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Exoskeleton robots have been widely studied for many purposes. The disturbance observer(DOB) may also have a potential to be applied to control the exoskeleton robot if it overcomes its unstableness or divergence in the operation. In the paper, the DEFIC, which is a kind of the DOB, is revisited to apply to the exoskeleton robot control. The DEFIC is improved to guarantee stable motion during operation...
This paper presents the design and control of multi-degree-of-freedom (DOF) hydraulic manipulator for the steel-manufacturing work flow automation in continuous casting. This manipulator is aimed at handle a heavy-weight shroud nozzle autonomously in hazardous circumstances around the ladle. The half-sized miniature shroud-nozzle manipulator platform was manufactured, where it is operated by hydraulic-powered...
The O2 lance manipulator is used in the electric arc furnace (EAF) process to supply oxygen in order to remove impurities in molten metal. However, since it is controlled by the human operator who can get only visual information about the EAF, the collision between the lance and the EAF can happen which must be avoided in the process. The bilateral teleoperation can be a solution for this problem,...
One of the main reasons for using a joint torque sensor in a robot is to measure body forces acting on the system. Especially, the motor actuating torque and the external link torque are important for a flexible joint control. However, it is difficult to measure or estimate those two torques simultaneously with a single joint torque sensor only due to the lack of information. In this paper, Kalman...
Inter-organizational information systems (IOS) have been proposed as a way to mitigate the agency problems of information asymmetry, i.e., adverse selection and moral hazard. By introducing a new concept of IOS asymmetry, the imbalance in IOS visibility between the buyer and the supplier, this study asserts that IOS may not mitigate the problems of information asymmetry. Instead, IOS may consolidate...
We have developed the multimedia player based on the Internet. This player can display an image received from the mobile phone or the Web. Also, it can play a received MP3 file. In top face, we can control a volume, shift key for image presentation, display function, so on. And it includes hardware memory for saving a moving image data of the big size.
Thick Cu column based double-bump flip-chip structure is one of the promising alternatives for fine pitch flip-chip applications. In this study, the thermal cycling (T/C) reliability of Cu/SnAg double-bump flip-chip assemblies was mainly investigated and the failure mechanism was analyzed through the correlation of T/C test results and the finite element analysis (FEA). T/C failures occurred from...
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