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平社 信人, 石原 正彬, 黒澤 義也
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セッションID: A305
発行日: 2011/06/28
公開日: 2017/06/19
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In this research, autonomous wheeled mobile robot is developed for utilizing widely field such as medical, agriculture, welfare and to rescue where the scene of the disaster and accident are occurred. Such autonomous mobile robot is available for approaching the dangerous aria where human can not enter and the place where radio signal of remote control doesn't reach by complex obstacle form. To adapt these environment, the authors use control system of using optimal track design as autonomous mobile robot'o avoid the obstacle. To verify effectiveness for proposed control system, autonomous moving experiment is achieved by using wheeled mobile robot. In this report, effectiveness of autonomous mobile robot is shown, and obtained results are estimated.
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田原 誠, 鈴木 智, 野波 健蔵
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セッションID: A306
発行日: 2011/06/28
公開日: 2017/06/19
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In order to estimate attitude by using a quaternion based on extended Kalman filter (EKF), the attitude sensor detects a direction of the gravity by using a tri-axis accelerometer. However, accelerometers are usually sensitive to both the gravity and dynamic accelerations. The attitude sensor mounted on unmanned systems takes attitude estimation errors by using directly outputs of accelerometer under dynamic acceleration environment. In this paper, the dynamic accelerations are dealt with explicitly, and two types of algorithms are proposed. In the first approach, measured accelerations are filtered, and divided into the gravity and dynamic accelerations. Using only the gravity, EKF estimates high accuracy of attitude. The second approach demonstrates adequate performance with EKF which includes the dynamical model of accelerations. This paper shows a critical comparison of attitude estimation algorithms under the dynamic acceleration environment for the autonomous control of unmanned systems.
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太田 雅人, 佐藤 悠介, 野波 健蔵, 藤原 大悟
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発行日: 2011/06/28
公開日: 2017/06/19
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A small-scale unmanned helicopter has a potential of performing excellent flight characteristic such as hovering and moving sideways during flight. Hence, the possibilities of applying such helicopters in performing specific tasks is widely expected and being the focus of research. We introduce in this paper, the autonomous control of small-scale electrical driven helicopter. A control system which is based on LQI control method was designed and implemented. The control system consists of the MIMO (Multi-Input Multi-output) controller. The designed altitude controller implements the MIMO controller in its inner loop. Simulation results showed the effectiveness of our controller.
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佐藤 悠介, 太田 雅人, 野波 健蔵, 藤原 大悟
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セッションID: A308
発行日: 2011/06/28
公開日: 2017/06/19
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The small unmanned helicopter has excellent flight characteristics like hovering flight and vertical take-off and landing. So, it is expected that the helicopter will be used for various missions. In this paper, we introduce about the autonomous control of Ultra small-scale unmanned helicopter named SRB Quark SG. Firstly, we designed the control device and the control system. Secondly, we described the attitude model of SRB Quark SG which is derived by black box modeling used Multi Input Multi Output (MIMO) mathematical model and the attitude controller which is designed by LQI control method. Furthermore, we show the validity of the attitude controller by the simulation. Finally, we show flight experiment result.
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三輪 昌史, 園部 元康, 日野 順市
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セッションID: A309
発行日: 2011/06/28
公開日: 2017/06/19
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Recently, unmanned helicopter is widely used for crop-dusting, overhead wiring work, aerial photographing, etc. In such cases, swing motion of suspended load will affect on stability of unmanned helicopter. In this study, we present the load-swing suppression control of unmanned helicopter. Especialy controled maneuver of unmanned helicopter was used to suppress the swing motion of suspended load, and it succeeded to reduce the swing motion amplitude..
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三輪 昌史, 木下 健太郎, 松浦 良彦
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発行日: 2011/06/28
公開日: 2017/06/19
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In this study, we present a remote control support system (RCSS) consists of hobby class radio controlled helicopter and microcomputers, various sensors. The aim of this system is simplification of the control operation and safety improvement for aerial photographing and beginner's flight. Also Wii Remote (game controller) is selected as easy control input device for RCSS. This paper reports some experimental results of trial test flight by in-experienced person. In-experienced persons succeeded to control the test helicopter with Wii Remote and remote control support system in safety.t.
