Pub Date : 2010-05-13DOI: 10.1109/AMC.2010.5463992
Jorge L. Martínez, J. Morales, A. Mandow, A. García-Cerezo
This paper presents a simplification of the Lu and Milios work [1] for globally consistent Simultaneous Localization And Mapping (SLAM) with two-dimensional (2D) scan registration. The proposed method is based on global two-step (orientation-position) pose estimation. This approach reduces the computational effort since it represents a closed-form solution that admits an incremental updating procedure. Successful simulation and experimental tests with the tracked mobile robot Auriga-¿ with an onboard laser rangefinder in indoors are presented.
{"title":"Incremental closed-form solution to globally consistent 2D range scan mapping with two-step pose estimation","authors":"Jorge L. Martínez, J. Morales, A. Mandow, A. García-Cerezo","doi":"10.1109/AMC.2010.5463992","DOIUrl":"https://doi.org/10.1109/AMC.2010.5463992","url":null,"abstract":"This paper presents a simplification of the Lu and Milios work [1] for globally consistent Simultaneous Localization And Mapping (SLAM) with two-dimensional (2D) scan registration. The proposed method is based on global two-step (orientation-position) pose estimation. This approach reduces the computational effort since it represents a closed-form solution that admits an incremental updating procedure. Successful simulation and experimental tests with the tracked mobile robot Auriga-¿ with an onboard laser rangefinder in indoors are presented.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126249210","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 : 2010-05-13DOI: 10.1109/AMC.2010.5464006
S. Yoshimori, H. Takimoto, Y. Mitsukura, M. Fukumi
The concern of image processing has increased, in recent year. However, the evaluation of facial impression that we are naturally doing from ones face in our daily life is not treated in this area. The automatic facial impression evaluation applies for wide area. Then we analyzed important facial featres for impression analysis, in order to achieve automatic evaluation of facial impression. In order to evaluate the proposed method, we performed computer simulation. As the result of this simulation, we confirmed that important facial features for facial impression are differece while gender and age.
{"title":"A proposal of feature extraction for impression analysis","authors":"S. Yoshimori, H. Takimoto, Y. Mitsukura, M. Fukumi","doi":"10.1109/AMC.2010.5464006","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464006","url":null,"abstract":"The concern of image processing has increased, in recent year. However, the evaluation of facial impression that we are naturally doing from ones face in our daily life is not treated in this area. The automatic facial impression evaluation applies for wide area. Then we analyzed important facial featres for impression analysis, in order to achieve automatic evaluation of facial impression. In order to evaluate the proposed method, we performed computer simulation. As the result of this simulation, we confirmed that important facial features for facial impression are differece while gender and age.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130409745","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464051
M. Hoque, T. Mizuno, Y. Ishino, M. Takasaki
This paper presents a 3-DOF vibration isolation system combining three vibration isolation modules. Each vibration isolation module is constructed by connecting a positive stiffness spring in series with a negative stiffness spring. The positive and negative spring is realized by an active controlled magnetic suspension. In the previous system, conventional zero-power control system has been used to generate negative stiffness, and the stiffness depends on the capacity of the permanent magnets or the gap-force coefficient of the magnets. This is one of the bottlenecks in the fields of application of zero-power control where the adjustment of stiffness is necessary. On the other hand, the suspension system was used in the vertical and horizontal directions, which made the system complicated. To overcome the above problems, a vibration isolation system is developed with three modules connected by parallel mechanism. Some experiments have been carried out to measure the efficacy of the control system, as well as the vibration isolation system.
