Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285538
Hien Thi Nguyen, O. Kaneko
This paper presents an algorithm that directly uses the experimental data to determine optimal parameters of controllers in the cascade control systems where the feedback controller for the outer loop is the feedforward controller of the inner loop. The proposed algorithm does not require a mathematical model of the plant but only one-shot experimental data collected from the closed loop system. The algorithm enables us to obtain the optimal parameters of the cascade controller such that the controlled system can follow a given desired output. To show the validity of the proposed method, we give an illustrative example.
{"title":"Fictitious reference iterative tuning for cascade control systems","authors":"Hien Thi Nguyen, O. Kaneko","doi":"10.1109/SICE.2015.7285538","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285538","url":null,"abstract":"This paper presents an algorithm that directly uses the experimental data to determine optimal parameters of controllers in the cascade control systems where the feedback controller for the outer loop is the feedforward controller of the inner loop. The proposed algorithm does not require a mathematical model of the plant but only one-shot experimental data collected from the closed loop system. The algorithm enables us to obtain the optimal parameters of the cascade controller such that the controlled system can follow a given desired output. To show the validity of the proposed method, we give an illustrative example.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132906368","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285438
Robin Miao Sin Yap, Daiki Kono, Yuriko Saruta, H. Matsui, Ken-ichiro Ogawa, Y. Miyake, Seki Masatoshi, Ken Ichiryu
Ageing population is a global social problem due to increase in life expectancy and improvement in medical care. In this study, we developed a gait rehabilitation system using interactive motor rhythmic stimulation based on mutual entrainment to help elderly in walking. Mutual entrainment is a natural phenomenon that occur as a result of rhythmic interaction between two or more non-linear oscillators. During this process, the oscillator with a high frequency slows down while the oscillator with a low frequency speeds up, until both oscillators generates the same frequency. In this system, the input rhythm of human footstep timing (phase) is synchronized with the output rhythm of the upper and lower limbs' motor timing (phase) of the system. This system is expected to improve upper and lower limb coordination for elderly's gait.
{"title":"Development of a wearable gait assist robot using interactive motor rhythmic stimulation to upper and lower limbs","authors":"Robin Miao Sin Yap, Daiki Kono, Yuriko Saruta, H. Matsui, Ken-ichiro Ogawa, Y. Miyake, Seki Masatoshi, Ken Ichiryu","doi":"10.1109/SICE.2015.7285438","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285438","url":null,"abstract":"Ageing population is a global social problem due to increase in life expectancy and improvement in medical care. In this study, we developed a gait rehabilitation system using interactive motor rhythmic stimulation based on mutual entrainment to help elderly in walking. Mutual entrainment is a natural phenomenon that occur as a result of rhythmic interaction between two or more non-linear oscillators. During this process, the oscillator with a high frequency slows down while the oscillator with a low frequency speeds up, until both oscillators generates the same frequency. In this system, the input rhythm of human footstep timing (phase) is synchronized with the output rhythm of the upper and lower limbs' motor timing (phase) of the system. This system is expected to improve upper and lower limb coordination for elderly's gait.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131168489","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285484
Yohei Fujisawa, Satoshi Suzuki, K. Iizuka, T. Kawamura
Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.
{"title":"Differential flatness-based tracking control for fleet of flying robots","authors":"Yohei Fujisawa, Satoshi Suzuki, K. Iizuka, T. Kawamura","doi":"10.1109/SICE.2015.7285484","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285484","url":null,"abstract":"Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114300717","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285520
Shun Matsui, Toshiyuki Tanaka
Indoor localization become more important and is required to be more accurate. Based on wireless local area network(WLAN) localization technology is easy and popular. In WLAN localization methods. matching Fingerprint database method is accurate because this is able to adapt real environment well. However. constructing database is costly. In this study we research Fingerprint method whose construction cost is more inexpensive.
