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This paper deals with kinetic behavior of lunar explorer with tire-soil traction mechanism. Experiments are performed to observe the physical dynamics between soils and wheels. The performance of the mobility is discussed based on experiments by changing some parameters, the velocity, the load and the slope. This paper also studies the traction control scheme for wheeled robot. The effectiveness of the proposed scheme is shown by some experiments.

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In this study, we developed a tele-operated manipulator hand system with bilateral control consisting of a master unit and a slave unit for operation in dangerous or unreachable environments. The master unit is composed of a data glove with position tracker and an exoskeleton glove. The slave unit is composed of a hydraulic multi-link manipulator and a hydraulic four-finger hand. It can be mounted to a vehicle as needed for mobile deployments. In order to solve the system nonlinearities to improve the trajectory performance of the manipulator end-effector a neuro-fuzzy control strategy is proposed in position control loop. The experiment results demonstrate successful tracking and grasping with the proposed control scheme.

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[in Japanese]

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This paper considers paddling a ball by a robot manipulator atached a racket with two visual camera sensors.A poropsed method is composed of the section to iterate hitting the ball,and the section to control the position and orientation of the hitting ball.The first section is achieved by the tracking of the racket position for the ball based on a criterion.The second section is achived by controlling the position and orientation of the ball at the hitting points with the racket orientation.The effectiveness of the proposed method is shown by a experimental result.

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This paper presents a development of robot system that realizes ball lifting task. The ball lifting is considered as a basic practice in the ball sports such as tennis or soccer. Through this task by the robot, we intend to make clear the process of learning skill to realize the basic task by human. We examine the performance of robot system and demonstrate that the robot enables to perform this task in spite of many difficulties. Our purpose is to develop the intelligent robot system that realizes human skill and we build the basic but significant robot system as a first step.

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[in Japanese]

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[in Japanese]

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This article deals with the optimal gait pattern ofa quadruped locomotion robot. The locomotion of the robot is drivenby a control system with an oscillator network to generate adequategait patterns for various locomotion conditions. The phase differenceamong the oscillators is selected as the optimization variable. Theduty ratio is selected as the optimization parameter. The performanceindex is constructed as a quadratic form of the input torque vector atthe joints. The simulated annealing (SA) method is used as theoptimization algorithm and numerically derived the optimal gaitpatterns according to the various duty ratios.

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This paper empirically investigates the effect of Grid Computing on Evolution Strategies. Our grid environment is developed by Web Service. In our grid, List Scheduling with Round-robin order Replication (RR) is adopted for task scheduling.Especially, this paper counts the number of copy and kill on global desktop grid environment.

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[in Japanese]

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Force and torque induced by traveling motion of a mobile robot effect dynamically to the objects being carried on it. If the induced force and torque should be bigger than the static friction force and torque exerting between the carrying objects and the mobile robot, the carrying objects start to slip on it.Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads a dangerous collapse of all carrying objects.Furthermore it interferes with accurate traveling motions.From these requirements of safe transportation without fixations of the objects to the mobile robot to save time and to increase production efficiency in factories, this paper purposes a controller to guide the mobile robot along a given course as fast as possible with acceleration restriction not to slip the carrying objects during traveling .

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[in Japanese]

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[in Japanese]

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[in Japanese]

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In this paper, we describe a new autonomous mobile house-cleaning robot. The robot can clean rooms from corner to corner by closing a tip of movable suction nozzle along room walls. Moreover it can return to a charge station automatically after cleaning. It has several sensors, such as ultrasonic sensors and infrared sensors, for recognizing obstacles and ensuring safe motion. The robot makes a map of the room used for a pass planning automatically while running, and moves forward along a given path pattern called 'Spiral Pattern'. We proved the propose functions by experiment.

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[in Japanese]

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[in Japanese]

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The PLL motor speed control system (PLL-MSC) has an excellent speed follow performance. In addition, the position control system (PLL-PCS) where the speed deflection doesn't exist fundamentally can be constructed if it combines with the pulse error counter. Here, the parameter design method based on the consideration of the time resolution when the system of the control of the speed of the PLL/PWM motor that can compose on a small scale is combined withthe collecting counter by complete digital achievement and the positional servo system is achieved and the experiment result by FPGA are shown.

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This paper proposes an approach to reduce the phase noise of a fractional-N PLL synthesizer by using Generic Algorithm(GA). The fractional-N PLL synthesizers have been used especially in wireless communication devices recently because of its advantages but the synthesizers produce intrinsic phase noise due to the quantumizing error. In this work, the sequence of division for the counter in the synthesizer is calculated so that the phase noise may be minimized. This optimizing calculation needs a lot of computation but the use of GA enables us to obtain a solution.

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[in Japanese]

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[in Japanese]

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[in Japanese]

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Switching inductive (LR) shunt damping is one of the most effective methods for structural vibration control due to its simplicity and robustness. We analyze the response of a single degree of freedom system with a switched LR shunt circuit. Initial response and harmonic response are especially considered to optimize the circuit elements. Switching shunt damping applied for a multi degrees of freedom system is also examined using an experimental plate.

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When using the non-contact electrostatic levitation, changing a high voltage quickly is necessary. Efficient high voltage amplifier is needed in a past, but these are high costs. An electrostatic actuator is considered to be a capacitor in equivalence, and this and a variable capacitor are connected in the series. Changing a variable capacitor controls impressed voltage of electrostatic actuator.