{"title":"A 3-DOF modular vibration isolation system using zero-power magnetic suspension with adjustable negative stiffness","authors":"M. Hoque, T. Mizuno, Y. Ishino, M. Takasaki","doi":"10.1109/AMC.2010.5464051","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464051","url":null,"abstract":"This paper presents a 3-DOF vibration isolation system combining three vibration isolation modules. Each vibration isolation module is constructed by connecting a positive stiffness spring in series with a negative stiffness spring. The positive and negative spring is realized by an active controlled magnetic suspension. In the previous system, conventional zero-power control system has been used to generate negative stiffness, and the stiffness depends on the capacity of the permanent magnets or the gap-force coefficient of the magnets. This is one of the bottlenecks in the fields of application of zero-power control where the adjustment of stiffness is necessary. On the other hand, the suspension system was used in the vertical and horizontal directions, which made the system complicated. To overcome the above problems, a vibration isolation system is developed with three modules connected by parallel mechanism. Some experiments have been carried out to measure the efficacy of the control system, as well as the vibration isolation system.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"306 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123085400","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464016
S. Urushihara, K. Ohishi, T. Miyazaki
This paper proposes a new robust load position servo system for industrial robots based on estimated load information. The compact high-gear reduction without backlash, such as the harmonic gear is frequently used in the driving system for the sake of high load-to-weight performance. Generally, the industrial robots have used the sensors mounted to actuator-side because hardware setting using load-side sensor is very difficult to mount signal lines. Therefore, the end-effector response does not perfectly reach the desired position owing to the effect of external disturbance force, which is called end-effector offset. The proposed robust servo system uses the estimated load information due to repress the effect of external disturbance force and nonlinear inertia variation due to posture change of robot. The proposed position servo system is designed based on the state, disturbance observer and robust speed control system using coprime factorization controller. The effectiveness of the proposed robust system is confirmed by experimental results of prototype mechanical system and simulation results of the tesed 3-link industrial robot.
{"title":"Robust position servo system for industrial robots based on estimated load information","authors":"S. Urushihara, K. Ohishi, T. Miyazaki","doi":"10.1109/AMC.2010.5464016","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464016","url":null,"abstract":"This paper proposes a new robust load position servo system for industrial robots based on estimated load information. The compact high-gear reduction without backlash, such as the harmonic gear is frequently used in the driving system for the sake of high load-to-weight performance. Generally, the industrial robots have used the sensors mounted to actuator-side because hardware setting using load-side sensor is very difficult to mount signal lines. Therefore, the end-effector response does not perfectly reach the desired position owing to the effect of external disturbance force, which is called end-effector offset. The proposed robust servo system uses the estimated load information due to repress the effect of external disturbance force and nonlinear inertia variation due to posture change of robot. The proposed position servo system is designed based on the state, disturbance observer and robust speed control system using coprime factorization controller. The effectiveness of the proposed robust system is confirmed by experimental results of prototype mechanical system and simulation results of the tesed 3-link industrial robot.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"517 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116233390","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464115
Nobuyuki Sekine, A. Nakamura, Y. Fujimoto, Toru Yamaguchi
In this research, Authors participated in a research project about “Development of Intelligent Power Wheelchair assisting for people on Daily Life”. Recently, the number of elderly people increases. And the development of welfare apparatus having the effect of minimizing care is required because the care prevention is important to promote independence and moderate exercise for elderly people by one's power. Authors develop Intelligent Power Wheelchair along with minimizing care needs for frail elderly people. This wheelchair consists of commercial sensors and a commercial wheelchair. With data observed by these sensors, the movement of the person is analyzed. In the welfare engineering, to provide the most suitable service, it is important a system understands the human's intention. This Wheelchair has three functions, Approach Function by human gesture, Operation Assistance Function by posture recognition, and Corner Assistance Function by motion recognition. Finally it shows utility by verification experiments
