Pub Date : 2001-07-25DOI: 10.1109/SICE.2001.977831
Kyu-Joon Lee, J. Ha, J. Kong, Jong Shik Kim
This paper presents a system modelling, controller design and implementation for a rotational inverted pendulum system (RIPS), which is an under-actuated system and has the problem of unattainable velocity state. Two control strategies are applied to the RIPS. One is a sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback. The other is a disturbance observer which estimates disturbance and some modelling errors of RIPS with less computational effort. Some simulations and various kinds of experiments are performed in order to verify that the proposed controller has the ability to control RIPS whose velocity is assumed to be unavailable. The results of the simulations and experiments show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions as well as the robustness to model uncertainties.
{"title":"Robust control system design for rotational inverted pendulums using output feedback sliding mode controller and disturbance observer","authors":"Kyu-Joon Lee, J. Ha, J. Kong, Jong Shik Kim","doi":"10.1109/SICE.2001.977831","DOIUrl":"https://doi.org/10.1109/SICE.2001.977831","url":null,"abstract":"This paper presents a system modelling, controller design and implementation for a rotational inverted pendulum system (RIPS), which is an under-actuated system and has the problem of unattainable velocity state. Two control strategies are applied to the RIPS. One is a sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback. The other is a disturbance observer which estimates disturbance and some modelling errors of RIPS with less computational effort. Some simulations and various kinds of experiments are performed in order to verify that the proposed controller has the ability to control RIPS whose velocity is assumed to be unavailable. The results of the simulations and experiments show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions as well as the robustness to model uncertainties.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"38 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":"127648300","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.2001.977857
K. Pulasinghe, K. Watanabe, K. Kiguchi, K. Izumi
A method of interpreting imprecise natural language commands to machine understandable manner is presented in this paper. The proposed method tries to ease the process of man-machine interaction by combining the theoretical understanding of artificial neural networks and fuzzy logic. Both fields are very popular to mimic the human behavior in different research areas in artificial intelligence. The proposed system tries to understand the natural language command rather than mere recognition. The distinctive features of the artificial neural networks in pattern recognition and classification and the abilities of manipulating imprecise data by fuzzy systems are merged to recognize the machine sensitive words in the natural language command and then to interpret them to machine in machine identifiable manner. Modularity of the design tries to break up the complete task into manageable parts where the presence of individual part is vital to bridge the so-called man-machine gap.
{"title":"A novel modular neuro-fuzzy controller driven by natural language commands","authors":"K. Pulasinghe, K. Watanabe, K. Kiguchi, K. Izumi","doi":"10.1109/SICE.2001.977857","DOIUrl":"https://doi.org/10.1109/SICE.2001.977857","url":null,"abstract":"A method of interpreting imprecise natural language commands to machine understandable manner is presented in this paper. The proposed method tries to ease the process of man-machine interaction by combining the theoretical understanding of artificial neural networks and fuzzy logic. Both fields are very popular to mimic the human behavior in different research areas in artificial intelligence. The proposed system tries to understand the natural language command rather than mere recognition. The distinctive features of the artificial neural networks in pattern recognition and classification and the abilities of manipulating imprecise data by fuzzy systems are merged to recognize the machine sensitive words in the natural language command and then to interpret them to machine in machine identifiable manner. Modularity of the design tries to break up the complete task into manageable parts where the presence of individual part is vital to bridge the so-called man-machine gap.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"11 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":"134590410","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.2001.977869
Dong Kyoo Kim, P. Park
Introduces a normalized version of the least squares order-recursive lattice (LSORL) smoother, say the normalized LSORL smoother. The normalized LSORL smoother has excellent round-off noise properties and inherits all the other advantages of the normalized LSORL as well. Simulation results show that the normalized LSORL smoother outperforms the existing LSORL smoother when finite-precision arithmetic is used.
{"title":"The normalized least squares order-recursive lattice smoother","authors":"Dong Kyoo Kim, P. Park","doi":"10.1109/SICE.2001.977869","DOIUrl":"https://doi.org/10.1109/SICE.2001.977869","url":null,"abstract":"Introduces a normalized version of the least squares order-recursive lattice (LSORL) smoother, say the normalized LSORL smoother. The normalized LSORL smoother has excellent round-off noise properties and inherits all the other advantages of the normalized LSORL as well. Simulation results show that the normalized LSORL smoother outperforms the existing LSORL smoother when finite-precision arithmetic is used.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"57 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":"131686329","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.2001.977810
Genshe Chen, M. Harigae
The interacting multiple model (IMM) adaptive estimator is used as a means of improving the GPS receiver positioning performance in various dynamic conditions. Each Kalman filter is considered to be locally valid, applicable over a region of the working space defined by the filter conditioning value. Three dynamic models correspond to the stationary, low dynamic, and high dynamic working space. A numerical study is used to demonstrate the viability of the concept. In comparison with previous methodology, the new, IMM based method leads to an improvement in GPS position accuracy.