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重松 佑紀, 山下 剛史, 三輪 昌史
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発行日: 2011/06/28
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Recently R/C helicopter are used in fields of aerial photography and aerial investigation for natural disasters. But helicopter rotor blade is not covered, and the thrust is generated by very high rotational speed. So R/C helicopter has a high risk. In this study, we develop the new flying object that using ducted fans instead of rotor blades. In the experiment, we succeeded to achieve stable hovering by 3-axis (roll, pitch and yaw axis) attitude control. But pitch and roll axis caused steady state error, so we are looking for way of solving. For example, use to PI-D control to eliminate these steady state error.
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武村 泰範, 石井 和男
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セッションID: B301
発行日: 2011/06/28
公開日: 2017/06/19
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Underwater robots and underwater machine are counted on helping the salvage procedure, escaping prevention of pollution, lifesaving at sea, scientific exploration in the ocean and so on. In the point of the Deep-sea exploration, underwater robots can contribute to prosperity and achievement of discovering new animate beings, mendelian factor and ancient earth environment. In the underwater robot, therefore, Autonomous Underwater Vehicles (AUVs) have been developed actively during recent years. However, AUVs have various problems which should be solved such as motion control, acquisition of sensors' information, behavioral decision self-localization and so on. Regarding to consider about these problems, robot should be learning on self-organizing about relationship to own status and environment and behaviors. Therefore, a new method, which keeps the information of initial knowledge or previous environment and adapts to new environment, should be developed for improving the efficiency of the learning and reducing the learning cost with the use of the former environmental information that the robot had already learned. In this paper, a new self-organizing controllers system for AUVs using modular network SOM proposed by Tokunaga et al., is described. The proposed control system is developed using Reccurent Neural Network (RNN) type mnSOM. And, we report that the modify points of this controller system.
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田中 亮資, 松尾 貴之, 石井 和男
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セッションID: B302
発行日: 2011/06/28
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It is defficult to control the snake-like robot efficiently, thus the kinetic of snake-like robot is a problem of multi-body and free-floating system. We suggested a dynamic model of the 8-link snake-like robot using COG Jacobian. In this paper, we constructed kinetic model of 3-8 links, and travel velocity and energy usage are compared by changing the number of links. The property change caused by the number of links is verified through simulations.
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石井 和男, ナシライ アミール, 竹光 考昭, 田坂 大蔵
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セッションID: B303
発行日: 2011/06/28
公開日: 2017/06/19
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The sea transportation by ships covers most of trade volume, and the technologies for fuel efficiency and reductions of carbon-dioxide emissions should be developed. One of the technical issues to improve fuel efficiency of ships is how to prevent the marine biofouling to the ship hulls and remove organisms from ships. In general, the cleaning of ship hull is carried out on the ship inspection in dock yard or by divers in harbor. Frequent cleaning of ship walls is desirable to keep good fuel efficiency, however, the ship inspection on dock is done once a year and the cleaning by divers is high-cost and involve high risk. One of the solutions to the problem is the introduction of underwater robots to clean ship surfaces. In this paper, an underwater robot for ship hull cleaning is proposed and examined through ship hull cleaning experiments.
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有馬 正和, 岡島 沢哉, 山田 智貴
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セッションID: B304
発行日: 2011/06/28
公開日: 2017/06/19
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Power supply is one of the most important issues for autonomous underwater vehicles (AUVs) which have no umbilical cable connecting with their mother ships. Underwater robotic glider can go forward without any propulsive machinery and it is extremely efficient in energy consumption. The purpose of this research is to study the feasibility of a solar-powered underwater robotic glider so as to improve its long-term endurance, The SORA glider equipped with two thrustors and amorphous-silicon solar panels was developed as a test-bed vehicle of the solar-powered underwater robotic glider, and the authors have demonstrated that SORA has an ability to go underwater using solar energy. This paper deals with development of the SORA glider and the feasibility of the solar-powered underwater robotic glider use in the surface layer of ocean.
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安東 大地, 武村 泰範
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セッションID: B305
発行日: 2011/06/28
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Recently, in the oceanic survey area, the underwater robot is drawn attention as good tools. However, Autonomous Underwater Vehicle (AUV) cannot use the wireless communication and GPS and so on. Therefore, AUV needs the high-level autonomy navigation system. Actually, if we develop the real robot or navigation system, we needs a big amount of the developing money. And, If we made the robot, it is very difficult that the robot modify again. In this time, the simulation is attracting attention around the navigation fields. Open Dynamics Engine (ODE) is simulator, which has been used since 2001. In this paper, we aim to develop the navigation system in the underwater. At first, we made the omni-directional mobile robot in the simulator. And, we simulate the 2 dimensional environment navigation system.
