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Volume 53, Issue 4
Displaying 1-5 of 5 articles from this issue
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Paper
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Hiroki IWAMASA, Shigeki TSUCHITANI2017 Volume 53 Issue 4 Pages 261-267
Published: 2017
Released on J-STAGE: April 18, 2017
JOURNAL FREE ACCESSOperation of an actuator having a series tensile constitution of a planar type dielectric elastomer actuator and a spring was analyzed by taking viscosity of elastomer into consideration. It was found that the influence of the viscosity is reduced by applying a pre-stretching in the tensile direction. Furthermore, the pre-stretching conditions for achieving the largest operation strain and the largest generation force were obtained in cases with and without application of load. In addition, the number of lamination of the planar type DEA for satisfying target specifications about the maximum displacement and the maximum traction force was derived.View full abstractDownload PDF (1303K) -
Tadashi EGAMI, Takayuki WATANABE, Kazuki UMEMOTO2017 Volume 53 Issue 4 Pages 268-275
Published: 2017
Released on J-STAGE: April 18, 2017
JOURNAL FREE ACCESSWe propose a method for vehicle path control that considers sideslip through the combination of a time-state control form and a path control method with nearest point search and we demonstrate the method's effectiveness through experiments with an experimental small four-wheeled vehicle. In the proposed method, combining the time-state control form and path control method with nearest point search for a geometric model that constrains the position of the vehicle in consideration of sideslip allows arbitrary path following through the translational velocity and yaw rate determined from input. The method gives steering angle as input to the yaw rate control system with derived yaw rate taken as a desire value for an equivalent two-wheeled model that considers sideslip. Because cornering power and sideslip angle are difficult to determine in a yaw rate control system, these are estimated using adaptive identification and a state observer, and an adaptive control system is formed. The small four-wheeled vehicle performs path control by use a laser scanner to estimate its position and attitude. The effectiveness of a sideslip angle estimation method that uses motion capture is also demonstrated. We verify that estimates of sideslip angle are nearly identical to measured values, and experiments using a variety of path desired values demonstrate the effectiveness of the proposed path control method.View full abstractDownload PDF (1331K) -
Tomohiko JIMBO, Ryoichi HIBINO, Hiroyuki YAMAGUCHI, Hideaki OTSUBO, Sh ...2017 Volume 53 Issue 4 Pages 276-285
Published: 2017
Released on J-STAGE: April 18, 2017
JOURNAL FREE ACCESSThis paper proposes low-order physical modeling method using operational output-only data without inputs. Vehicle characteristics and the controllers are designed to be satisfied with a number of requests and constraints such as driveability and ride comfort. Those need dynamic models which can represent the corresponding motional behaviors. However, the detail physical modeling for various vehicles and the simplification, or the system identification with input measurement is usually difficult or expensive in terms of labor. Therefore, in this paper, firstly, time-frequency data array of output accelerations of vehicle components is constructed and then decomposed by one of tensor decomposition methods, parallel factor (PARAFAC) decomposition, to separate stationary vibrations and transient vibrations like vibration modes. Secondly, using the result and the structure of PARAFAC, trade-off decision can be made between the model accuracy and the simplicity regarding number of motions considered in modeling. The effectiveness of this approach is demonstrated for driveability by using operational tip-in acceleration data.View full abstractDownload PDF (3193K) -
Kyoko AOKI, Koji MAKINO, Masahiro NAKAMURA, Hidenori OMORI, Yoshinobu ...2017 Volume 53 Issue 4 Pages 286-294
Published: 2017
Released on J-STAGE: April 18, 2017
JOURNAL FREE ACCESSIt is important that the activities of daily living of the elderly are preserved and improved. One factor that decreases the activities of daily living is the knee Extension Lag. Many elderly patients have a knee Extension Lag after Total Knee Arthroplasty. In most cases, the recovery of the extension lag is not necessary surgery, and is often enough to as perform the rehabilitation. However, physical therapists find it difficult to perform rehabilitation of patients with an Extension Lag. In this study, an instrument for automatic rehabilitation of the extension lag was developed by adapting the Knee-Assistive Instrument for Rehabilitation (KAI-R) that has been developed as the walking rehabilitation after that surgery. First, the specifications for the rehabilitation of the extension lag were considered and a control algorithm was proposed. Second, the algorithm was installed into the instrument and its effectiveness was confirmed by myoelectric potential. Finally, the instrument was examined in a clinical trial. A recovery trend of the patient and a reduction in work load of the physical therapist were confirmed.View full abstractDownload PDF (3887K)
Short Paper
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Yasuaki KANEDA, Yasuharu IRIZUKI2017 Volume 53 Issue 4 Pages 295-297
Published: 2017
Released on J-STAGE: April 18, 2017
JOURNAL FREE ACCESSWe propose direct estimations of filter distributions in Kalman filter from data using density ratio estimation and KDE. Moreover, we apply the direct estimations to state estimations and propose new state estimations without information on measurement equations and noise.View full abstractDownload PDF (222K)
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