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We reported a novel impedance control method based on a fractional calculation inspired by the viscoelastic properties of biomaterials such as muscle. This fractional impedance controller was found to realize superior impact absorption for the purpose of flexible contact for assistive and rehabilitation robots. This paper presents a preliminary evaluation of this concept using simulations and experiments...
In this paper, a new simulation method for crosstalk simulation is described. To simulate the crosstalk accurately, accurate simulation of reflected voltages from loads is required. The authors have studied the simulation method of reflected voltages using a dynamic C-V characteristic. However, this method has a problem that the procedure of calculation becomes complicated. This paper proposes a new...
In this paper, a personal identification method using force and position information is proposed. This paper assumes personal identification from signature. In this case, force and position information mean writing pressure and handwriting, respectively. To extract position and force information, a bilateral teleoperation system is used. Using the bilateral teleperation enables to measure both position...
In order to realize intelligent agent such as autonomous mobile robots, Reinforcement Learning is one of the necessary techniques in control system. Fuzzy Q-learning is one of the promising approaches for implementation of reinforcement learning function owing to its high ability of model representation. However, in applying fuzzy Q-learning to actual application, the number of iterations for learning...
In the past, we have made use of infrared CCD camera to take pictures of vein for vein authentication. However, mounting infrared CCD camera for electrical device is dangerous due to the problem of privacy invasions. In addition, there have been registration problem which lower the correlation. Then, we propose a method that visualizes vein using color information subpixel level image registration...
In this paper it is aimed to describe the modeling and numerical analysis of thermal treatment of granulated porous particles by induction plasma. To investigate the heat exchange dynamics between plasma and particles during the flight of granulated porous particles through the hot plasma, a plasma-particle interactive flow model has been developed. This model solves the conservation equations to...
Handshake refers to embodied interaction using physical contact for closeness. In this paper, we analyze the handshake motion between humans and propose a handshake approaching motion model and a shake-motion leading model based on the analysis. In the handshake approaching motion model, a robot can generate handshake approaching motion that is accepted psychologically by humans using the second-order...
Electron transport in bulk silicon with ordered dopant arrays is studied using an ensemble Monte Carlo (EMC) technique coupled with molecular dynamics (MD) method. This work is motivated by a recently developed single-ion implantation (SII) technique, which enables us to fabricate a semiconductor device with an ordered dopant array. We numerically estimate the carrier mobility in silicon with such...
Recent studies on directional media access control (MAC) protocols using smart antennas for wireless ad hoc networks have shown that directional MAC protocols outperform traditional omni-directional MAC protocols. Those studies evaluate performance primarily based on a simulations, where antenna beam is assumed to be ideal, i.e., with neither side-lobes nor back-lobes. Propagation conditions are also...
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