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Use of a single-shot pulse, rather than a sinusoidal burst, is preferable for distinguishing multiple targets in an atmospheric supersonic ranging or detection system. A repetitive control can be applied for damping oscillation in a ceramic transducer and generating a short truncated pulse. The theory and results from an exprimental study are presented.

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This paper suggests the tactile displaying method using ultrasonic actuator for controlling the sense of roughness and softness independently. In the present study, controlling not only signal waveform but also carrier wave amplitude is conducted. By conducting three sensory evaluation experiments, effectiveness of the proposed method was confirmed.

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Propose a novel spherical stepping motor. The motor is controlled in any direction with same control algorithm. The motor has a rotor with 8 permanent magnets and a stator with 6 electromagnets. The structure and the control algorithm are shown.

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This paper investigates the control system design of magnetic forces using independent motion control of permanent magnets. In the permanent magnet bearing system, the radial motions of the rotor are passively supported by repulsive forces between ring-shape permanent magnets. The state - variable feedback control scheme is discussed for the stabilization of axial motion.

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A gyroscopic sensor using active magnetic bearing (AMB) is studied in this paper. This sensor has been proposed to realize a compact, high-accuracy and low-cost sensor. However, an effect of mass unbalance of the AMB shaft appears as oscillating components in the measurement results. This paper presents a method of canceling the oscillating components from mass unbalance.

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A feed forward control is added to the control system realizing negative stiffness for improving the transient characteristics. A control system that includes negative stiffness tends have reverse reaction. It can be improved by trashing feed forward control.

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We had proposed a novel method to provide human tactile sensation using surface acoustic wave (SAW). To expand its application, a glass substrate SAW transducer has been proposed. In this research, to improve energy efficiency, a new design of the transducer was proposed. In the structure, the wave excited by the oscillator circulated around the substrate surface. Fabrication and characteristics of the transducer are reported.

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Functional Electrical Stimulation (FES) enables the paralyzed muscles to contract. Focusing on this phenomenon, this study develops the power assist orthosis which restores the deprived motor function of the people with spinal cord injury or with hemiplegia by coordinating two powers: the power of actuator and the human's muscle power generated by FES. In the walking experiment for a healthy subject, we tested the effectiveness of using the integration of FES with the electrical motor.

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This paper describes a human power amplification type transportation work support device and its control method. This system is composed of two units. One is a robot arm, and another one is a unit for operation. This unit that we designed connects the robot arm and a person's arm and detects operation power. Operation power can be amplified by applying an original positional control to this device. The effect of the operation unit and control method has been verified by simulation.

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This paper presents the design of course following controller for a low-cost robotic boat. The autonomous boat is going to be applied for aquatic observation, environmental monitoring, sea bed mapping and so on. To achieve these tasks, it is important for the boat to follow the assigned course with enough accuracy. In this study, the desired course is specified by a user with waypoints. Straight line or circular segments are used to connect two neighboring waypoints to make it a smooth path. We first derive a mathematical model describing the boat's motion. Then we design the course following controller based on the model using H2 and H infinity method to address the stability and performance requirement. The controller is tested in the sea and the experimental results will be presented in the paper.

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Preview control is a design method to improve the performance of the transient by employing the future information of the reference signal. In this paper, we introduce an alternative generalized plant and apply the $H^{\infty}$ preview control to a two-inertia system. The relation between the performance of the transient and the frequency weight is discussed based on the design example.

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