Pub Date : 2010-03-21DOI: 10.1109/AMC.2010.5463996
K. Imai, K. Ohishi, T. Sano, Shingo Makishima, S. Yasukawa
The improvement of adhesion characteristics is important in commuter train. We have already proposed the anti-slip/skid re-adhesion control system based on disturbance observer and sensor-less vector control. The effectiveness of the proposed method has been confirmed by the experiment and the numerical simulation using the actual commuter train composed of electric multiple units, which is Series 205-5000 of East Japan Railway Company. The proposed method drives the actual commuter train with high adhesion force utilization ratio. This previously proposed method considers the re-adhesion control performance for only each electric motor coach. Hence, it does not consider the total re-adhesion control performance for commuter train composed of electric multiple units. In order to keep the desired driving force performance, this paper proposes a new real-time distribution control of torque reference of commuter train composed of electric multiple units for fine total re-adhesion control performance.
{"title":"Real-time distribution control of torque reference of commuter train for fine re-adhesion contol","authors":"K. Imai, K. Ohishi, T. Sano, Shingo Makishima, S. Yasukawa","doi":"10.1109/AMC.2010.5463996","DOIUrl":"https://doi.org/10.1109/AMC.2010.5463996","url":null,"abstract":"The improvement of adhesion characteristics is important in commuter train. We have already proposed the anti-slip/skid re-adhesion control system based on disturbance observer and sensor-less vector control. The effectiveness of the proposed method has been confirmed by the experiment and the numerical simulation using the actual commuter train composed of electric multiple units, which is Series 205-5000 of East Japan Railway Company. The proposed method drives the actual commuter train with high adhesion force utilization ratio. This previously proposed method considers the re-adhesion control performance for only each electric motor coach. Hence, it does not consider the total re-adhesion control performance for commuter train composed of electric multiple units. In order to keep the desired driving force performance, this paper proposes a new real-time distribution control of torque reference of commuter train composed of electric multiple units for fine total re-adhesion control performance.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"93 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":"115171717","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.2010.5464005
Y. Fukutani, Tomoyuki Takahashi, M. Iwahashi, Tetsuya Kimura, S. Samsudin, N. Mokhtar
In the system introduced in this report, a ceiling map is shared by mobile robots inside a building. Firstly, the map is generated from a video trough an "upward" camera on a leading robot. Next, location of a following robot is estimated and plotted on the map. If there is debris on the floor, the estimated location contains error. To avoid this "estimation" problem, in our previous report, we extracted motion information from a "forward" camera and fed it back to the location estimation. However, it requires transmitting video signals from two cameras - upward and forward. It means that data amount for transmission via digital network is doubled. To avoid this "transmission" problem, in this report, 1) we remove redundancy on motion information between the two cameras. For further improvement, 2) we assign much load to the leading robot than following robots. As a result, data amount for communication among mobile robots is significantly reduced. It contributes to have more following robots under limited data transmission capacity of a digital network.
{"title":"Robot vision network based on ceiling map sharing","authors":"Y. Fukutani, Tomoyuki Takahashi, M. Iwahashi, Tetsuya Kimura, S. Samsudin, N. Mokhtar","doi":"10.1109/AMC.2010.5464005","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464005","url":null,"abstract":"In the system introduced in this report, a ceiling map is shared by mobile robots inside a building. Firstly, the map is generated from a video trough an \"upward\" camera on a leading robot. Next, location of a following robot is estimated and plotted on the map. If there is debris on the floor, the estimated location contains error. To avoid this \"estimation\" problem, in our previous report, we extracted motion information from a \"forward\" camera and fed it back to the location estimation. However, it requires transmitting video signals from two cameras - upward and forward. It means that data amount for transmission via digital network is doubled. To avoid this \"transmission\" problem, in this report, 1) we remove redundancy on motion information between the two cameras. For further improvement, 2) we assign much load to the leading robot than following robots. As a result, data amount for communication among mobile robots is significantly reduced. It contributes to have more following robots under limited data transmission capacity of a digital network.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"150 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":"115593510","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.2010.5464050
Hiroki Sano, K. Ohishi, T. Kaneko, H. Mine
Recently, a container crane is requested to operate smoothly and quickly. For this purpose, the control system of container crane should have an anti-sway control technique to suppress its vibration phenomenon. A vision sensor system to detect the sway angle is often used. However, since the control system with vision sensor has the delay time in detection, it sometimes has the deterioration of control performance owing to the delay time influence. In order to overcome this problem, this paper proposes a new anti-sway crane control based on dual state observer with sensor-delay correction. The effectiveness of the proposed method is verified by the numerical simulation results and the experimental results.
