A hybrid control strategy is presented for robust high-accuracy positioning performance of transmission mechanisms. A time-delay algorithm estimates unknown dynamics and completes the feedback linearization framework for the nonlinear electro-mechanical system. A feedforward controller further enhances transient tracking capability. Control performance is demonstrated by experiments on a one-dimensional positioning mechanism in the presence of unknown plant parameters and external disturbances.

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Haptic interfaces permit human to interact with the environment by simulating the sense of touch using force feedback. Haptic interfaces, generate instabilities because of intersample behavior. We present an optimal control based approach to reduce instability in haptic interfaces caused by intersample behavior.

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This paper deals with sinus-lifting motion which is snake motion such as raising part of body. Our approach is to analyze this motion in the sense of control theory. The concept of dynamic manipulability of a snake-like robot is applied to general locomotion control. Numerical simulations show that sinus-lifting motion improves the manipulability and affect the period of body shape.

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Pull-in instability strictly limits the mobile length of electromagn etic actuators. This issue has been a great estriction for a class of electromagnetic linear/ torsion actuators. So we proposed an open-loop oscillatory control for stabili zing the electromagnetic system inside the pull-in instability region. And thi s control was successfully applied to a prototype model of an electromagnetic actuator.

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In synchronization tapping task, Negative asynchrony is known as important matter to analyze human time perception. The system of negative asynchrony is suggested that there are two systems. In this article, we analyze the systems using a controlled SE and a controlled attention. As a result, it is proposed that one system use an attention and the other is not.

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This paper deals with human controlled inverted pendulum. The authors focus on human controlling an unstable plant to clarify whether human shows another aspects as a controller than previously considered. Human is analyzed by system identification technique in computer simulation. Then, situated human is measured to verify validity of the simulation.

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The present paper discusses how human adjusts the mechanical impedance of arm in order to perform the reaching task under unstable environments. We identify both the arm stiffness and inertia during horizontal movements using the direct drive manipulator. It is then shown that the stiffness and inertia of the upper limb are cooperatively adjusted such that the dynamic range is kept higher in the direction against unstable external forces during the reaching motion in comparison with the null field.

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It is well known that the sensory-motor coupling represents negative asynchrony phenomenon in which motion timing precedes the onset of stimulus. In this report, we made an improvement on the time-series analysis and it was shown that asynchronous behavior in synchronization tapping is composed of two different dynamics. One has self-similar structure, and the other is periodic.

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In this research, we have developed a binocular head with a high-speed vision system to track a fast and irregularly moving object. We propose a head-eye cooperative method using the “head motion coefficient” which reduces head motions considering the position and the velocity of a target. We show that proposed method can track the target efficiently with human-like motion.

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We propose a dynamic human motion simulator to obtain the natural movement. This system consists of a motion capturing system and a dynamic simulator using human muscle-skeletal body. This model has 100 segments of born, 300 muscles and 105 D.O.F.. This platform makes it possible for construct human dynamic motion control functions precisely and is useful for bio-mimetic robots.

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Feedback error learning has an architecture of two-degree-of-freedom control in which the feedforward controller is tuned to be the inverse model of the plant. Recently, Miyamura and Kimura have proved stability of FEL, based on the strictly positive realness. In this paper, we propose a design method for the two-degree-of-freedom control system, which does not require any positive real conditions.

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This paper reports on a gymnastic robot, developed for various floor exercises such as jumping, somersault, or back handspring. A feedback controller for back handspring are presented and evaluated via simulations and experiments. The use of global physical quantities such as center of mass, or angular momentum allows even simple target dynamics to generate complex gymnastic motions of multi-body system.

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In this paper, we propose a control algorithm for the problem of swing up control of Acrobot in upright position. In a conventional algorithm a singularity problem exits. For this singularity problem, we propose an algorithm that the output function is controlled to track a desired trajectory and the coordinate transformation is changed by switching the output function.

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This paper, as the opening tutorial in the OS06, outlines the latest update on major standard network systems and data interfaces for industrial automation. According to functional requirements from end-users, major topics and key features which are expected at various kinds of plant floors are discussed. In addition, resent standardization activities on security and safety for control system are reviewed.

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The purpose of this paper is to provide the major role of sensor and control networks as requirements from end-users in order to attain plant optimal control and human-centered interface. Examples are given from the perspectives of sensor networks to monitor plant conditions, seamless computing which is available anywhere, and the information sharing system guaranteed with high security.

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De-fact and international standard technology developments which will follow up the industrial manufacture user requirements for open networks are attempted. The area of discussed and introduced technology are: manufacturing facility diagnostics prognostics and maintenance, variant subsystems interface, human interface, information infrastructure such as horizontal/vertical information sharing, modeling/ profiling, security and systems functional safety.

