Human behavior for controlling machines is quite adaptive but restrictive in gain, phase, frequency bandwidth and so on. It is often assumed by a cross-over model especially for compensatory tracking task. Force display system is increasingly important in robotics, remote manipulations, machine handling and etc. The control system design for force display and/or bi-lateral master-slave manipulator is not so easy because of gain limits, mechanical vibration, human-induced oscillation and others. Proposed is a control system design for force display and/or bi-lateral master-slave manipulator based on model-following control under the concept of human crossover model in compensatory tracking. Experimental results are also shown for an actual force display device designed by the proposed method.

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A new reconstruction method called Generalized Vector Sampled Pattern Matching (GVSPM) has been applied to an ill-posed inverse problem involving an electrical process tomography for multiphase flow. The characteristics of GVSPM method were examined using a simulation for pseudo particle concentration distribution images. Overall, the GVSPM method was proved superior to the LW and the ITR methods in the case of annular pseudo particle images. Then, a large scale electrical capacitance tomography (ECT) system was designed to visualize the powder concentration in the process of mixing air and FCC catalysts in a vertical pipeline. The concentration distribution image was obtained its accuracy was also discussed systemically. Moreover, another research focused on the fabrication of a micro-channel and the visualization of solid-liquid two phase flow in the micro-channel. A micro-channel with commercial connecter system for 60 electrodes was fabricated. The impedance between the electrodes was measured with changed frequency, and the cross-sectional impedance was determined.

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