The received signal waveform in a magnetic resonance wireless power transfer circuit with the input frequency discretely shifted is analyzed to demodulate FSK signal to binary data. First, components of the signal are presented based on frequency characteristic with two maximal transferred power. Second, it is shown how zero crossing period to determine the output value of bit regularly varies in two separated spans of time. Third, their interval, where there occurs non-regular change of zero crossing period, is evaluated. Two norms are proposed to formulate the upper and the lower limits of the interval. Finally, the range where zero crossing periods exist is analyzed and clearly expressed with an inequality.
A hardware CPG model for bipedal gait control using pulse-type hardware neural networks(P-HNN) that mimics a brainstem spinal cord projection and can switch gait using an electronic circuit is reported. Using the electronic circuit, neural network circuits can be developed that mimic a nervous system of living organisms and can substitute for a spinal cord function. Humans and animals generate gait locomotion by a central pattern generator (CPG) localized in the spinal cord. In addition, it is known that signals from a higher center nervous is input to the brainstem spinal cord projection to switch gait. We proposed the hardware CPG model using the P-HNN that can switch control signal patterns depending on the state of a pulse signal, which is assumed to be the upper center nervous. Generation and switching of control signals for walking and running were confirmed from circuit simulations and actual measurements of discrete circuits.
In this paper, we propose a novel method to detect the time for voltage to reciprocate the cable by using sinusoidal voltage. It can be detected by changing the frequency of the sinusoidal voltage applied to the cable and measuring the amplitude of the combined wave. The proposed method makes it possible to realize a highly accurate cable length measurement. A measuring device using the proposed detection method has been manufactured. As a result of measuring the cable length, measurement with an error of 0.1% or less of the cable length is performed.
The purpose of this study was to clarify the effect of the presence or absence of upper limb movement on the propulsion direction body velocity (TPV) leaving the platform at kick start. The first trial (Standard trial) is a normal kick start, and the second trial (Lower trial) is the same as a normal kick start. The force from the upper limb movement at the time was set so that the start table was not applied, and the start movement calculated the 3D coordinates of the marker attached to the body by 3D movement analysis. As a result, in the movement speed at the time of leaving the platform, the standard trial had a significantly higher value in the propulsion direction and a significantly lower value in the vertical movement speed than the lower trial. In addition, since the standard trial had a significantly lower value in the jumping angle when leaving the platform, the role of the upper limb movement in kick start is to promote by making the jumping angle closer to the horizontal when leaving the platform. It was suggested that it may affect the directional velocity.
Sign-indefinite linear quadratic differential game for stochastic systems by means of static output feedback (SOF) strategy is investigated. First, the saddle point equilibrium condition of external disturbance and control strategy is established based on stochastic cross-coupled algebraic matrix equations (SCCAMEs). Second, the numerical algorithms for solving the SCCAMEs are discussed. In particular, the difference between the existing algorithm and the proposed one is addressed. In order to show the validity for the several algorithms, a modified practical numerical example is demonstrated. In particular, it is shown that the optimality for the cost functional cannot be attained via the existing algorithm. Furthermore, it is claimed that the new proposed algorithm by combining the numerical algorithm that consist of stochastic Ricatti and Lyapunov equations with the Newton method is useful and reliable because the setting of the initial condition is quite easy task and fast convergence is attained.
Recently, robotic process automation (RPA) has been widely used to automate various office tasks, but most RPA systems automate only the tasks performed on computers. To extend RPA systems to automation of physical tasks, we have been developing an electroadhesive paper handler that adheres to a sheet of paper with electrostatic attraction force caused by an application of a high voltage. Although our handler enables robots to easily handle paper, it sometimes fails to adhere to paper if the voltage application time is short. To address this issue, in this study, we propose a sensing mechanism that can detect whether the handler is adhering to the target. The sensing mechanism requires only a simple circuit and a single voltage measurement. Through experiments, we show that the sensing is possible at various humidity and temperatures and in various paper conditions. Also, we study the measured voltage's dependence on a resistance of the measurement circuit and the voltage's transient responses, and provide an equivalent circuit that explains them. Moreover, using an example robot system that automatically extracts specified documents from a given pile of documents, we show that the proposed sensing mechanism speeds up paper handling by making adhesion failures recoverable.