{"title":"Anti-sway crane control based on dual state observer with sensor-delay correction","authors":"Hiroki Sano, K. Ohishi, T. Kaneko, H. Mine","doi":"10.1109/AMC.2010.5464050","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464050","url":null,"abstract":"Recently, a container crane is requested to operate smoothly and quickly. For this purpose, the control system of container crane should have an anti-sway control technique to suppress its vibration phenomenon. A vision sensor system to detect the sway angle is often used. However, since the control system with vision sensor has the delay time in detection, it sometimes has the deterioration of control performance owing to the delay time influence. In order to overcome this problem, this paper proposes a new anti-sway crane control based on dual state observer with sensor-delay correction. The effectiveness of the proposed method is verified by the numerical simulation results and the experimental results.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"218 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":"114853928","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.2010.5464004
H. Fukai, H. Takimoto, Y. Mitsukura, M. Fukumi
In this paper, we propose age and gender estimation system by vairous features. Age and gender has a lot of characteristics. These characteristics are one of the difficult cognitive process in human interaction. If we can extract the important feature of this cognitive process, it is considered that the age and gender estimation by the machine becomes possible. Therefore, we propose a method of age and gender feature extraction and estimation using the face image. In this paper, the age of the face means apparent-age that is based on the human perception of age. Moreover, person's aging and gender difference appear in the faces. For example, the pigmented spot, the wrinkle, sagging skin, shape, color of skin, and so on. Thus, we extract these several features for age and gender estimation. Furthermore, we estimate a continuous age and gender using a neural network (NN).
{"title":"Age and gender estimation by using facial image","authors":"H. Fukai, H. Takimoto, Y. Mitsukura, M. Fukumi","doi":"10.1109/AMC.2010.5464004","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464004","url":null,"abstract":"In this paper, we propose age and gender estimation system by vairous features. Age and gender has a lot of characteristics. These characteristics are one of the difficult cognitive process in human interaction. If we can extract the important feature of this cognitive process, it is considered that the age and gender estimation by the machine becomes possible. Therefore, we propose a method of age and gender feature extraction and estimation using the face image. In this paper, the age of the face means apparent-age that is based on the human perception of age. Moreover, person's aging and gender difference appear in the faces. For example, the pigmented spot, the wrinkle, sagging skin, shape, color of skin, and so on. Thus, we extract these several features for age and gender estimation. Furthermore, we estimate a continuous age and gender using a neural network (NN).","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"123 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":"115162047","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.2010.5464036
Kazuki Nagase, S. Katsura
Recently, there are many researches of a system which has implemented a bilateral control system which can touch an environment in distant place. However, a singular configuration due to the inverse Jacobian matrix becomes the problem in a bilateral control with different configurations. In this paper, the problem of a singular configuration regarding the inverse Jacobian matrix is avoided by singularity-consistent method. In addition, an error observation method of a torque regarding the singularity-consistent method is proposed. And, the bilateral control system consists of a parallel link manipulator and a serial link manipulator. When the direct kinematics of the parallel link manipulator is derived, mode decoupling method is introduced. Finally, proposed method and sc method are applied to the bilateral control system with different configurations, its system is realized and the error of the torque due to singularity-consistent method is observed. The experimental results of the bilateral control with different configurations are shown.