{"title":"Using IMM adaptive estimator in GPS positioning","authors":"Genshe Chen, M. Harigae","doi":"10.1109/SICE.2001.977810","DOIUrl":"https://doi.org/10.1109/SICE.2001.977810","url":null,"abstract":"The interacting multiple model (IMM) adaptive estimator is used as a means of improving the GPS receiver positioning performance in various dynamic conditions. Each Kalman filter is considered to be locally valid, applicable over a region of the working space defined by the filter conditioning value. Three dynamic models correspond to the stationary, low dynamic, and high dynamic working space. A numerical study is used to demonstrate the viability of the concept. In comparison with previous methodology, the new, IMM based method leads to an improvement in GPS position accuracy.","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":"131339213","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.2001.977816
Y. Takahashi, N. Ishikawa, T. Hagiwara
A robotic wheel chair with inverse pendulum control has been proposed so that a wheel chair bound person can climb over a step. The proposed robotic wheel chair generally moves using four wheels on a flat floor in order to maintain the stability. When the robotic wheel chair moves just in front of a step, the robotic wheel chair raises the front wheels, and maintains the inverse pendulum control. A rider can go forward or backward by his/her body inclination. After the front wheels land on a step, the robotic wheel chair can climb over a step assisted by rear wheel drive motors.
{"title":"Inverse pendulum controlled two wheel drive system","authors":"Y. Takahashi, N. Ishikawa, T. Hagiwara","doi":"10.1109/SICE.2001.977816","DOIUrl":"https://doi.org/10.1109/SICE.2001.977816","url":null,"abstract":"A robotic wheel chair with inverse pendulum control has been proposed so that a wheel chair bound person can climb over a step. The proposed robotic wheel chair generally moves using four wheels on a flat floor in order to maintain the stability. When the robotic wheel chair moves just in front of a step, the robotic wheel chair raises the front wheels, and maintains the inverse pendulum control. A rider can go forward or backward by his/her body inclination. After the front wheels land on a step, the robotic wheel chair can climb over a step assisted by rear wheel drive motors.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"22 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":"115995744","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.2001.977815
T. Kubik, M. Sugisaka
The paper concerns the possibility of using cellular phones for mobile robot control, assuming that control commands are spoken in a natural way. To understand voice commands, the robot has to have speech recognition capability. A short review of speech recognition methods and available speech recognition software is given. In addition, aspects of speech recognition connected with natural language interfaces for robot control are discussed. As an example a real mobile robot system is presented. In this system voice communication is realized using a computer, with a cellular phone attached via modem and sound cards. Because the process of speech recognition depends on received sound quality, a comparison of voice commands transmitted via different cellular phones was performed. The paper includes the results of this comparison.
{"title":"Use of a cellular phone in mobile robot voice control","authors":"T. Kubik, M. Sugisaka","doi":"10.1109/SICE.2001.977815","DOIUrl":"https://doi.org/10.1109/SICE.2001.977815","url":null,"abstract":"The paper concerns the possibility of using cellular phones for mobile robot control, assuming that control commands are spoken in a natural way. To understand voice commands, the robot has to have speech recognition capability. A short review of speech recognition methods and available speech recognition software is given. In addition, aspects of speech recognition connected with natural language interfaces for robot control are discussed. As an example a real mobile robot system is presented. In this system voice communication is realized using a computer, with a cellular phone attached via modem and sound cards. Because the process of speech recognition depends on received sound quality, a comparison of voice commands transmitted via different cellular phones was performed. The paper includes the results of this comparison.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"73 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":"126866768","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.2001.977812
S. Kumarawadu, K. Watanabe, K. Kiguchi, K. Izumi
We present an active binocular tracking scheme, which addresses both the kinematic and dynamic aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.
{"title":"Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head","authors":"S. Kumarawadu, K. Watanabe, K. Kiguchi, K. Izumi","doi":"10.1109/SICE.2001.977812","DOIUrl":"https://doi.org/10.1109/SICE.2001.977812","url":null,"abstract":"We present an active binocular tracking scheme, which addresses both the kinematic and dynamic aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.","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":"129961319","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.2001.977859
T. Moriyama, N. Sukemura, K. Morishita
The aim of the study is the development of a nonintrusive mass flowmeter for the moved bed gravity flow of the new process, i.e.: DRI (direct reduction process for iron ore) and the synthetic naphtha making reactor reducing the coke coal and petroleum. One of the authors has already developed a cross correlation method, steady state heat transfer method and PZT acoustic emission method. The paper describes a prototype of a new cross correlation method using a pulse heating marking signal based on the past proceedings. The steady state heat transfer type is improved to +-0.8% full scale in the paper and it is the most available for the new process till the third oil crisis or reconstruction of coke. This new prototype should be more useful for the derivative of temperature against choking the feed powder on the surface of the temperature sensors. The paper describes the comparison between the accuracy of the signal and the wall materials (heat conductive or adiabatic).
