Pub Date : 2001-07-25DOI: 10.1109/SICE.2001.977837
M. Nguyen, V. Graefe
An approach to skill acquisition and knowledge representation for the control of vision-based calibration-free robots is introduced. It allows a robot to collect experiences and knowledge automatically during its normal operation, and to adapt them to changing conditions. This, in turn, makes the robot improve its skills and operation speed over time without any operator intervention and gives it self-learning characteristics in a form of learning by doing. The concept has been successfully realized and tested in real-word experiments involving the grasping of a variety of differently shaped objects by a visually guided calibration-free manipulator.
{"title":"Learning by doing-an approach to robotic skill acquisition","authors":"M. Nguyen, V. Graefe","doi":"10.1109/SICE.2001.977837","DOIUrl":"https://doi.org/10.1109/SICE.2001.977837","url":null,"abstract":"An approach to skill acquisition and knowledge representation for the control of vision-based calibration-free robots is introduced. It allows a robot to collect experiences and knowledge automatically during its normal operation, and to adapt them to changing conditions. This, in turn, makes the robot improve its skills and operation speed over time without any operator intervention and gives it self-learning characteristics in a form of learning by doing. The concept has been successfully realized and tested in real-word experiments involving the grasping of a variety of differently shaped objects by a visually guided calibration-free manipulator.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114894557","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 : 2001-07-25DOI: 10.1109/SICE.2001.977826
Jun Zhou, T. Hagiwara
The computation of the H/sub /spl infin// norms of a class of finite-dimensional linear continuous-time periodic (FDLCP) systems is discussed. By a staircase truncation on the frequency response operators of FDLCP systems, asymptotic LTI continuous-time models are established, based on which the H/sub /spl infin// norms can be estimated in the asymptotic sense, and thus the Hamiltonian test is recovered in the FDLCP setting. From this asymptotic Hamiltonian test, a modified bisection algorithm is developed for the H/sub /spl infin// norm estimation. It is also considered to implement the algorithm via approximate modeling, which is numerically implementable in most practical FDLCP systems.
{"title":"H/sub /spl infin// norm computation of continuous-time periodic systems","authors":"Jun Zhou, T. Hagiwara","doi":"10.1109/SICE.2001.977826","DOIUrl":"https://doi.org/10.1109/SICE.2001.977826","url":null,"abstract":"The computation of the H/sub /spl infin// norms of a class of finite-dimensional linear continuous-time periodic (FDLCP) systems is discussed. By a staircase truncation on the frequency response operators of FDLCP systems, asymptotic LTI continuous-time models are established, based on which the H/sub /spl infin// norms can be estimated in the asymptotic sense, and thus the Hamiltonian test is recovered in the FDLCP setting. From this asymptotic Hamiltonian test, a modified bisection algorithm is developed for the H/sub /spl infin// norm estimation. It is also considered to implement the algorithm via approximate modeling, which is numerically implementable in most practical FDLCP systems.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122924310","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 : 2001-07-25DOI: 10.1109/SICE.2001.977798
V. Tipsuwanporn, F. Cheevasuvit, J. Ngamwiwit, W. Sawaengsinkasikit, N. Komine
Focuses on developing a methodology for control of speed of a single phase induction motor (SPIM) by using a binary rate multipliers (BRM) technique and a programmable multi-frequency technique (40-80 Hz) in order to control suitable energy supply to the motor. If voltage and current are known then power can be calculated by using the vector space method. The results (torque and speed) are fed back to two proportional-integral (PI) controllers in order to select BRM patterns that can be generated in up to 256 forms. Power factor at no load and full load is also increased. Thus, higher efficiency is achieved.
{"title":"Programmable multi-frequency SPIM drive for suitable energy","authors":"V. Tipsuwanporn, F. Cheevasuvit, J. Ngamwiwit, W. Sawaengsinkasikit, N. Komine","doi":"10.1109/SICE.2001.977798","DOIUrl":"https://doi.org/10.1109/SICE.2001.977798","url":null,"abstract":"Focuses on developing a methodology for control of speed of a single phase induction motor (SPIM) by using a binary rate multipliers (BRM) technique and a programmable multi-frequency technique (40-80 Hz) in order to control suitable energy supply to the motor. If voltage and current are known then power can be calculated by using the vector space method. The results (torque and speed) are fed back to two proportional-integral (PI) controllers in order to select BRM patterns that can be generated in up to 256 forms. Power factor at no load and full load is also increased. Thus, higher efficiency is achieved.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128328930","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 : 2001-07-25DOI: 10.1109/SICE.2001.977840
Y. Chiang, T. -. Wu, F. Chang, L. Wang
A constant gain estimator is proposed to integrate the GPS and gyro measurements for aircraft attitude determination. Through frequency domain approach, a pair of high pass and low pass filters are employed. Concerning GPS and gyros errors, we apply power spectral density (PSD) properties to select the cut-off frequencies. Once these values are determined, we can derive the associated Kalman gains. Since the PSD specifications of gyros are provided by equipment manufactory, the Kalman gains can be designed in advance. The reduction of the burdens of online computations, which are unavoidable in the traditional Kalman, make our algorithms suitable for real systems. From the assessment of software simulations, the proposed filter is sound and effective.
