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Volume 45, Issue 8
Displaying 1-7 of 7 articles from this issue
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Paper
Measurement
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Takaaki NISHINO, Makoto SHIMOJO, Masatoshi ISHIKAWA2009 Volume 45 Issue 8 Pages 391-397
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSA tactile sensor is developed with the aim of covering a robot's entire body, while reducing wiring requirement and ensuring high-speed response. The sensor detects the load distribution on 2-dimensional surfaces. The sensor use only 7 signal wires regardless of the number of detection elements. Moreover, the sensor has high-speed response because it can detect only areas where there is contact. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.View full abstractDownload PDF (3300K)
Control
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Masayasu SUZUKI, Noboru SAKAMOTO2009 Volume 45 Issue 8 Pages 398-405
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSWe try to stabilize steady solutions of a physical model described by wave equations with nonlinear boundary conditions. This system is a distributed parameter system in which ideal turbulence, introduced by Sharkovsky et al., occurs. Although the behavior of the system is quite intricate both in time and space, by using the d'Alembert's solution, the analysis of the dynamic characteristics can be reduced to that of a finite-dimensional difference equation. In this report, based on this analytical method using the d'Alembert's solution, we design control laws to stabilize steady solutions and synchronize a pair of the distributed parameter systems.View full abstractDownload PDF (724K) -
Kazuyuki KON, Hiroaki FUKUSHIMA, Fumitoshi MATSUNO2009 Volume 45 Issue 8 Pages 406-413
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSIn this paper, model predictive control (MPC) based trajectory generation for a unicycle with obstacle avoidance is addressed. Since MPC based methods can only consider obstacle avoidance at discrete time steps, a collision may occur in intervals between prediction time steps. In order to prevent this problem, we propose two methods which guarantee the obstacle avoidance not only at prediction time steps but also in intervals between them. The first method reduces the maximum velocity near obstacles. The second one constrains transition of collision avoidance constraints to exclude possibilities of collisions between time steps. Since both methods do not need iteration of optimization, it is expected that the computation time is not significantly increased compared with existing methods. Numerical examples and experiments show the effectiveness of the proposed methods.View full abstractDownload PDF (900K) -
Shun TAGUCHI, Tatsuya SUZUKI, Soichiro HAYAKAWA, Shinkichi INAGAKI2009 Volume 45 Issue 8 Pages 414-421
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper proposes a Probability weighted ARX (PrARX) model wherein the multiple ARX models are composed by the probabilistic weighting functions. As the probabilistic weighting function, a ‘softmax’ function is introduced. Then, the parameter estimation problem for the proposed model is formulated as a single optimization problem. Furthermore, the identified PrARX model can be easily transformed to the corresponding PWARX model with complete partitions between regions. Finally, the proposed model is applied to the modeling of the driving behavior, and the usefulness of the model is verified and discussed.View full abstractDownload PDF (1450K) -
Kazunori SAKURAMA, Kazushi NAKANO2009 Volume 45 Issue 8 Pages 422-429
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper deals with a path following problem with collision avoidance for multiple robots. The path following aims to move the robots along reference paths with assigned velocities. When there are geometric errors between the robots' positions and the reference paths, or when the differences between their velocities and assigned velocities are not zero, we expect to reduce these errors. Unfortunately, if the multiple robots try to realize the exact path following, they may collide with one another in areas where the reference paths intersect. In this case, the robots have to avoid collision at the expense of the original paths. This paper introduces a value function including geometric and velocity errors, and proposes a new online collision avoidance method which constrains the value function. The proposed method minimizes the time derivative of the value function in each instance. Moreover, this method prevents deadlocks of the robots with the following strategy: design a time-varying function which moves slowly along the reference path for each robot, and append a penalty function to the value function which increases when the position of the robot becomes less than the time-varying function.View full abstractDownload PDF (546K) -
Yoshihiko MIYASATO2009 Volume 45 Issue 8 Pages 430-437
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThe problem of constructing model reference adaptive H∞ control for distributed parameters systems of hyperbolic type is considered in this paper. Distributed parameters systems are infinite dimensional processes, but the proposed control scheme is constructed from finite dimensional controllers. The stabilizing control signal is added to regulate the effect of spill-over terms, and it is derived as a solution of certain H∞ control problem where spill-overs are considered as external disturbances to the process.View full abstractDownload PDF (676K)
System Integration
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— Detection of Painting for Endovascular Coil Embolization —Yoshitaka NAGANO, Akihito SANO, Hideo FUJIMOTO2009 Volume 45 Issue 8 Pages 438-444
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSRecently, a minimally invasive surgery which makes the best use of the catheter has been becoming more popular. In endovascular coil embolization for a cerebral aneurysm, the observation of the catheter's painting phenomenon is very important to execute the appropriate manipulation of the delivery wire and the catheter. In this study, the internal bend sensor which consists of at least two bending enhanced plastic optical fibers was developed in order to measure the curvature of the catheter tip. Consequently, the painting could be more sensitively detected in the neighborhood of the aneurysm. In this paper, the basic characteristics of the developed sensor system are described and its usefulness is confirmed from the comparison of the insertion force of delivery wire and the curvature of catheter tip in the experiment of coil embolization.View full abstractDownload PDF (1646K)
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