{"title":"Construction method of fingerprint database for WLAN localization","authors":"Shun Matsui, Toshiyuki Tanaka","doi":"10.1109/SICE.2015.7285520","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285520","url":null,"abstract":"Indoor localization become more important and is required to be more accurate. Based on wireless local area network(WLAN) localization technology is easy and popular. In WLAN localization methods. matching Fingerprint database method is accurate because this is able to adapt real environment well. However. constructing database is costly. In this study we research Fingerprint method whose construction cost is more inexpensive.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114305924","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285488
Ge Ri Le Tu, Shinnosuke Tobita, Keigo Watanabe, I. Nagai
In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. Especially, each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion of forward are realizable by changing the rotational speeds of four thrusters. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, regarding the production of the X4-AUV, the selection of parts, the structure and thrust of a thruster, the manufacture of a waterproofed container, etc. are described. Finally, some experiments are conducted to verify the forward motion of X4-AUV and the rotational motion in each attitude.
{"title":"The design and production of an X4-AUV","authors":"Ge Ri Le Tu, Shinnosuke Tobita, Keigo Watanabe, I. Nagai","doi":"10.1109/SICE.2015.7285488","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285488","url":null,"abstract":"In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. Especially, each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion of forward are realizable by changing the rotational speeds of four thrusters. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, regarding the production of the X4-AUV, the selection of parts, the structure and thrust of a thruster, the manufacture of a waterproofed container, etc. are described. Finally, some experiments are conducted to verify the forward motion of X4-AUV and the rotational motion in each attitude.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130429630","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285479
T. Nara, S. Ando
Magnetic resonance electrical property tomography (MREPT) has attracted considerable attention for application to the estimation of the electric conductivity and permittivity inside the human body by measuring the transverse magnetic field component of the applied RF field at the Larmor frequency with an MRI scanner. However, conventional methods assume that these electrical properties are homogeneous inside the human body, which leads to a reconstruction error. In this paper, we present a linear, first-order partial differential equation (PDE) for the inverse of the admittivity, while the conventional PDE for the admittivity is nonlinear. This allows well-established methods for solving linear first-order PDEs to be used in MREPT.
{"title":"Partial differential equations for the inverse of admittivity for magnetic resonance electrical property tomography","authors":"T. Nara, S. Ando","doi":"10.1109/SICE.2015.7285479","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285479","url":null,"abstract":"Magnetic resonance electrical property tomography (MREPT) has attracted considerable attention for application to the estimation of the electric conductivity and permittivity inside the human body by measuring the transverse magnetic field component of the applied RF field at the Larmor frequency with an MRI scanner. However, conventional methods assume that these electrical properties are homogeneous inside the human body, which leads to a reconstruction error. In this paper, we present a linear, first-order partial differential equation (PDE) for the inverse of the admittivity, while the conventional PDE for the admittivity is nonlinear. This allows well-established methods for solving linear first-order PDEs to be used in MREPT.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"30 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116345912","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285429
R. Hada, K. Terada, S. Karungaru
In this paper, we propose a method to create a 3-dimensional model of space using Kinect sensor. 3-dimensional information of the space is obtained from the Kinect sensor. We create a 3-dimensional model by synthesizing image and 3-dimensional information obtained and tested it using real data captured in the laboratory.
{"title":"3-Dimensional space modeling using kinect","authors":"R. Hada, K. Terada, S. Karungaru","doi":"10.1109/SICE.2015.7285429","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285429","url":null,"abstract":"In this paper, we propose a method to create a 3-dimensional model of space using Kinect sensor. 3-dimensional information of the space is obtained from the Kinect sensor. We create a 3-dimensional model by synthesizing image and 3-dimensional information obtained and tested it using real data captured in the laboratory.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121793895","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285508
T. Kurihara, S. Ando, Michihiko Yoshimura
We have proposed surface inspection system for detecting small defects on painted surface. The system used single orientation stripe pattern, so that there were difficulties to detect defects that are orthogonal to the stripes. In this paper, we have enabled to detect such directional defects by using frequency multiplexed orthogonal stripes. The system consists of frequency multiplexed spatio-temporally modulated illumination and correlation image sensor. The frequency multiplexed spatio-temporally modulated illumination has orthogonal stripes moving each directions to generate different temporal frequency. Frequency multiplexed two different patterns can be simultaneously demodulated by correlation image sensor.
