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In the resolution of redundant systems, two popular resolution schemes, optimization using 2-norm and infinity-norm, have been commonly employed. However, each finds its greatest utility in resolution in very different circumstances. The 2-norm optimizes in analog to minimizing system energy (sometimes by putting large strain on individual actuators). Likewise, the infinity-norm minimizes individual...
Performance indices are useful as design guidelines of control systems. One of useful performance indices for bilateral teleoperation systems is transparency. It evaluates bilateral teleoperation systems based on a definition of the ideal state of bilateral control. Since the concept is intuitive, it has been widely used in many applications. The evaluation or analysis based on transparency is usually...
In recent years, many researchers try to observe the state of the global environment from marine information. In this paper, we introduce the recording system of underwater environment. By using this system, we want to observe the change of global environment from the coral bleaching. Especially, we propose the generation method of marine tag in order to measure the 3D position of robot which is used...
This paper proposes a new adaptive design method for the robust force control systems based on disturbance observer (DOB). A DOB is a robust control tool that is widely used in motion control applications. It can also be used to estimate environmental impedance by identifying system uncertainties and is called as reaction torque/force observer (RTOB/RFOB). A RTOB/RFOB has several superiorities over...
This paper proposes a ceiling-robots system, con-CEILrge, for a new type service robots by separating a human living space and a robot work space. For the realization of such robot system, a triangle-shaped omni-crawler movement platform, the ceiling structure for the platform, a crane mechanism acceptable to the slant directional traction, and motion control considering variable tention from the...
In this study, eye movements measured from 2 categories, i.e., tennis experts and beginners are compared and analyzed as regarding eye movement as a kind of motion skills. Subjects in the both categories are instructed as anticipating “inside-out shot” or “down-the-line shot” from movies of expert tennis players' forehand shot. This paper focuses on analyzing the eye movement between the 2 categories...
This paper presents a new robust control scheme for the efficiency optimization of an ultracapacitor-based hybrid energy storage system. The purpose is to improve the performance of the battery supply with the addition of an ultracapacitor as an auxiliary energy storage device for electric vehicles applications. The control scheme is based on an internal hysteresis-based current control loop combined...
We present a sport skill data analysis with time series image data retrieved from motion pictures, focused on table tennis. We do not use body nor skeleton model, but use only hi-speed motion pictures, from which time series data are obtained and analyzed using data mining methods such as C4.5 and so on. We identify internal models for technical skills as evaluation skillfulness for forehand stroke...
In this paper, global sliding mode control (GSMC) is utilized to eliminate the arriving time of sliding mode stage, and to overcome the shortcoming of non-robustness of reaching stage in traditional sliding mode control by designing a dynamic non-linear sliding surface. In order to eliminate the existing chattering, neural networks are incorporated into global sliding mode control to approximate the...
This paper reports the preliminary development of a water-ski simulator for indoor training. Compared to existing training systems, the proposed simulator is capable of recreating a more realistic and immersive simulation experience, by providing both a proprioceptive and visual feedback to the practicing skier. In addition, it allows to practically test any desired skiing manoeuvre, since the ski...
RRT* is a recent and improved variant of the RRT path finding algorithm. While RRT concentrates on simply finding an initial obstacle-free path, RRT* guarantees eventual convergence to an optimum, collision-free path for any given geometrical environment. On the other hand, the main limitations of RRT* include its slow processing rate and high memory utilization due to the large number of iterations...
Network Management System (NMS) plays an important role in networks to maintain the best performance of a network. It employs variety of tools, applications, and devices in order to support network administrators to monitor and maintain the stability of a network. Fault management is part where the NMS dealing with problems and failures, such as congestion, in the network. Generally, most NMSs use...
In general practice, a geometric tool-path for CNC (computer numerical controlled) machine tools or NC positioning systems is mainly composed of linear motion segments, or so called the G1 commands. This approach exhibits serious limitations in terms of achieving the desired part geometry and productivity in high-speed machining. Velocity and acceleration discontinuities occur at the junction points...
This paper deals with the Simultaneous Localization and Mapping (SLAM) problem via the H∞ filter with compensations for intermittent observations. In order to estimate positions of a robot and landmarks accurately under intermittent observations, we propose the method with a novel filter which detects and compensates intermittent observations by comparing the obtained data with their estimations....
The paper presents an estimation method for evaluating stable contact to floor ground by using visual environmental information. In our past papers, the vision-based reaction force feedback and ZMP estimation based on visual feature position has been developed. The appropriate flexibility around foot sole are given mechanically, and then the zero moment point (ZMP) can be detected by using vision...
This paper describes a stabilizing condition based on the complete quadratic Lyapunov-Krasovskii functional for systems with time-varying delay. In the conventional method for deriving the stabilizing condition based on the complete quadratic Lyapunov-Krasovskii functional, only time-invariant delay has been considered. In contrast, the stabilizing condition of the proposed method depends on the maximum...
This paper presents the dynamic modeling of floating systems with application for three-dimensional swimming eel-like robot and rowing-like system. To obtain the Cartesian evolution during the design or control of these systems the dynamic models must be used. Owing to the complexity of such systems efficient and simple tools are needed to obtain their model. For this goal we propose an efficient...
In this paper we discuss how to identify a mathematical model for a (non)linear dynamic system starting from experimental data. In the initial step, the frequency response function is measured, together with the properties of the disturbing noise and the nonlinear distortions. This uses nonparametric preprocessing techniques that require very little user interaction. On the basis of this information,...
Safety and versatility are necessary for robots to perform various tasks in human living area. There are tendon manipulators with nonlinear springs as a manipulator for the requirement. The manipulator can control joint torque and joint mechanical stiffness simultaneously. This paper proposes a generation method of commands in joint space considering tension limit. The method generates commands so...
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