{"title":"Development of Intelligent Power Wheelchair assisting for people on daily life using motion recognition","authors":"Nobuyuki Sekine, A. Nakamura, Y. Fujimoto, Toru Yamaguchi","doi":"10.1109/AMC.2010.5464115","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464115","url":null,"abstract":"In this research, Authors participated in a research project about “Development of Intelligent Power Wheelchair assisting for people on Daily Life”. Recently, the number of elderly people increases. And the development of welfare apparatus having the effect of minimizing care is required because the care prevention is important to promote independence and moderate exercise for elderly people by one's power. Authors develop Intelligent Power Wheelchair along with minimizing care needs for frail elderly people. This wheelchair consists of commercial sensors and a commercial wheelchair. With data observed by these sensors, the movement of the person is analyzed. In the welfare engineering, to provide the most suitable service, it is important a system understands the human's intention. This Wheelchair has three functions, Approach Function by human gesture, Operation Assistance Function by posture recognition, and Corner Assistance Function by motion recognition. Finally it shows utility by verification experiments","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114573064","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464058
H. Usami, K. Yubai, J. Hirai
This paper proposes the correlation-based model-free 2DOF controller tuning method for MIMO systems. In the proposed method, a feedback controller parameters is first tuned by using the input/output data sets obtained independently from the controlled plant as often as the number of the input dimension of the controlled plant second, a precompensator is tuned by using the same number of data sets of the achieved closed-loop system. In addition, if the controllers are parameterized linearly with respect to the controller parameters, each optimal controller parameter can be obtained by least squares. The effectiveness of the proposed method is confirmed by the experimental results.
{"title":"Correlation-based direct tuning of 2DOF controller by least squares","authors":"H. Usami, K. Yubai, J. Hirai","doi":"10.1109/AMC.2010.5464058","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464058","url":null,"abstract":"This paper proposes the correlation-based model-free 2DOF controller tuning method for MIMO systems. In the proposed method, a feedback controller parameters is first tuned by using the input/output data sets obtained independently from the controlled plant as often as the number of the input dimension of the controlled plant second, a precompensator is tuned by using the same number of data sets of the achieved closed-loop system. In addition, if the controllers are parameterized linearly with respect to the controller parameters, each optimal controller parameter can be obtained by least squares. The effectiveness of the proposed method is confirmed by the experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130522581","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464035
Toshiaki Matsumoto, Satoru Takahashi
In this paper, the development method of eliminate disturbance from the three-dimensional position measurement device is proposed. Then, we use the control system with the disturbance observer. If we want measure in high accuracy in the real environment, we should think about error by disturbance. Therefore, we design the new control system for our measurement device with disturbance observer, and then aim at performance improvement of the device. Through several experiments, we show the usefulness of proposed control systems.
{"title":"Three-dimensional position measurement system with disturbance observer","authors":"Toshiaki Matsumoto, Satoru Takahashi","doi":"10.1109/AMC.2010.5464035","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464035","url":null,"abstract":"In this paper, the development method of eliminate disturbance from the three-dimensional position measurement device is proposed. Then, we use the control system with the disturbance observer. If we want measure in high accuracy in the real environment, we should think about error by disturbance. Therefore, we design the new control system for our measurement device with disturbance observer, and then aim at performance improvement of the device. Through several experiments, we show the usefulness of proposed control systems.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123607648","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464067
Shinsuke Nomura, T. Murakami
With the aging of population in Japan, research of electric wheelchair for higher performance is getting more and more important. Power assist wheelchair is an example of electric wheelchair. Power assist wheelchair amplifies passengers maneuvering force, thus it is useful for elderly people who have weaker muscle force. And it is also helpful for aspect of health-maintenance because it requires using surviving ability of passenger. One big difficulty for wheelchair users is maneuvering in slope environment where gravity effect exists. In this research, ”equivalent jerk disturbance” which is differential of estimated disturbance by observer is used for power assist control. Equivalent jerk disturbance is unaffected by gravity force, thus it is useful for wheelchair users to maneuver under slope environment.