{"title":"Single frame surface inspection system: Frequency multiplexed spatio-temporally modulated illumination","authors":"T. Kurihara, S. Ando, Michihiko Yoshimura","doi":"10.1109/SICE.2015.7285508","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285508","url":null,"abstract":"We have proposed surface inspection system for detecting small defects on painted surface. The system used single orientation stripe pattern, so that there were difficulties to detect defects that are orthogonal to the stripes. In this paper, we have enabled to detect such directional defects by using frequency multiplexed orthogonal stripes. The system consists of frequency multiplexed spatio-temporally modulated illumination and correlation image sensor. The frequency multiplexed spatio-temporally modulated illumination has orthogonal stripes moving each directions to generate different temporal frequency. Frequency multiplexed two different patterns can be simultaneously demodulated by correlation image sensor.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128630869","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285495
Kosuke Kitahara, T. Kondo
For the sake of brain-computer interfaces (BCIs) neurorehabilitation, an EEG feature, event-related (de)-synchronization (ERD/S) caused by motor imagery (MI) is widely used. However, its availability and reliability are limited. Thus, a neurofeedback training is required for the use of the BCI system. To find an effective training condition of the MI-based BCI neurorehabilitation system for lower extremity, in this study, we investigated two types of MIs: foot dorsiflexion and leg extension. As the result, a clear trend toward significant difference (p = 0.057) was found between foot and leg motor imageries. It suggests that foot-MI might cause larger beta ERD than leg-MI.
{"title":"The effects of foot and leg motor imageries on sensorimotor rhythms in EEG","authors":"Kosuke Kitahara, T. Kondo","doi":"10.1109/SICE.2015.7285495","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285495","url":null,"abstract":"For the sake of brain-computer interfaces (BCIs) neurorehabilitation, an EEG feature, event-related (de)-synchronization (ERD/S) caused by motor imagery (MI) is widely used. However, its availability and reliability are limited. Thus, a neurofeedback training is required for the use of the BCI system. To find an effective training condition of the MI-based BCI neurorehabilitation system for lower extremity, in this study, we investigated two types of MIs: foot dorsiflexion and leg extension. As the result, a clear trend toward significant difference (p = 0.057) was found between foot and leg motor imageries. It suggests that foot-MI might cause larger beta ERD than leg-MI.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128671737","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 : 2015-07-28DOI: 10.1109/SICE.2015.7285534
Kojiro Katayama, T. Miyoshi, K. Terashima
In recent years, in the manufacturing industry in Japan, an aging of workers is becoming serious problem. Elder workers can not work for a long term, but most of them have skillful ability. For these reasons, the system which can help their physical ability is required. Accordingly, we have proposed a power-assisted system for the overhead travelling crane. In conventional research, we have developed the vertical and horizontal travelling system, but the attitude control system was not completed. In this study, we develop the estimation system of operational force from ground reaction force as the input of the power-assited attitude control system.
{"title":"Estimation of operational force for power-assited system on overhead crane","authors":"Kojiro Katayama, T. Miyoshi, K. Terashima","doi":"10.1109/SICE.2015.7285534","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285534","url":null,"abstract":"In recent years, in the manufacturing industry in Japan, an aging of workers is becoming serious problem. Elder workers can not work for a long term, but most of them have skillful ability. For these reasons, the system which can help their physical ability is required. Accordingly, we have proposed a power-assisted system for the overhead travelling crane. In conventional research, we have developed the vertical and horizontal travelling system, but the attitude control system was not completed. In this study, we develop the estimation system of operational force from ground reaction force as the input of the power-assited attitude control system.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115921048","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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