to calculate the joint accelerations with the complexity that is linear in the DOF. The approach is originally introduced for the simulation of fixed-base industrial manipulators. Here, the method is extended to serial type space robots.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123923859","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 : 1995-07-26DOI: 10.1109/SICE.1995.526968
A. Nakai, M. Nakamoto, A. Kakehi, S. Hayashi
This paper presents a control algorithm for a time-optimal control of a thermal power plant based on predictive control. In a thermal power plant the temperature between the hot steam and the cold rotor causes the thermal stress. The excess thermal stresses shorten the life span of the steam turbine rotor and restrict the start up time of the plant. The control algorithm designed by a model predictive control method calculates the optimal future profile of the steam flow rate at every control interval. The actual steam flow rate is controlled to the optimal profile which enables start up of the turbine in the shortest period keeping the thermal stress under the allowable value. Numerical examples show the effectiveness of the algorithm.
{"title":"Turbine start-up algorithm based on prediction of rotor thermal stress","authors":"A. Nakai, M. Nakamoto, A. Kakehi, S. Hayashi","doi":"10.1109/SICE.1995.526968","DOIUrl":"https://doi.org/10.1109/SICE.1995.526968","url":null,"abstract":"This paper presents a control algorithm for a time-optimal control of a thermal power plant based on predictive control. In a thermal power plant the temperature between the hot steam and the cold rotor causes the thermal stress. The excess thermal stresses shorten the life span of the steam turbine rotor and restrict the start up time of the plant. The control algorithm designed by a model predictive control method calculates the optimal future profile of the steam flow rate at every control interval. The actual steam flow rate is controlled to the optimal profile which enables start up of the turbine in the shortest period keeping the thermal stress under the allowable value. Numerical examples show the effectiveness of the algorithm.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124184874","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 : 1995-07-26DOI: 10.1109/SICE.1995.526666
Byung-Gun Park, W. Kwon, S. Park
This paper presents an approach to obtain the optimal gains of a discrete two degrees of freedom PID controller. The optimal gains are obtained by minimizing the performance index of the GPC (generalized predictive control). The tracking performance is improved by the feedforward controller which is tuned through the proposed method. It is also shown that this method in one commercial loop controller operates well with a PC based simulation plant.
{"title":"Discrete two degrees of freedom PID controller based on the GPC","authors":"Byung-Gun Park, W. Kwon, S. Park","doi":"10.1109/SICE.1995.526666","DOIUrl":"https://doi.org/10.1109/SICE.1995.526666","url":null,"abstract":"This paper presents an approach to obtain the optimal gains of a discrete two degrees of freedom PID controller. The optimal gains are obtained by minimizing the performance index of the GPC (generalized predictive control). The tracking performance is improved by the feedforward controller which is tuned through the proposed method. It is also shown that this method in one commercial loop controller operates well with a PC based simulation plant.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127425580","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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