{"title":"Filter design for attitude determination using GPS and gyro: frequency domain approach","authors":"Y. Chiang, T. -. Wu, F. Chang, L. Wang","doi":"10.1109/SICE.2001.977840","DOIUrl":"https://doi.org/10.1109/SICE.2001.977840","url":null,"abstract":"A constant gain estimator is proposed to integrate the GPS and gyro measurements for aircraft attitude determination. Through frequency domain approach, a pair of high pass and low pass filters are employed. Concerning GPS and gyros errors, we apply power spectral density (PSD) properties to select the cut-off frequencies. Once these values are determined, we can derive the associated Kalman gains. Since the PSD specifications of gyros are provided by equipment manufactory, the Kalman gains can be designed in advance. The reduction of the burdens of online computations, which are unavoidable in the traditional Kalman, make our algorithms suitable for real systems. From the assessment of software simulations, the proposed filter is sound and effective.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130484477","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 : 2001-07-25DOI: 10.1109/SICE.2001.977818
Y. Takahashi, H. Goto, T. Saito
A health care system using a face robot is proposed. The proposed robot system is composed of a face robot with a personal computer, and can teach the time when a patient has to take medicines for example. Patient's health care data can be also stored in the personal computer, and the robot system can make many reactions depending on the stored data. The robot system can communicate with a patient using robot face expressions, a voice communication system, and a personal computer display.
{"title":"Health care system using face robot","authors":"Y. Takahashi, H. Goto, T. Saito","doi":"10.1109/SICE.2001.977818","DOIUrl":"https://doi.org/10.1109/SICE.2001.977818","url":null,"abstract":"A health care system using a face robot is proposed. The proposed robot system is composed of a face robot with a personal computer, and can teach the time when a patient has to take medicines for example. Patient's health care data can be also stored in the personal computer, and the robot system can make many reactions depending on the stored data. The robot system can communicate with a patient using robot face expressions, a voice communication system, and a personal computer display.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124018436","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 : 2001-07-25DOI: 10.1109/SICE.2001.977835
K. Nakamura, M. Yamazaki, Kakuen Ohzawa
Based on the visual information processing system in the brain, we developed an association cortex to entorhinal - hippocampal neural network model (AEH model) for learning and recollection of human faces. We evaluated the learning and recollection performance of the AEH model by computer simulation. We presented each human face to the AEH model twice. We regarded that the AEH model recognized each face correctly if the AEH model learned the face the first time and recalled it the second time, in accordance with human perception. In the experiment, ten human faces were successively presented to the AEH model. The recognition performance of the model was 100 percent correct, indicating the effectiveness of the representation and transformation algorithm of the AEH model.
{"title":"Face recognition evaluation of an association cortex - entorhinal cortex hippocampal formation model by successive learning","authors":"K. Nakamura, M. Yamazaki, Kakuen Ohzawa","doi":"10.1109/SICE.2001.977835","DOIUrl":"https://doi.org/10.1109/SICE.2001.977835","url":null,"abstract":"Based on the visual information processing system in the brain, we developed an association cortex to entorhinal - hippocampal neural network model (AEH model) for learning and recollection of human faces. We evaluated the learning and recollection performance of the AEH model by computer simulation. We presented each human face to the AEH model twice. We regarded that the AEH model recognized each face correctly if the AEH model learned the face the first time and recalled it the second time, in accordance with human perception. In the experiment, ten human faces were successively presented to the AEH model. The recognition performance of the model was 100 percent correct, indicating the effectiveness of the representation and transformation algorithm of the AEH model.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128906829","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 : 2001-07-25DOI: 10.1109/SICE.2001.977844
H. Kameda, M. Iwamoto, T. Kirimoto, Y. Kosuge
This paper proposes a moving target detection algorithm using the sequential detection approach. Radar target detection under low SNR (signal-to-noise ratio) environments is known as a highly difficult problem. To resolve these subjects, sequential detection algorithm using position and Doppler frequency measurements are proposed. Through several simulations, validity of this algorithm has been confirmed.