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In this paper, the latest updates of FOUNDATION fieldbus technologies and practical installations of Fieldbus in the PA Industries. By discussing backgrounds of the Fieldbus standardization in PA, the FF fieldbus features are clearly identified from the other types of fieldbus. The digital field concept is bringing the innovations into the field instrumentation and control system design in PA.

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The main objective of the Open Robot/Resource Interface for the Network (ORiN) is to establish the open middleware that provides unified API for accessing information in robots, devices and equipments in FA system. In this paper, applications of ORiN in real manufacturing environments are reported in detail. This paper also reports the promotion activities of the ORiN Forum.

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A simple self-transfer aid robotic system is proposed, and the evaluations of the human’s physical burdens when using a transfer aid robotic system are presented in this paper.

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This paper presents the system designs of a small biped robot aiming for the use as a teaching material at universities. Easily available cheap key components were used to develop the robot system, a PIC microcomputer, for example.

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This paper describes the development of a dynamic, robust algorithm for tracking a walking human by a mobile robot. In order to follow a target individual, the proposed system employs a laser rangefinder and an omni-directional camera. The validity of the method was examined experimentally in an outdoor environment.

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This paper presents the development of an intelligent wheelchair. In order to assist the maneuvering of the wheelchair, we employed an omni-directional camera and a slightly tilted laser rangefinder. By using this combination of sensors, it can identify a sidewalk. Thus, it can travel on a sidewalk automatically without difficulty. The proposed method is verified experimentally in outdoor environments.

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In order to support the aged or disabled, we have been developing human-assistance robotic system platform that can provide some services to aid the aged or disabled. We also develop multiple user interfaces that enable user to control robotic system easily. In this paper, the implementation of user interface is presented.

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For education and fault diagnose of marine power system, a large container ship power simulation system is built. The system model is made of diesel engine generators, power network and system management model. Many simulation results are obtained. Such as large load starting, three phases ground fault.

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The electrostatic discharge (ESD) effect in recording heads in the deshunting process is studied. It is found from simulation that the automatic machine can cause to damage the GMR film and Gap of recording head due to ESD based on machine model. The value of inductor is a critical parameter to damage the recording head in this process.

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This paper considers a fault-tolerant decentralized H-infinite control problem for multi-channel linear time-invariant systems. The aim is to design a decentralized H-infinite output feedback controller to make the given system stable and achieve H-infinite performance both in the normal situation and in the situation where any one of the local controllers fails. An algorithm is proposed to solve the problem.

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A car running on the low friction road falls into an unstable state easily because of causing large skidding on the tires. To prevent this we desi gned a driving orce controller based on sliding mode control theory. We devel op a 3-dimensional interactive simulator to verify the controller and influenc es to the car dynamics by this controller.

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For time-series data prediction, we investigated an answer-in-weights (AIW) neural network. For more accuracy, we proposed usage of AIW network consisting of three component estimators. And we considered input functions of AIW network. In this paper, we propose extended AIW networks of 2-steps structure. To confirm the effectiveness of the proposed method, we make computer simulation using actual economic indicators.

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This paper is concerned with drill breakage prediction using self-organized neural networks. In this research, self-organized neural networks are used to classify the sample data and extract standard patterns of all kinds of cutting process states. From standard patterns, the drill breakage can be detected and predicted. Application to drill machine tools verifies the effectiveness of proposed methods.

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A new stock price prediction model is proposed based on Genetic Network Programming (GNP). In the proposed prediction model, GNP is applied to searching for an optimal combination of two or more appropriate stock price indices, which is different from a conventional GA or GP based stock price prediction model.

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We develop a new neural model dealing with continuation value of inputs for some practical applications. An essential core of the model is use of a novel vector representation of a target concept in a multi-level informational hierarchy that makes the model possess category formation ability. Simulation results demonstrate the usefulness of the model for a facial image recognition task, even if it is carried out under an incremental and unsupervised learning environment.

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We present that a new tracking method can be obtained from replacing the measurement covariance matrix B in the Riccati difference equation of a Kalman filter by lB where l is a constant parameter. We examine the stability of an alpha-beta filter derived from this method. We also compare the tracking performance of these filters as a function of l.

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The directional gamma ray detector has been designed, which combines triple scintillators, i.e. a NaI (Tl), a CSI (Tl) and a BGO scintillator with a photomultiplier tube, and positively increases directional sensitivity to incident gamma rays in the range from 0 to 360 degrees. It will be effective for searching radioactive materials or contaminations.

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We propose a practical design method of a estimator which includes a disturbance model when uncertainties exist in nominal parameters. The characteristics of the estimator were clarified its disturbance elimination improved 2.5 times compared with the estimator without the disturbance model.