{"title":"Cross correlation mass flowmeter using pulse heating method (No. 3)","authors":"T. Moriyama, N. Sukemura, K. Morishita","doi":"10.1109/SICE.2001.977859","DOIUrl":"https://doi.org/10.1109/SICE.2001.977859","url":null,"abstract":"The aim of the study is the development of a nonintrusive mass flowmeter for the moved bed gravity flow of the new process, i.e.: DRI (direct reduction process for iron ore) and the synthetic naphtha making reactor reducing the coke coal and petroleum. One of the authors has already developed a cross correlation method, steady state heat transfer method and PZT acoustic emission method. The paper describes a prototype of a new cross correlation method using a pulse heating marking signal based on the past proceedings. The steady state heat transfer type is improved to +-0.8% full scale in the paper and it is the most available for the new process till the third oil crisis or reconstruction of coke. This new prototype should be more useful for the derivative of temperature against choking the feed powder on the surface of the temperature sensors. The paper describes the comparison between the accuracy of the signal and the wall materials (heat conductive or adiabatic).","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"43 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":"129914585","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.2001.977828
Y. Okuyama, F. Takemori
In actual systems, the physical parameters of plants are uncertain and are accompanied by nonlinearity. The transfer function and the characteristic polynomial should, therefore, be expressed by interval polynomials whether the input-output signals are continuous or discrete time. The paper examines the robust performance of that type of control system, based on the existing area of characteristic roots. In particular, a sufficient condition for the roots area which is enclosed by a specified circle on an s-plane is given by applying the classic Sturm theorem (division algorithm) to the four corners of a segment polynomial. The result that is obtained by finite calculations in regard to the coefficients of the segment polynomial, can be extended to general interval polynomials with multiple uncertain parameters.
{"title":"A sufficient condition for characteristic roots area of interval systems","authors":"Y. Okuyama, F. Takemori","doi":"10.1109/SICE.2001.977828","DOIUrl":"https://doi.org/10.1109/SICE.2001.977828","url":null,"abstract":"In actual systems, the physical parameters of plants are uncertain and are accompanied by nonlinearity. The transfer function and the characteristic polynomial should, therefore, be expressed by interval polynomials whether the input-output signals are continuous or discrete time. The paper examines the robust performance of that type of control system, based on the existing area of characteristic roots. In particular, a sufficient condition for the roots area which is enclosed by a specified circle on an s-plane is given by applying the classic Sturm theorem (division algorithm) to the four corners of a segment polynomial. The result that is obtained by finite calculations in regard to the coefficients of the segment polynomial, can be extended to general interval polynomials with multiple uncertain parameters.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"31 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":"134095500","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.2001.977842
Y. Roh, H. Cho
X-ray digital tomosynthesis (DT) that can form a cross-sectional image of 3D objects promise to be good solutions for inspecting interior or occluded defects of industrial products. We propose an X-ray DT system consisting of a scanning X-ray tube, an image intensifier, a rotating prism and a CCD camera. System parameters such as geometric magnification and X-ray projection angle can be the main factors to be considered to design the system. In achieving larger magnification and production angle together, there are restrictions due to geometric limitations. The parametric relations are investigated based on a numerical model of the system. A method to correct distorted images in intensity and shape as well is proposed. It uses a polynomial model from a known reference grid pattern. It uses a self-organizing feature mapping (SOFM) network. As an application, a series of experimental images of PCB boards is considered.
{"title":"Design and analysis of X-ray digital tomosynthesis system","authors":"Y. Roh, H. Cho","doi":"10.1109/SICE.2001.977842","DOIUrl":"https://doi.org/10.1109/SICE.2001.977842","url":null,"abstract":"X-ray digital tomosynthesis (DT) that can form a cross-sectional image of 3D objects promise to be good solutions for inspecting interior or occluded defects of industrial products. We propose an X-ray DT system consisting of a scanning X-ray tube, an image intensifier, a rotating prism and a CCD camera. System parameters such as geometric magnification and X-ray projection angle can be the main factors to be considered to design the system. In achieving larger magnification and production angle together, there are restrictions due to geometric limitations. The parametric relations are investigated based on a numerical model of the system. A method to correct distorted images in intensity and shape as well is proposed. It uses a polynomial model from a known reference grid pattern. It uses a self-organizing feature mapping (SOFM) network. As an application, a series of experimental images of PCB boards is considered.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"27 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":"126756637","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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