{"title":"A sequential detection method for moving targets under low SNR environments","authors":"H. Kameda, M. Iwamoto, T. Kirimoto, Y. Kosuge","doi":"10.1109/SICE.2001.977844","DOIUrl":"https://doi.org/10.1109/SICE.2001.977844","url":null,"abstract":"This paper proposes a moving target detection algorithm using the sequential detection approach. Radar target detection under low SNR (signal-to-noise ratio) environments is known as a highly difficult problem. To resolve these subjects, sequential detection algorithm using position and Doppler frequency measurements are proposed. Through several simulations, validity of this algorithm has been confirmed.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114449554","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 : 2001-07-25DOI: 10.1109/SICE.2001.977827
Byung-Moon Kwon, H. Ryu, Dae-woo Kim, O. Kwon
Establishes limitations on the impulse response of an LTI system based on the open-loop poles and zeros located in the convergence region of the closed-loop transfer function. Using the definition of Laplace transform, it is shown that time-domain integral constraints have to be satisfied by the impulse response of the SISO stable system and that the maximum value of impulse response has some lower bounds according to the achievable settling time of the system. Also, it shows the reason why it is very difficult to control the system with open-loop RHP (right half plane) poles or zeros using the unity-feedback scheme in the view of small impulse response. These results can be used to determine a priori whether desired design specifications axe achievable or not.
{"title":"Fundamental limitations imposed by RHP poles and zeros in SISO systems","authors":"Byung-Moon Kwon, H. Ryu, Dae-woo Kim, O. Kwon","doi":"10.1109/SICE.2001.977827","DOIUrl":"https://doi.org/10.1109/SICE.2001.977827","url":null,"abstract":"Establishes limitations on the impulse response of an LTI system based on the open-loop poles and zeros located in the convergence region of the closed-loop transfer function. Using the definition of Laplace transform, it is shown that time-domain integral constraints have to be satisfied by the impulse response of the SISO stable system and that the maximum value of impulse response has some lower bounds according to the achievable settling time of the system. Also, it shows the reason why it is very difficult to control the system with open-loop RHP (right half plane) poles or zeros using the unity-feedback scheme in the view of small impulse response. These results can be used to determine a priori whether desired design specifications axe achievable or not.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116461372","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 : 2001-07-25DOI: 10.1109/SICE.2001.977870
H. Ryu, Byung-Moon Kwon, Kyung-Sang Yoo, O. Kwon
This paper investigates the robust H/sub /spl infin// filter with FIR (finite impulse response) structure for nonlinear discrete time-varying uncertain systems represented by the state-space model having parameter uncertainty.
{"title":"Robust H/sub /spl infin// FIR filtering for nonlinear time-varying systems","authors":"H. Ryu, Byung-Moon Kwon, Kyung-Sang Yoo, O. Kwon","doi":"10.1109/SICE.2001.977870","DOIUrl":"https://doi.org/10.1109/SICE.2001.977870","url":null,"abstract":"This paper investigates the robust H/sub /spl infin// filter with FIR (finite impulse response) structure for nonlinear discrete time-varying uncertain systems represented by the state-space model having parameter uncertainty.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117080591","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 : 2001-07-25DOI: 10.1109/SICE.2001.977822
Y. Seo, J. Choi
The paper is concerned with a S-eigenvalue(stochastic-eigenvalue) concept in the linear time-invariant stochastic system where a stochastic mode in dynamics depends on stochastic uncertainties. The main contributions include the propositions of the new concept for S-eigenvalue, S-eigenvector (stochastic-eigenvector) and its probability density function in the complex plane. Numerical examples are presented to illustrate the proposed concepts.
{"title":"Stochastic eigenvalues for LTI systems with stochastic modes","authors":"Y. Seo, J. Choi","doi":"10.1109/SICE.2001.977822","DOIUrl":"https://doi.org/10.1109/SICE.2001.977822","url":null,"abstract":"The paper is concerned with a S-eigenvalue(stochastic-eigenvalue) concept in the linear time-invariant stochastic system where a stochastic mode in dynamics depends on stochastic uncertainties. The main contributions include the propositions of the new concept for S-eigenvalue, S-eigenvector (stochastic-eigenvector) and its probability density function in the complex plane. Numerical examples are presented to illustrate the proposed concepts.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125954528","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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