Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5464071
M. Kawafuku, J. Takamori, M. Iwasaki, H. Hirai
HDDs are necessary as an information storage equipment of the information technology devices. In recent years, the household electric goods that were mounted 3.5 inch HDDs are put on sale. Since the application of HDDs expands by adjusting the digitization, the requirement for miniaturization and capacity enlargement of HDDs heighten.
{"title":"Comparison of the control performance for the following control system in HDDs","authors":"M. Kawafuku, J. Takamori, M. Iwasaki, H. Hirai","doi":"10.1109/AMC.2010.5464071","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464071","url":null,"abstract":"HDDs are necessary as an information storage equipment of the information technology devices. In recent years, the household electric goods that were mounted 3.5 inch HDDs are put on sale. Since the application of HDDs expands by adjusting the digitization, the requirement for miniaturization and capacity enlargement of HDDs heighten.","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":"122562409","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.2010.5464068
I. Khalil, A. Sabanoviç
This paper demonstrates the feasibility of using the Action-Reaction principle in order to identify and observe dynamical system parameter and states respectively by considering the instantaneous system's reaction to an imposed action as a natural feedback from the system. System parameters, dynamics and environmental interaction forces or torques are coupled in this incident natural feedback signal. Therefore, success to determine such natural feedback along with decoupling each of the previous information makes it possible to keep dynamical system free from any attached sensors that in turn implies the possibility of performing motion, vibration and force control assignments through measurement taken from the interface point of the actuator with the dynamical system. Both lumped and distributed flexible system are investigated then experiments are performed on a flexible system with two flexible modes then the possibility of extending the work to systems with infinite modes is discussed.
{"title":"Action-Reaction based motion and vibration control of multi-degree-of freedom flexible systems","authors":"I. Khalil, A. Sabanoviç","doi":"10.1109/AMC.2010.5464068","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464068","url":null,"abstract":"This paper demonstrates the feasibility of using the Action-Reaction principle in order to identify and observe dynamical system parameter and states respectively by considering the instantaneous system's reaction to an imposed action as a natural feedback from the system. System parameters, dynamics and environmental interaction forces or torques are coupled in this incident natural feedback signal. Therefore, success to determine such natural feedback along with decoupling each of the previous information makes it possible to keep dynamical system free from any attached sensors that in turn implies the possibility of performing motion, vibration and force control assignments through measurement taken from the interface point of the actuator with the dynamical system. Both lumped and distributed flexible system are investigated then experiments are performed on a flexible system with two flexible modes then the possibility of extending the work to systems with infinite modes is discussed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"48 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":"125211237","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.2010.5464062
D. Ishak, N. Manap, M. S. Ahmad, M. Arshad
This paper is to present the design, development and prototyping of an electrically actuated thruster as a direct drive propulsion system based on a 3-phase permanent magnet brushless machine for an autonomous underwater vehicle. The non-linear design and analysis of the permanent magnet brushless motor are entirely performed in 2-d finite element method. The motor is then coupled directly to a 6-inch mechanical propeller, thus providing a peak thrust of 25N for the AUV's manoeuvre. Critical key performances are accounted for in the analysis such as maximum speed capability, maximum output torque and efficiency at 48Vdc battery supply. Other electromagnetic considerations such as cogging torque, slot numbers and pole numbers are also addressed. Hall-effect sensors are embedded inside the motor structure in order for the motor to successfully operate in bldc mode. The optimized motor design has been prototyped and tested to work as direct drive propulsion system. The results obtained from the experiment conducted in laboratory in an open water testbed show satisfactory performance with a rated 15N continual bollard thrust at 1200rpm motor speed.
{"title":"Electrically actuated thrusters for autonomous underwater vehicle","authors":"D. Ishak, N. Manap, M. S. Ahmad, M. Arshad","doi":"10.1109/AMC.2010.5464062","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464062","url":null,"abstract":"This paper is to present the design, development and prototyping of an electrically actuated thruster as a direct drive propulsion system based on a 3-phase permanent magnet brushless machine for an autonomous underwater vehicle. The non-linear design and analysis of the permanent magnet brushless motor are entirely performed in 2-d finite element method. The motor is then coupled directly to a 6-inch mechanical propeller, thus providing a peak thrust of 25N for the AUV's manoeuvre. Critical key performances are accounted for in the analysis such as maximum speed capability, maximum output torque and efficiency at 48Vdc battery supply. Other electromagnetic considerations such as cogging torque, slot numbers and pole numbers are also addressed. Hall-effect sensors are embedded inside the motor structure in order for the motor to successfully operate in bldc mode. The optimized motor design has been prototyped and tested to work as direct drive propulsion system. The results obtained from the experiment conducted in laboratory in an open water testbed show satisfactory performance with a rated 15N continual bollard thrust at 1200rpm motor speed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"41 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":"124625026","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.2010.5464045
Ryosuke Hanyu, T. Tsuji, S. Abe
The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.