{"title":"Bilateral control considering singularity based on observation of torque error","authors":"Kazuki Nagase, S. Katsura","doi":"10.1109/AMC.2010.5464036","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464036","url":null,"abstract":"Recently, there are many researches of a system which has implemented a bilateral control system which can touch an environment in distant place. However, a singular configuration due to the inverse Jacobian matrix becomes the problem in a bilateral control with different configurations. In this paper, the problem of a singular configuration regarding the inverse Jacobian matrix is avoided by singularity-consistent method. In addition, an error observation method of a torque regarding the singularity-consistent method is proposed. And, the bilateral control system consists of a parallel link manipulator and a serial link manipulator. When the direct kinematics of the parallel link manipulator is derived, mode decoupling method is introduced. Finally, proposed method and sc method are applied to the bilateral control system with different configurations, its system is realized and the error of the torque due to singularity-consistent method is observed. The experimental results of the bilateral control with different configurations are shown.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"4 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":"126042632","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.2010.5464070
S. Sakaino, Tomoya Sato, K. Ohnishi
A novel motion equation which can realize coordinate transform described by position, momentum or time is proposed, in this paper. With this equation, coordinate transform of external force which has not been treated by canonical equation is described. In addition, a condition which is essential for canonical transform is omitted and the transform is given without solving partial differential equations. Thus, any task can be described easily and intuitively. Mobile-hapto is treated as an example of controllers based on the proposed motion equation. Its validity is confirmed by some simulations and experiments.
{"title":"A novel motion equation for general task description","authors":"S. Sakaino, Tomoya Sato, K. Ohnishi","doi":"10.1109/AMC.2010.5464070","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464070","url":null,"abstract":"A novel motion equation which can realize coordinate transform described by position, momentum or time is proposed, in this paper. With this equation, coordinate transform of external force which has not been treated by canonical equation is described. In addition, a condition which is essential for canonical transform is omitted and the transform is given without solving partial differential equations. Thus, any task can be described easily and intuitively. Mobile-hapto is treated as an example of controllers based on the proposed motion equation. Its validity is confirmed by some simulations and experiments.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"42 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":"127257575","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.2010.5464109
Hidetaka Tanaka, Y. Kakinuma, S. Katsura, T. Aoyama
Electro-rheological materials, such as electro-rheological fluid and electro-rheological elastomer, are functional materials which change these viscoelastic properties according to the electrical field intensity. It is expected to apply to the machine element, such as brake and clutch. Meanwhile, sensor-less control system of application devices using ER material is required to cut cost in practical use. In this study, sensor-less viscous torque control of ER passive actuator using parallel disturbance observer (DOB) is proposed. Parallel DOB can estimate the viscous torque from both applied voltage and angular velocity, and realize robust torque control without additional torque sensor. The effectiveness of this method is confirmed from simulation and experiments.
{"title":"Torque sensor-less tactile control of electro-rheological passive actuators","authors":"Hidetaka Tanaka, Y. Kakinuma, S. Katsura, T. Aoyama","doi":"10.1109/AMC.2010.5464109","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464109","url":null,"abstract":"Electro-rheological materials, such as electro-rheological fluid and electro-rheological elastomer, are functional materials which change these viscoelastic properties according to the electrical field intensity. It is expected to apply to the machine element, such as brake and clutch. Meanwhile, sensor-less control system of application devices using ER material is required to cut cost in practical use. In this study, sensor-less viscous torque control of ER passive actuator using parallel disturbance observer (DOB) is proposed. Parallel DOB can estimate the viscous torque from both applied voltage and angular velocity, and realize robust torque control without additional torque sensor. The effectiveness of this method is confirmed from simulation and experiments.","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":"122406066","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.2010.5464033
Yohei Tomita, Satoru Suzuki, H. Fukai, R. Khosla, Y. Mitsukura
The purpose of this paper is to obtain the object. In particular, we focus on the face detection. By using the proposed method, we recognize faces with a near-infrared (NIR) camera. The face detection that used images from the NIR camera is comparatively difficult to be done, because they are gray scale images. In this paper, the filter by using the GA is designed for the purpose of getting the faces. The method of detecting faces and the position from the NIR images is proposed in the on-line image. It is demonstrated that our approach is effective for vehicle driver monitoring. Finally, it was confirmed that the proposed method works well.