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渡邉 啓介
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セッションID: B306
発行日: 2011/06/28
公開日: 2017/06/19
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Subsea production system, also named as subsea tie-back or subsea, consists of subsea wells, subsea processing facilities, subsea flow-lines, subsea controls, and surface Host, has capability to product oil & gas without an offshore structure straightly up the subsea wells. Offshore oil development field is reaching around 3000m and SPS technology is essential. This paper introduces recent trend in the development of SPS from the viewpoint of control engineering application.
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李 溶根, 中野 公彦, 大堀 真敬
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発行日: 2011/06/28
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Recently, Personal Mobility Vehicle (PMV) is produced as a new transportation vehicle. In Japan, however, it is not permitted to ride PMV on public road. The authors propose the new transportation system using PMV as automatic driving vehicle, adapting a path following control and a spacing control for platoon. This paper introduces the PMV's kinematic model which is equal to non-holonomic mobile robot and examines the performance through the numerical simulation. By new way to use PMV, the author suggest to make a new transportation system which can be used in short distance
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辻内 伸好, 小泉 孝之, 水野 陽章
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セッションID: B308
発行日: 2011/06/28
公開日: 2017/06/19
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The objective of this study is to develop a method of discriminating real-time motion from electromyogram (EMG) signals. We previously proposed a motion discrimination method. This method could discriminate five motions (hand opening, hand closing, hand chucking, wrist extension, and wrist flexion) at a rate of above 90 percent from four channel EMG signals in the forearm. The method prevents elbow motions from interfering with hand motion discrimination. However, discrimination processing time of this method is more than 300 ms, and the shortest delay time that is perceivable by the user is generally regarded to be roughly 300 ms. Furthermore, a robot hand has a mechanical delay time. Thus, the discrimination time should be less than 300 ms. Here, we propose a real-time motion discrimination method using a hyper-sphere model. In comparison with the old model, the hyper-sphere models can make more complex decision regions which can discriminate at the state of the motion. Furthermore, this model can learn EMG signals in real-time. We experimentally verified that the discrimination accuracies of this method were above 90 percent. Moreover, elbow motions did not interfere with the hand motion discrimination. The discrimination processing time was less than 300 ms, and was about 30 percent shorter than that of the old method.
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萬 礼応, 鈴木 崇文, 松村 哲哉, 高橋 正樹
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セッションID: B309
発行日: 2011/06/28
公開日: 2017/06/19
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This paper presents a real time collision avoidance method considering height information of a robot and environment for an autonomous omnidirectional mobile robot by simultaneous control of translational and rotational motions. Service robots which have been developed in recent years have arms to work and execute tasks. If they manipulate them, the robot size is changed in height. In order to avoid obstacles more safely and efficiently in real time, the height information of the robot and environment is needed. To evaluate height information and achieve the simultaneous control, the robot model is defined in each height and multi sensors are used. In this paper, novel control method based on the Fuzzy Potential Method is proposed. To verify the effectiveness of the proposed method, several numerical simulations and experiments are carried out.
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滝田 好宏, ブイクワン ズン, 伊達 央
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セッションID: B310
発行日: 2011/06/28
公開日: 2017/06/19
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This paper discuses the SSM for the arbitrary position of articulated joint and the simple relation is derived for the lateral guided method for the articulated vehicle. In order to demonstrated the advantage of this method, an experimental vehicle is developed and tested on the evaluation course which is used previous papers. The articulation joint of robot vehicle is located at the point of 1/3 of the wheel base which is same as commercially used dump tracks. Experimental data demonstrate the advantage of proposed lateral guided method for articulated vehicles.
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田村 和希, 内田 洋彰
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セッションID: B311
発行日: 2011/06/28
公開日: 2017/06/19
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This paper dealt with a position/force control of 2-link arm with a flexible tip by optimal servo system. First, we derive the mathematical model considering the control values as a position P_x and a contact force F_y at the tip of the flexible arm. The effectiveness of the proposed control method was examined by using CAE software where 2-link arm with a flexible tip was modeled. Finite Element Method (FEM) was applied to model the flexibility of the tip arm. In the previous study, the good results didn't obtained by the conventional hybrid control method of position/force control. Because, both position and force controller were independent, and they interfered. However, it was thought that the proposed control method was able to control both force and position by single controller. In this study, the difference between the proposed control method and the conventional hybrid control method were examined by simulations using CAE model.