{"title":"A simplified whole-body haptic sensing system with multiple supporting points","authors":"Ryosuke Hanyu, T. Tsuji, S. Abe","doi":"10.1109/AMC.2010.5464045","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464045","url":null,"abstract":"The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"120 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":"121949543","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.2010.5464014
Naoki Waki, Kazuki Matsumoto, A. Kawamura
In this paper, Lateral Sway Motion Generation for biped robots using characteristic of LIPM with VSP that a supporting point can be flexibly moved is presented. The supporting point is set outside of biped robot y axis and under the ground, and COM is set inside of biped robot. We can regard LIPM with VSP as LIPM is slanted virtually. Therefore accelerate of LIPM with this way is larger than accelerate of LIPM only supporting point set under the ground, and this LIPM is able to be regarded as long leg pendulum. In addtion the supporting point move only Y axis. So X trajectory is affected by depth of suppoting point in ground say in other words length of pendulum leg, we can plan XY torajectory of COM, next we adjust Y trajectory using this method for same depth of supporting point. In addition we simulated and experimented two pattern only suporting point is set directly below and proposed method.
{"title":"Lateral Sway Motion Generation for biped robots using virtual supporting point","authors":"Naoki Waki, Kazuki Matsumoto, A. Kawamura","doi":"10.1109/AMC.2010.5464014","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464014","url":null,"abstract":"In this paper, Lateral Sway Motion Generation for biped robots using characteristic of LIPM with VSP that a supporting point can be flexibly moved is presented. The supporting point is set outside of biped robot y axis and under the ground, and COM is set inside of biped robot. We can regard LIPM with VSP as LIPM is slanted virtually. Therefore accelerate of LIPM with this way is larger than accelerate of LIPM only supporting point set under the ground, and this LIPM is able to be regarded as long leg pendulum. In addtion the supporting point move only Y axis. So X trajectory is affected by depth of suppoting point in ground say in other words length of pendulum leg, we can plan XY torajectory of COM, next we adjust Y trajectory using this method for same depth of supporting point. In addition we simulated and experimented two pattern only suporting point is set directly below and proposed method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"36 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":"116599722","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.2010.5464063
K. Mikami, K. Ohnishi
This paper describes adapting motion of a biped robot. In some cases that biped robots walk in human environment, the robots encounter non-flat surfaces. To adapt to such environment, it is necessary to get environmental information by sensors. In this paper, the environmental information is transformed into useful structure, defined as “environmental modes”. The environmental modes consist of four modes; heaving, rolling, pitching, and twisting. By controlling biped robots, based on the environmental modes, they can adapt to non-flat surfaces. However, the environment with depressions is not considered in the conventional studies on controlling the environmental modes. Therefore, this research focuses on adapting motion to the depressed environment. A tip of the swing leg reached the bottom of depressions according to the heaving mode. The conventional study on controlling the environmental modes is introduced and extended in the proposed method. The experimental results showed the validity of the proposed method.
{"title":"A method of adapting motion to depressed environment for biped robot","authors":"K. Mikami, K. Ohnishi","doi":"10.1109/AMC.2010.5464063","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464063","url":null,"abstract":"This paper describes adapting motion of a biped robot. In some cases that biped robots walk in human environment, the robots encounter non-flat surfaces. To adapt to such environment, it is necessary to get environmental information by sensors. In this paper, the environmental information is transformed into useful structure, defined as “environmental modes”. The environmental modes consist of four modes; heaving, rolling, pitching, and twisting. By controlling biped robots, based on the environmental modes, they can adapt to non-flat surfaces. However, the environment with depressions is not considered in the conventional studies on controlling the environmental modes. Therefore, this research focuses on adapting motion to the depressed environment. A tip of the swing leg reached the bottom of depressions according to the heaving mode. The conventional study on controlling the environmental modes is introduced and extended in the proposed method. The experimental results showed the validity of the proposed method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"26 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":"126848281","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.2010.5464041
Chao-Yun Chen, M. Cheng, Jen-Che Wu, Ke-Han Su
In this paper, a passivity-based control scheme for contour following applications is developed. However, the original passive velocity field control requires an accurate dynamic model. To cope with this problem, in the proposed approach an alternative control law design based on the Lyapunov function is employed to speed up the convergence rate of velocity error. Moreover, in order to deal with the modeling uncertainty problem, this paper develops a virtual plant disturbance compensator to estimate the uncertainties due to inaccurate modeling and external disturbance. Several experiments have been conducted to compare the proposed approach with the conventional coupling approach. Experimental results verify the effectiveness of the proposed approach.
{"title":"Passivity-based contour following control design with virtual plant disturbance compensation","authors":"Chao-Yun Chen, M. Cheng, Jen-Che Wu, Ke-Han Su","doi":"10.1109/AMC.2010.5464041","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464041","url":null,"abstract":"In this paper, a passivity-based control scheme for contour following applications is developed. However, the original passive velocity field control requires an accurate dynamic model. To cope with this problem, in the proposed approach an alternative control law design based on the Lyapunov function is employed to speed up the convergence rate of velocity error. Moreover, in order to deal with the modeling uncertainty problem, this paper develops a virtual plant disturbance compensator to estimate the uncertainties due to inaccurate modeling and external disturbance. Several experiments have been conducted to compare the proposed approach with the conventional coupling approach. Experimental results verify the effectiveness of the proposed approach.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"103 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":"132127860","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.2010.5464073
M. Hirata, F. Ueno
We have proposed a design method of the final-state control based on a polynomial input. However, for a long span motion, since the step number of feedforward inputs tends to be higher, the method may not produce a correct solution because of numerical conditions. In this paper, we propose a new design method of the final-state control based on time symmetry of input. The effectiveness is shown by simulations.