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Generally, ultrasonic motor driving principles use vibration along an elliptical locus. In this research, a principle using an 8-shaped vibration locus is proposed. The proposed system has merits such as a single driving power source and precise positioning. Control technique and a design method of optimum stator transducer to realize the driving principle are reported.

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This report deals with a driving method "AZARASHI (Seal) Mechanism," with three degrees of freedom. The off-friction force generates the moment so that the device is rotated. According to the simulation, both Piezoelectric actuators are driven in the same way. Then the moment was canceled out and the device was seldom rotated.

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We present novel control logic for the semi-active vibration suppression based on the sliding mode control. Its performance of vibration suppression is evaluated in many aspects. The method uses the piezoelectric connected to an electric circuit. Though numerical simulations and experiments, we confirm that our proposed method has good performance in suppressing various vibrations.

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To detect intensions of users, their actions are checked in Tagged World, where RFID tags are attached to various objects. When a user wearing a hand-held computer installed an RFID reader behaves in Tagged World, his actions are recorded in the hand-held computer. This paper discusses the architecture of the hand-held computer to realign efficient detection of stereotyped actions from action logs of the user. It also shows the performance of the architecture.

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In an information service, a user should be given a suitable service at a proper place from providers. A service should be provided at a proper place. If a provider has no knowledge on services a user wants, the provider cannot provide a valuable service. If a user is not aware of services provided in each place, the user cannot get the service he wants. This paper proposes a method that determines an appropriate location dependent service by comparing user's to-do list and service from a provider according to the position.

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Because of the development of mobile devices and wireless network, various electronic information floods around. Most people may not find a useful part from huge quantities of information. We assume that a person arranges information based on a goal he has. If he organizes collected information by his interests or his works, he can make effective use of information he deal with. This article suggests a data model to automatically arrange information corresponding to an appropriate goal.

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[in Japanese]

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[in Japanese]

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[in Japanese]

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[in Japanese]

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[in Japanese]

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[in Japanese]

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The report is concerned with identification of continuous-time systems based on an noise tolerant iterative learning control (ILC) . First, we briefly review the identification method based on the ILC which updates the input in the finite dimensional parameter space. Then, we propose one reasonable way to choose the reference signals of the ILC for precise identification against the measurement noise, where we try to minimize the condition number of certain matrix. Numerical examples are shown to demonstrate the validity of the method.

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[in Japanese]

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[in Japanese]

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An identification scheme of a plant with widely spread poles is proposed.The Laguerre approach enables us to set the sampling period of the experimental data for the identification independently of the plant poles but the point of the poles of the Laguerre filters must be set appropriately in relation to the plant poles.Therefore if the plant has widely spread poles,it is not easy to identify the plant with the Laguerre approach.The proposed scheme uses plural sets of the Laguerre filters with different poles to detect widely spread poles.Least squares are used for the parameter estimation and the performance index is the sum of the performance indexes for the ordinal least squares for each Laguerre parameter.

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With the advance of computer hardware perpormance and database syatem technology,it has been practicable to store and to search for a large quantity of data. So that local modeling method,such as Just-In-Time modeling,has become very attractive in recent years. We have developed "Large scale database-based Online Modeling" as the practical method based on the Just-In-Time modeling concept on blast furnace operation,or robotic manipulation.

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[in Japanese]

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[in Japanese]

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The reinforcement of the transport capacity and the decreaseof the delay of the railways have been problems to be solved urgently.We have made the simulator for train group operationto discuss these problems by computer simulation,however the passenger flow model of this simulator is insufficient.In this paper, we propose a new model of the passenger flow anddiscuss the parameter estimation of the modelbased on the actual passenger flow data.

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In this paper we propose a probability-based modeling technique to identify dynamics of a deformable object and to manipulate the shape using a robot arm.This technique make it possible to make a task planning based on understanding of environmental conditions including a robot arm.In this paper,several simulation results will be present to show the efficiency.

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In this paper, authors discuss on the analysis on skill level of human from the viewpoint of transfer characteristics as well as its applications. The authors employ a human controlled inverted pendulum as an example task to analyse the relationship between transfer characteristics and skill level, which is a kind of evaluations for our intuitive or natural sense.Then, the authors also discuss on a new idea of "human performance educer" as an application of the analysis results.

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Gain-scheduling control is one of effective methods for plants whose dynamics change significantly according to change of operating point.In this paper,we design an optimal weighting function and a controller by the use of algorithm maximizing the robust stability margin at each operating point.Moreover,we realize robust and high performance control by gain-scheduling them.The effectiveness is shown by a rotary inverted pendulum which involves strong nonlinearity.

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[in Japanese]

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In designing congestion control of TCP/RED network, it is very important to take into account two points. One is packet drop probability which is our control input restricted to the range between 0 and 1. The other is robustness of control against fluctuation of network dynamics caused by variation in the number of TCP connections and so forth. In this paper, we propose an approach to designing a congestion controller to be implemented in a RED router. The proposed control system consists of an H-infinity controller achieving the robustness, and an anti-windup compensator maintaining the robustness even in the presence of the input constraints. The effectiveness is illustrated by some numerical comparisons.

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