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池田 富士雄, 平澤 勇気, 外山 茂浩
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セッションID: B312
発行日: 2011/06/28
公開日: 2017/06/19
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Passive dynamic walkers can walk down a shallow slope without actuators and controllers. Most researches of passive biped only focus on walking on a straight line although one of important themes of walking robots is to move and change direction as ones desired. The purpose of this paper is to develop an upper body driven quasi-passive 3D walking robot which can turn right and left on a flat ground with a direction control mechanism. A walking gait of our 3D robot rocks from side to side on a frontal plane which synchronizes movement of the swing foot on a sagittal plane. The direction control mechanism has simple switches on the surface of a hip joint above each leg. The turning movement takes advantage of yaw motion of the stance leg.
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松本 祐介, 池田 達彦, 成川 輝真, 高橋 正樹, 山田 深, 大島 博, 里宇 明元
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セッションID: B313
発行日: 2011/06/28
公開日: 2017/06/19
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In the future, astronauts will go to the moon and stay there for several weeks. Lack of experience of reduced might cause astronauts falling down. To prevent this risk, it is important to research human gait under variable gravity and propose significant method to train astronauts' walking before they go to the moon. There are several methods to simulate walking under variable gravity and one of the most major methods is unloading of the body by suspension (suspension method). However, suspension method has a problem that only body is unloaded but legs are not. In order to analyze the influence of lack of leg unloading, this paper compares the gait of suspension method and the gait under variable gravity using a compass-like biped robot. In this paper, we propose new method to simulate walking under variable gravity rigorously, In addition to suspension method, legs are actuated from hip and ankle joints to support the leg mass against the gravity. With proposed method, it is shown that simulation results conform to the gait under variable gravity.
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横田 聡, 星野 祐
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セッションID: B314
発行日: 2011/06/28
公開日: 2017/06/19
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An underactuated biped robot with point feet is developed to study its stable walking in 3D space. This paper deals with constrained walking in the sagittal plane as a first step, based on a reduced model. It consists of a torso, two femurs, and two tibias, but no ankles. To realize the stable walking, four variables are chosen and controlled to follow reference trajectories in the joint space, which is translated from a desired walking pattern in the workspace. The control scheme is verified to be effective in numerical simulations. But currently, it does not work in hardware experiments due to unmodeled dynamics mainly in torque transmission elements.
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加藤 大地, 関口 和真, 三平 満司
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セッションID: C301
発行日: 2011/06/28
公開日: 2017/06/19
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This paper describes a control strategy for a vertical jumping motion of the jumping robot. The target system consists of 4-link and 3-actuator, which is a model of human body. This system is fullactuate in initial states, but in the process of jumping, this system becomes underactuate. Besides, constraints of the system are variable in the process. Therefore, this system is an underactuated and a variable constraint system. In this paper, the control method which overcomes the difficulies is propsed. Furthermore, by consdering properties of a vertical jumping motion of human, the proposed control method realizes a humanlike vertical jumping.
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藤本 孝, 中原 健志
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セッションID: C302
発行日: 2011/06/28
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This paper proposes the dynamic shaping method of positioning command for vibration suppression of a variable structure mounted on a moving carriage using the sliding mode control. The concepts are described and the results of numerical simulation have been illustrated to show the validity of this method
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関口 和真, 三平 満司
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セッションID: C303
発行日: 2011/06/28
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This paper considers the posture control of Acrobot system with respect to the input-output linearization with time-varying output. Acrobot system has continuous set of equilibria, and there exists an output function such that corresponding equilibrium is stable via input-output linearization. Posture control from one equilibrium to another is realized by switching two output functions. Proposed method is to connect two outputs with time-varying function. The time-varying function is designed to keep some smoothness of the outputs at the connections. This enables output zero to be maintained, and then, transient dynamics is represented as a simple form and easy to be analyzed.