{"title":"The classification system with the evolutionary computation","authors":"Yohei Tomita, Satoru Suzuki, H. Fukai, R. Khosla, Y. Mitsukura","doi":"10.1109/AMC.2010.5464033","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464033","url":null,"abstract":"The purpose of this paper is to obtain the object. In particular, we focus on the face detection. By using the proposed method, we recognize faces with a near-infrared (NIR) camera. The face detection that used images from the NIR camera is comparatively difficult to be done, because they are gray scale images. In this paper, the filter by using the GA is designed for the purpose of getting the faces. The method of detecting faces and the position from the NIR images is proposed in the on-line image. It is demonstrated that our approach is effective for vehicle driver monitoring. Finally, it was confirmed that the proposed method works well.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"24 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":"121568924","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.2010.5464091
Takaaki Kato, Y. Ishino, M. Takasaki, T. Mizuno
An electrostatic actuator control system using a variable capacitor has been proposed for achieving levitation without high voltage amplifiers. This paper presented a self-sensing method in this system. The principles of voltage control and position estimation of the floator are described. The static position estimation is reported. The position of the floator was estimated from a capacitance of the variable capacitor and voltage across an electrostatic actuator. A circuit for measurement was fabricated. Basic experimental results show the feasibility of the self-sensing operation of electrostatic suspension.
{"title":"Study on self-sensing electrostatic suspension using a variable capacitor","authors":"Takaaki Kato, Y. Ishino, M. Takasaki, T. Mizuno","doi":"10.1109/AMC.2010.5464091","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464091","url":null,"abstract":"An electrostatic actuator control system using a variable capacitor has been proposed for achieving levitation without high voltage amplifiers. This paper presented a self-sensing method in this system. The principles of voltage control and position estimation of the floator are described. The static position estimation is reported. The position of the floator was estimated from a capacitance of the variable capacitor and voltage across an electrostatic actuator. A circuit for measurement was fabricated. Basic experimental results show the feasibility of the self-sensing operation of electrostatic suspension.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"22 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":"128326193","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.2010.5464018
P. Padhy, Takeshi Sasaki, Sousuke Nakamura, H. Hashimoto
This paper presents a new approach for stable tracking of non-holonomic wheeled mobile robot using PID controller. The major objective of the paper is to propose a control rule to find out reasonable target linear and rotational velocities of the mobile robot. The method requires the information about the position (Cartesian space and orientation) of the mobile robot which can be obtained by any kind of positioning system. In the approach, the mobile robot, including the actuator dynamics is identified by a linear model using recursive least square method. The identified model is then used to design the PID controller to set the target linear and rotational velocities. Simulation and experimental studies are presented to validate the theoretical findings.
{"title":"Modeling and position control of mobile robot","authors":"P. Padhy, Takeshi Sasaki, Sousuke Nakamura, H. Hashimoto","doi":"10.1109/AMC.2010.5464018","DOIUrl":"https://doi.org/10.1109/AMC.2010.5464018","url":null,"abstract":"This paper presents a new approach for stable tracking of non-holonomic wheeled mobile robot using PID controller. The major objective of the paper is to propose a control rule to find out reasonable target linear and rotational velocities of the mobile robot. The method requires the information about the position (Cartesian space and orientation) of the mobile robot which can be obtained by any kind of positioning system. In the approach, the mobile robot, including the actuator dynamics is identified by a linear model using recursive least square method. The identified model is then used to design the PID controller to set the target linear and rotational velocities. Simulation and experimental studies are presented to validate the theoretical findings.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"42 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":"128621375","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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