{"title":"Power assist control of electric wheelchair using equivalent jerk disturbance under slope environment","authors":"Shinsuke Nomura, T. Murakami","doi":"10.1109/AMC.2010.5464067","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464067","url":null,"abstract":"With the aging of population in Japan, research of electric wheelchair for higher performance is getting more and more important. Power assist wheelchair is an example of electric wheelchair. Power assist wheelchair amplifies passengers maneuvering force, thus it is useful for elderly people who have weaker muscle force. And it is also helpful for aspect of health-maintenance because it requires using surviving ability of passenger. One big difficulty for wheelchair users is maneuvering in slope environment where gravity effect exists. In this research, ”equivalent jerk disturbance” which is differential of estimated disturbance by observer is used for power assist control. Equivalent jerk disturbance is unaffected by gravity force, thus it is useful for wheelchair users to maneuver under slope environment.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"159 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114529804","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 : 2010-03-21DOI: 10.1109/AMC.2010.5464048
O. Daud, F. Biral, R. Oboe, L. Piron
A general framework for virtual rehabilitation was developed. All the features of the framework, such as the control loop and the external communication, as well as the haptic and graphic rendering, were implemented inside Matlab/Simulink using Handshake proSENSE toolbox, guaranteeing a real-time performance. As an example of the application of the proposed general framework, a five-bar linkage haptic device with two active degrees-of-freedom was designed and integrated within the proposed framework. It was developed in order to cover the reachable workspace of a human finger, to have low inertia and high manipulability. It can generate forces up to 20 [N], which is suitable for finger and hand exercise. The system was evaluated and tested successfully. A case study and their results are presented. These results are indicative on the feasibility of the proposed application.
{"title":"A general framework for a rehabilitative oriented haptic interface","authors":"O. Daud, F. Biral, R. Oboe, L. Piron","doi":"10.1109/AMC.2010.5464048","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464048","url":null,"abstract":"A general framework for virtual rehabilitation was developed. All the features of the framework, such as the control loop and the external communication, as well as the haptic and graphic rendering, were implemented inside Matlab/Simulink using Handshake proSENSE toolbox, guaranteeing a real-time performance. As an example of the application of the proposed general framework, a five-bar linkage haptic device with two active degrees-of-freedom was designed and integrated within the proposed framework. It was developed in order to cover the reachable workspace of a human finger, to have low inertia and high manipulability. It can generate forces up to 20 [N], which is suitable for finger and hand exercise. The system was evaluated and tested successfully. A case study and their results are presented. These results are indicative on the feasibility of the proposed application.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"329 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124299918","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 : 2010-03-21DOI: 10.1109/AMC.2010.5463995
Takeshi Okura, S. Katsura
Recently, remote communication technologies such as telephone, radio and television are extensively developed. Haptic information is studied as the third type of multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. Most of the object of the study about haptics is stationary. Therefore moving ranges of such haptic systems are limited. This paper proposes a novel haptic device, which realizes force feedback of walking motion from remote environment and manipulates remote system. Thus, its moving range is unrestricted. In order to drive this haptic system, the paper also proposes asynchronous multilateral control. Using this control, an operator operates the remote system without leaving the place. The proposed haptic system is one of the effective interfaces for virtual reality and teleoperation.
{"title":"Simplified haptic walking system based on bilateral control","authors":"Takeshi Okura, S. Katsura","doi":"10.1109/AMC.2010.5463995","DOIUrl":"https://doi.org/10.1109/AMC.2010.5463995","url":null,"abstract":"Recently, remote communication technologies such as telephone, radio and television are extensively developed. Haptic information is studied as the third type of multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. Most of the object of the study about haptics is stationary. Therefore moving ranges of such haptic systems are limited. This paper proposes a novel haptic device, which realizes force feedback of walking motion from remote environment and manipulates remote system. Thus, its moving range is unrestricted. In order to drive this haptic system, the paper also proposes asynchronous multilateral control. Using this control, an operator operates the remote system without leaving the place. The proposed haptic system is one of the effective interfaces for virtual reality and teleoperation.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126417532","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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