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藤本 啓吾, 横山 誠, 田邊 祐治
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発行日: 2011/06/28
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In this paper, we present a position and yaw angle controller for a four-rotor mini helicopter, which is designed via the backstepping methodology. In order to avoid a singularity problem caused by using of Euler angles, only quaternion is employed to represent the attitude of the airframe. Although the use of quaternion makes it difficult to obtain a desired attitude in a step of the back-stepping procedure, a geometrical approach gives an effective solution for the problem. It is shown in some numerical simulations that the proposed controller can achieve global tracking to demanded position and yaw angle simultaneously.
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外山 茂浩, 池田 富士雄
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発行日: 2011/06/28
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This paper proposes a sliding mode controller of semi-active suspension systems. The switching input of the proposed sliding mode controller is designed with the describing function method in order to occur a desired limit cycle of the switching function. As a result, the proposed controller could decrease the number of switching for the passivity constraint of the controllable damper, and could suppress deterioration of the control effect due to the chattering in the high frequency range, such as increase in acceleration of the sprung mass related to the ride comfort. Finally, simulation results show the effectiveness of the proposed controller.
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井田 信也, 酒井 悟
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発行日: 2011/06/28
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The conventional impedance control is based on Lagrangian systems with effort inputs and thus can not discuss any driving dynamics in electrical and/or hydraulic actuators. The proposed method is based on port-Hamilton systems with Casimir functions and gives a new impedance control without any canceling computations. It is proved that not only stability but also the closed-loop mechanical structure are robust in the presence of purturbations. The robustness is demonstrated by numerical simulations.
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星野 祐
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発行日: 2011/06/28
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This paper deals with an approximate linearization control of 2-DOF underactuated-by-1 systems, which uses specifically computed linearization coordinate so that the approximation error remains small. The coordinate is derived in systematic way by solving a first order linear partial differential equation. The resulting coordinate is infinite series of the joint position and highly nonlinear. The proposed control is verified in experiments for the rotational inverted pendulum. The linearization coordinates are drived also for mobile inverted pendulum, Acrobot, and for Pendubot.
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横山 和人, 高橋 正樹
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発行日: 2011/06/28
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A nonlinear controller for accelerating a mobile inverted pendulum (MIP) with interconnection and damping assignment passivity-based control (IDA-PBC) is proposed. For underactuated systems, nonlinear partial differential equations (PDEs) must be solved to derive the IDA-PBC and it is a difficult task in general. However, this study shows that the MIP can be properly described as a full actuated port-Hamiltonian system focusing only on the pendulum dynamics. The controller is derived without solving the PDEs. Although our controller is for only the pendulum part of the system, the translational acceleration can be indirectly controlled utilizing the relation between the inclination of the pendulum and the acceleration arising from instability of the system. The controller can realize various properties through energy shaping procedure of the IDA-PBC. Especially an energy function which will lead to safe operation of the MIP is proposed in this study. The function ensures that motion of the pendulum is restricted in a predefined region and converges to a desired pendulum angle. The controller also gets the pendulum back to the desired angle with a large state-dependent gain when the pendulum comes close to fall over. Effectiveness of the controller is verified through simulations.
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小川 伸夫, 横山 誠
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発行日: 2011/06/28
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This paper addresses a problem of tracking control for a two-wheeled mobile robot with sideslip. A nonlinear mathematical model based on kinematics and dynamics is developed, which includes a adhesion model between the pneumatic tiers and the ground, and is more practical than non-holonomic constrained model. Then, a nonlinear controller is designed via back-stepping approach. Simulation results illustrate the effectiveness of the proposed control law.
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関口 彰太, 高橋 英輔, 千田 有一, 中島 信行, 吉松 俊一, 長瀬 二郎
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発行日: 2011/06/28
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It is shown to be able to presume the rotational speed by using the wavelet transform for the acceleration signal obtained by throwing the ball with built-in acceleration sensor. In addition, it is shown to be able to presume the speed of a ball and the rotation axis from the acceleration signal.
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中尾 智幸, 坂本 良太, 矢野 賢一, 窪田 直樹, 宮川 成門, 堀畑 聡
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発行日: 2011/06/28
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Painting is one source of satisfaction and fulfillment for people with disabilities. However, some individuals with disabilities cannot satisfactorily enjoy painting due to involuntary movement. In this study, we developed a drawing assist system by position compensation filter to attenuate involuntary movement on the basis of characteristics of synthesized velocity with respect to involuntary movement. Our system enabled drawing based on the participant's own senses and motor control, even when experiencing involuntary movement.