There is a growing interest to introduce energy-saving algorithms which balance energy efficiency with residents' comfortability into a Building Energy Management System (BEMS). However, the following issues hinder penetration of the energy-saving algorithms into markets: difficulties both in embedding the algorithms into the BEMS, and in turning the algorithms suitably to fit varieties of installed equipment in each building. In this paper, A BEMS on micro-service architecture, and software service modules for the BEMS, were proposed. The micro-services architecture improves flexibility to introduce newly developed energy-saving algorithms into the BEMS and software service modules manipulate whole roles (Modeling, Planning, Doing, and Action) required for tuning the algorithms on-line to fit the algorithms to each building. Each software service module was implemented and integrated as elements of BEMS on micro-service architecture. The BEMS on micro-service architecture was applied to an actual building for evaluation, and its availability was confirmed through the field test.
In this paper, we present a pose control method for rigid body motion via an input-to-state safe control barrier function (ISSf-CBF). The control objective is that a mobile robot converges to the desired pose with avoiding any obstacles under input disturbances. First, we derive a control error system to discuss stability via the Lyapunov method. Through the kinematic model for a rigid body, we design an ISSf-CBF for obstacle avoidance under input disturbances. Next, we present a control Lyapunov function (CLF) for the control error system. By using the ISSf-CBF and the CLF, we discuss a unified quadratic program formulation that ensures both safety and stability for pose control of rigid body motion under input disturbances. Our proposed approach, which deals with both the position and the orientation of rigid body motion, connects the safety and the stability via the ISSf-CBF and the CLF. Finally, simulation and experimental results confirm the validity of the proposed ISSf-CBF control method compared to the stabilizing one.
In this paper, we discuss the LQ problem for discrete-time linear systems with singular weightings. The interactor with all-pass property is used to properize a given strictly proper system. In our approach, the type of Riccati equation to be solved is different from the result for a square trasfer function matrix case. The relation between our approach and the former result is discussed. Unlike the square case, the explicit solution to the problem cannot be obtained and a recursive method to solve the Riccati equation is shown. An application to the finite settling-time control is also discussed.
This study proposes a system to extract the characteristics of the works of Kunibo Wada, an artist from Kagawa Prefecture, Japan, using image analysis technology. It is difficult for young designers to learn the style of Kunibo’s works of art simply by visiting art museums and viewing his works. Therefore, we have developed a system that helps young designers to understand the style of Kunibo’s works more easily than they have been able to do in the past. The system analyzes Kunibo’s style using artificial intelligence and helps young designers to understand his style by classifying works with similar styles. In particular, we developed an algorithm to extract features related to accent colors and "Kasumi" a technique for emphasizing objects. The results of evaluation experiments showed that both the precision rate and recall rate were sufficient for young designers to understand the style, which was the objective of the project. We expect that young designers will be inspired by the style of existing works of art to transmit culture from a new perspective, and to redesign and develop their works across fields.
Electronic documents are easier to copy, paste, or duplicate than handwritten reports. Consequently, plagiarism in class assignment reports is increasing. Existing plagiarism detection methods primarily calculate similarity based on matching characters or words in a document. However, class assignment reports are written simultaneously by multiple students on the same topic, and the teacher often specifies the format in detail, making the contents quite comparable. The risk of false-positive results is preventable if the teachers visually check whether matching parts of class assignment reports are coincidental or plagiarized. However, this is a time-consuming and labor-intensive task. Herein, we propose a method to discriminate authors using word-formatting information obtained by parsing Extensible Markup Language (XML) of word .docx documents as document creation features. We conducted an experiment using university class reports and visualized obtained classification rules that discriminate between the same author's writing using a decision tree. We also evaluated classification performance using random forests.
A new model of Game of Life which incorporates the concept of Sugarscape The Game of Life with Sugarscape model has rules which depend on a renewable resource on cells. In the previous study, the configuration transition of oscillators in the Game of Life with Sugarscape model was confirmed. In this study, we verify the configuration transition of Methuselah in the Game of Life with Sugarscape model. Experimental results show that the growth is periodic depending on the amount of resource recovery.