{"title":"Final-state control using a time symmetrical polynomial input","authors":"M. Hirata, F. Ueno","doi":"10.1109/AMC.2010.5464073","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464073","url":null,"abstract":"We have proposed a design method of the final-state control based on a polynomial input. However, for a long span motion, since the step number of feedforward inputs tends to be higher, the method may not produce a correct solution because of numerical conditions. In this paper, we propose a new design method of the final-state control based on time symmetry of input. The effectiveness is shown by simulations.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 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":"130878837","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.2010.5464118
Y. Kimura, Sehoon Oh, Y. Hori
In this paper, we develop a robot arm with a bi-articular driving system which can incorporate the principle of the bi-articular muscle characteristics of animals. The arm is different from the conventional robot arms that are driven by actuators inserted in each joint, since it has an additional actuator that can generate the torques in two joints at the same time so that the actuator works as a bi-articular muscle. In order to mimic bi-articular driving system, we adopt a planetary gear system that has three inputs and two outputs. This three inputs and two outputs characteristic is similar with the muscle system, however, it does not match one by one and it needs some strategy to make the planetary gear system work as a muscle system. To this end we suggest novel control algorithms: the firs is a feedforward control and the second is a feedback control based on the disturbance observer. Details on the design of a robot arm with a planetary gear and control algorithms are given in this paper.
{"title":"Novel robot arm with bi-articular driving system using a planetary gear system and disturbance observer","authors":"Y. Kimura, Sehoon Oh, Y. Hori","doi":"10.1109/AMC.2010.5464118","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464118","url":null,"abstract":"In this paper, we develop a robot arm with a bi-articular driving system which can incorporate the principle of the bi-articular muscle characteristics of animals. The arm is different from the conventional robot arms that are driven by actuators inserted in each joint, since it has an additional actuator that can generate the torques in two joints at the same time so that the actuator works as a bi-articular muscle. In order to mimic bi-articular driving system, we adopt a planetary gear system that has three inputs and two outputs. This three inputs and two outputs characteristic is similar with the muscle system, however, it does not match one by one and it needs some strategy to make the planetary gear system work as a muscle system. To this end we suggest novel control algorithms: the firs is a feedforward control and the second is a feedback control based on the disturbance observer. Details on the design of a robot arm with a planetary gear and control algorithms are given in this paper.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"17 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":"133195459","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.2010.5463991
Keiko Sato, Y. Mitsukura
It has often been pointed out that each color has a particular impression and that there are certain similarities and individual differences in the relationships between a color and its impression. We now present a few examples of individual studies that have focused on color impressions. In this paper, in order to examine individual characteristics of color impression, we propose a method that combines GA, PCA and CA. GA is used to select suitable parameters from color attributes -namely, RGB, HSI, and L⋆a⋆b⋆. PCA is used to extract characteristics data from the selected parameters. Furthermore, CA is used to classify the data set into groups. In order to demonstrate the effectiveness of this proposed method, computer simulations are performed and the results are analyzed using data gathered from 6 individuals. As a result, characteristics data that were obtained by using GA and PCA differed for each subject. Moreover, classification accuracy, which is the percentage of data classified correctly among all data, was more than 80% for all subjects. It is considered that the proposed method could be one of the effective methods for analyzing the individual characteristics of color impressions.
{"title":"Classification and analysis of 2-color impression focusing on individual differences","authors":"Keiko Sato, Y. Mitsukura","doi":"10.1109/AMC.2010.5463991","DOIUrl":"https://doi.org/10.1109/AMC.2010.5463991","url":null,"abstract":"It has often been pointed out that each color has a particular impression and that there are certain similarities and individual differences in the relationships between a color and its impression. We now present a few examples of individual studies that have focused on color impressions. In this paper, in order to examine individual characteristics of color impression, we propose a method that combines GA, PCA and CA. GA is used to select suitable parameters from color attributes -namely, RGB, HSI, and L⋆a⋆b⋆. PCA is used to extract characteristics data from the selected parameters. Furthermore, CA is used to classify the data set into groups. In order to demonstrate the effectiveness of this proposed method, computer simulations are performed and the results are analyzed using data gathered from 6 individuals. As a result, characteristics data that were obtained by using GA and PCA differed for each subject. Moreover, classification accuracy, which is the percentage of data classified correctly among all data, was more than 80% for all subjects. It is considered that the proposed method could be one of the effective methods for analyzing the individual characteristics of color impressions.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"52 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":"131298153","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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