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太田 修司, 大谷内 翔太, 千田 有一, 池田 裕一
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発行日: 2011/06/28
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In the present paper, we propose a discrete-time nonlinear observer (DNO) design method and an unknown disturbance estimation based on DNO. The proof of the boundedness of the estimated error is derived based on the Lyapunov stability theorem. The proposed unknown disturbance estimation method is applied to a rotational machine system. The effectiveness of the proposed method is verified through numerical simulations and experiments. The obtained results indicate that the proposed discrete-time unknown disturbance observer provides sufficient estimation performance for relatively low sampling frequencies.
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水本 郁朗, 緒方 勇貴, 神澤 龍市
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セッションID: D301
発行日: 2011/06/28
公開日: 2017/06/19
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In this paper, we deal with a tip position control problem of a flexible arm with dead zone for the control input. A design method of an adaptive control based on an output feedback for nonlinear nonminmum-phase flexible arm systems will be presented. To realize an adaptive output feedback control for nonminimum-phase control systems, we introduce a parallel feedforward compensator (PFC) so as to satisfy the OFEP (Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of neural networks in order to remove undesired vibration and the steady-state bias error from the PFC output. The effectiveness of the proposed method is examined through an experiment for a flexible arm with dead zone.
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衛藤 将, 奥村 克博, 大多 英隆, 大屋 勝敬
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セッションID: D302
発行日: 2011/06/28
公開日: 2017/06/19
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In the case when wheeled mobile robots run fast on rough terrain, due to the body acceleration and oscillation, the sensors mounted on robot body may be destroyed. In this paper, we propose a scheme to reduce the body acceleration at any specified location on the mobile robot body. In the proposed scheme, a combined ideal model is designed so that the location where the acceleration performance becomes best can be moved easily by setting only two design parameters. To achieve the control objective, an adaptive controller is developed so that the behavior of an actual mobile robot tracks that of the combined ideal model. It is ascertained by numerical simulations that the body acceleration at any specified location can be improved easily.
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佐藤 和也, 柳 昌裕, 鶴田 和寛
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セッションID: D303
発行日: 2011/06/28
公開日: 2017/06/19
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This paper considers the design of an adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots which is based on H_∝ control method. Kinematics control laws of mobile robots is well known, therefore, developing the dynamics control is focused. It is shown that the resulting dynamic control strategy can compensate not only the physical parameters of mobile robot, but also the input torque uncertainty and the input torque disturbance based on adaptive H_∝ method.
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石橋 勇希, 卓 錦辛, 和田 秀樹, 大屋 勝敬
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セッションID: D304
発行日: 2011/06/28
公開日: 2017/06/19
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In this paper, we propose an adaptive lane keeping controller using the front and rear wheel steering. The developed controller does not require any accurate knowledge of all vehicle parameters, the accurate knowledge of the road curvatures and measurements of the lateral velocity.
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高羽 克尚, 山田 学, 山田 直人
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セッションID: D305
発行日: 2011/06/28
公開日: 2017/06/19
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This paper considers the problem of controlling both the position and the orientation of a two-wheeled mobile robot with a reduced number of actuators. The robot is a nonholonomic system described by a set of nonlinear equations and some parameters of the dynamics are subjected to uncertainties. A new adaptive control system is proposed by using a Lyapunov function. The control system provides global stabilization of the robot moving on inclined surface. A numerical simulation is performed to validate the effectiveness of the proposed controller.
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磯田 洋平, 曽根 彰, 増田 新
原稿種別: 本文
セッションID: D306
発行日: 2011/06/28
公開日: 2017/06/19
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In this study, from the viewpoint of anti-earthquake design, the isolation performance of various types of base isolated structures subjected to long-period earthquake motions is evaluated. Using four types of dampers such as oil damper, nonlinear viscous damper and controllable friction damper, the maximum acceleration responses and maximum displacement responses of base isolated structures subjected to not only actual short-period earthquakes like El Centro and JMA Kobe earthquake motions but also artificial long-period earthquake motions like Nagoya-Sarmomaru earthquake motion are compared. From this comparison, it is clear that the controllable friction damper can suppress relatively the maximum responses against both earthquake motions.