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In this paper, a new approach to estimate matrices B and D, in subspace methods, is provided. The starting point was one method proposed by Van Overschee and De Moor (1996). We have derived new (and simpler) expressions and we found that the original method can be rewritten as a weighted least squares problem, involving the future outputs and inputs and the observability matrix.

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The ionospheric delay affects accuracy of positioning in GPS. Since prediction of the ionospheric delay is difficult, it is not easy to improve the accuracy of GPS SPS. We investigated time course of ionospheric delay and elevation dependence. We improved 4 meters in the height measurement of GPS better than previous system by using Klobuchar model compared with the experiment.

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We have noticed that a bias error in GPS positioning becoming large, when positioning is carried out under the bad condition. We paid attention to the satellite arrangement and the number of satellites. We made an experiment, and reproduced it with simulation. We aim at reduction of the bias error under the bad condition.

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The proposed paper presents novel algorithms and methods, which utilize GPS and pseudolites technology for indoor positioning with centimeter level of positioning accuracy without applying any restrictions to user movement or requiring knowledge of the initial user position. The results are implemented in the software and tested in simulated and real environment.

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This paper describes the development of an intelligent wheelchair which can autonomously assist in outdoor multiple-waypoint driving. In order to realize such functions, we employ differential GPS and INS sensors in conjunction with a laser rangefinder. To confirm the validity of proposed method, the system was tested in outdoor experiments.

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Silicon semiconductor wafers near room temperature are semitransparent at a wavelength more than 1.1 micro meters, which makes radiation thermometry near room temperature difficult. We have measured apparent polarized emissivities and transmssivities of silicon wafers with oxide film (SiO2) near room temperature. Based on the experimental results, we have proposed radiation thermometry of silicon wafers near room temperature.

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In order to find suitable radiation thermometry of silicon semiconductor wafers during processing, we have measured temperature dependence of polarized emissivity and polarized transmissivity of the silicon wafer at moderately high temperature over 800 K and at wavelengths of 0.9 and 1.55 micronmeters. Based on experimental results, we propose new radiation thermometry for silicon wafers at high temperature.

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In the present work, evaluation of an improved design prototype for high temperature standard platinum resistance thermometers (HTSPRTs) is reported. The prototype utilizes alumina disk insulators to minimize the leakage current flowing between the measurement leads at the stem part of the HTSPRT. The HTSPRT is designed to be applicable up to the copper freezing point.

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High-temperature platinum resistance thermometers (HTPRTs) developed in the previous work were applied as temperature control sensor of a high-temperature furnace. A furnace equipped with this HTPRT and digital control system was constructed. The temperature stability of the furnace was found to be better than 1 mK in the temperature range from 920°C to 1000°C.

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When scaling methods are used in master-slave systems, it is necessary to take human abilities into account for getting important information precisely. This paper focuses on force perception abilities for time-variant force. The measurement results support an intuitive conjecture that humans are sensitive to stimuli which change rapidly. Some conditions are derived from the measurement results.

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This paper conducts a psychological experiment to define the degree of immersion in order to develop a system which can recognize the person's immersion in human-robot interaction. Experimental outcomes indicate that experimental subjects immersed themselves in the interaction with the robot if they were given the affective utterances.

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The aim of this paper is to investigate a control framework for mobile agents, operating in shared environment with humans. The intelligent behavior, like obstacle avoidance and activity planning is learned from inhabitants. The iSpace evaluates the situations in the space and learns the walking behavior of the inhabitants.

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In human's communication, natural communication is realized by being compatible in nonverbal communication and verbal communication. We are developing the receptionist system that is equipped with a voice dialogue system and a face robot that can express facial expressions like human beings as a platform. In this paper, we evaluate the response manner of our system.

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In this paper, we aim at evaluating value of the sense of security to create more safe, secure and reliable society. For this purpose, we use various utility theoretic approaches. Then we try to evaluate value of the sense of security for some real data. We will compare the results and show which theory is more appropriate for each case.

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This paper proposes a fault detection scheme of examining if a human operator is in good condition when the operator handles a switching system. We model a switching system driven by on-off manipulations of an operator. It is expressed by a sequence of the continuous variables sampled at the instant that on-off manipulations are applied to the system. Then, we detect a human error which occurs when an operator is engaged in on-off manipulations using statistical hypotheses testing.

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Unlike automatic control, it is generally difficult to avoid vibration by manual control. In a system controlled by manual operations, this vibration is an undesirable phenomenon to the system and operator. In this paper, to suppress the vibration in manual control, we propose additional feedback control based on a delayed feedback mechanism.

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