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辺見 信彦, 鷲見 雄太
原稿種別: 本文
セッションID: D307
発行日: 2011/06/28
公開日: 2017/06/19
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The authors had tried to dissipate residual vibration of a displacement amplification mechanism using two types of impact damper, and shown effectiveness to adopt an impact damper for the vibration control of flexure mechanism. It had been also shown that the initial setting of clearance between impactor and object is very critical and sensitive to the damping ability. In this paper, an impact damper which can adjust distance between impactor and object by piezoelectric bimorph actuator is newly developed. Owing to the adjustment function of the clearance, influence of various factors such as frequency ratio between damper and displacement amplification mechanism, can be examined more exactly.
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松本 拓也, 鎌田 崇義, 佐藤 栄児, 井上 貴仁
原稿種別: 本文
セッションID: D308
発行日: 2011/06/28
公開日: 2017/06/19
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Generally, the caster is attached to most medical equipments. However, in an earthquake, equipment with unlocked caster moves widely but if another one with locked caster gets large acceleration. In past study, for the purpose of reducing seismic response of caster wagon, Instantaneous Optimal Control with ER brake was proposed. And the effectiveness was confirmed in simulation and shaking experiment. But base torque of ER brake was a little high, that fine control was difficult. And weight coefficient used in optimal control needs to be changed manually depending on seismic acceleration. In this study, ER brake was changed to other one that has lower base torque. Additionally weight coefficient used in optimal control was discussed to improve control effect.
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曽根 彰, 上西 将司, 増田 新
原稿種別: 本文
セッションID: D309
発行日: 2011/06/28
公開日: 2017/06/19
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Recently, for the long-period ground motions by the Tokai earthquake, the Tonankai earthquake, et al., the safety of various structures becomes a problem. In this paper, Using the analytical model of high-speed moving railway vehicles proposed by Shintani, et al., its dynamic behavior is studied by use of the artificial ground motions, artificial log-period ground motions and actual ground motion in horizontal and vertical directions simultaneously. From the analytical results, some correlation effects between the horizontal ground motion and vertical ground motion on the possibility of rollover of the vehicle are shown. Also, it is clear that the possibility of rollover of the vehicle is small for the long-period ground motions used in this study.
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星野 祐, 布川 巧
原稿種別: 本文
セッションID: D310
発行日: 2011/06/28
公開日: 2017/06/19
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This paper proposes a simple method for vibration suppression in positioning control of flexible structure by using a spectrum-shaped reference trajectory. Comparing with existing methods, it has three advantages: (i) since traveling time can be explicitly specified, traveling time does not degrade, (ii) precise model of the system is not required; only natural frequencies of flexible modes are necessary for trajectory design, and (iii) it can be implemented using pulse-train position control. The proposed method is intended to use in vibration suppression in multiple-DOF positioning control. Experimental results show the value.
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古屋 治, 小形 慶治
原稿種別: 本文
セッションID: D311
発行日: 2011/06/28
公開日: 2017/06/19
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Response control techniques such as a base-isolation and a vibration control have been a general vibration reduction system for upgrading of seismic safety or habitability improvement in civil and architectural structure after Kobe earthquake. In such state in Japan, an application of the vibration reduction device to a small-scale structure has been carried out actively in recent years. Especially, in the important institution of the cities such as refuge place, hospital, school, information and communication institution where function maintenance is needed, it is important to maintain its performance of the machinery and equipment in the facility with an upgrade of structural seismic safety. Moreover, in the future, upgrading of seismic safety of the particular equipments is urgent business. This study has been examined a compact and low cost damping device for a base-isolation system of light weight mechanical structures like a computer server rack. In this paper, experimental and analytical results on the performances of the product type damping device using damping effect caused by Eddy-Current are described.
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佐藤 正和, 酒井 悟
原稿種別: 本文
セッションID: D312
発行日: 2011/06/28
公開日: 2017/06/19
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This paper proposes a new Kalman filter for visual control systems. First, the Kalman filter is constructed on the polynomial space. Second, the Kalman filter is applied to a stabilization of a fluid-mechanical system. Finally, the validity of the proposed Kalman filter is confirmed by the experiment. Compared with the conventinal approach, the proposed approaches does not use COG at all but achieves better performance in the presence of noise and occlusion.
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原稿種別: 付録等
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発行日: 2011/06/28
公開日: 2017/06/19
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原稿種別: 表紙
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発行日: 2011/06/28
公開日: 2017/06/19
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