bluuebunny/crossref_metadata_2025 huggingface dataset:
Residual Vibration Reduction of Time-Varying Flexible Structures by Input Shaping
Authors: Woo Kwanje ,   Center for Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology,  Science Town, Taejon, 305-701 Korea, Park Youn-sik
Published: April 2016

Control strategies to accomplish precise point-to-point motion for time-varying flexible systems are discussed. Defining the residual vibration vector due to the timebounded control input, the necessary and sufficient conditions for zero residual vibration for linear time-varying systems are derived. It is said that the residual vibration vanishes if and only if the residual vibration vector due to the input is eliminated at all system poles. The response can be made robust to possible system error by using the residual vibration vector The differences in input shaping for time-varying and time-invariant systems are discussed. The Fourier or Laplace transform of shaped input for the time-varying system does not indicate the condition of zero residual vibration. Instead the elimination of the residual vibration vector does guarantee zero residual vibration. An input to move a nonlinear system from one position to another without residual vibrations is found assuming that the motions consist of a dominant motion associated with the ideal rigid body modes and a relatively small motion associated with elastic modes. The input related to the former (rigid body dominant motion) is optimally designed, and a method to obtain the additional input related to the latter (small flexible motion) for suppressing the residual vibration is then suggested.
Active Vibration Control of Flexible Structures Arranged in Parallel
Authors: Ezure Katsuhiko ,   National Defence Agency, 1-5-70, Jujodai, Kita-ku, Tokyo, 114 Japan, Seto Kazuto , Mitsuta Sinji , Sawatari Katsumi ,   College of Science and Technology, Nihon University, 1-8-14 Kanda-Surugadai, Chiyoda-ku, Tokyo, 101 Japan,   Komatsu Ltd., 1200, Manda, Hiratsuka, Kanagawa, 254 Japan,   ONO SOKKI Co., Ltd., 1-16-1, Hakusan, Midori-ku, Yokohama, Kanagawa, 226 Japan
Published: April 2016

This paper proposes a vibration control method for flexible structures arranged in parallel. In recent years, tall buildings equipped with active dynamic absorbers have been popularized to maintain living comfort by reducing the vibration of higher floors by strong winds. The higher a tall building the lower its natural frequency. It will be difficult to control the vibration of ultra-tall buildings using active dynamic absorbers because of difficulties in obtaining enough control force under the lower frequency. According to the proposed method, a pair of flexible buildings are controlled actively by controlling each other by means of actuators placed between them. Therefore, it is able to obtain enough control force under the low frequency. In this paper, a reduced-order model expressed by 2DOF systems is proposed for preventing spillover instability. The LQ control theory is applied to the design of the control system. The effectiveness of this method is demonstrated theoretically as well as experimentally.
Development of V-Shaped Hybrid Mass Damper and its Application to a High-Rise Building
Authors: Tanida Koji ,   Ishikawajima-Harima Heavy Industries Co., Ltd., 1, Shin-Nakahara-cho, Isogo-ku, Yokohama, Kanagawa, 235 Japan, Mutaguchi Masao , Koike Yuji , Murata Tamotsu , Kobori Takuji , Ishii Koji , Takenaka Yasuo , Arita Tomohiko ,   Kajima Corporation, KI Building 6-5-30, Akasaka, Minato-ku, Tokyo, 107 Japan
Published: April 2016

A V-shaped hybrid mass damper has been developed with a view to reducing the vibration induced by wind or earthquake excitation on a 230m high-rise building. The passive pendulum mechanism comprised of a Vshaped sliding mass is combined with the active control of the mass movement driven by a servo motor, and the mechanical system has been further refined for compactness and easy operation of tuning the natural frequency. The high performance of the device has been verified by numerical analyses and experimental tests conducted in a laboratory prior to its installation in the building concerned.
Experimental Study on Arrangements of Setting Points of an Actuator and Sensor for the Vibration Control of Flexible Structures
Authors: Seto Kazuto ,   College of Science and Technology, Nihon University, 1-8-14 Kanda-Surugadai, Chiyoda-ku, Tokyo, 101 Japan, Ezure Katsuhiko ,   National Defence Agency, 1-5-70, Jujodai, Kita-ku, Tokyo, 114 Japan
Published: April 2016

This paper proposes an experimental study on the arrangements between the setting points of an actuator and sensor for the vibration control of a flexible structure, when a vibration controller is mounted at an arbitrary position on the structure. The important vibration mode of the structure to be controlled is its first mode, because it is excited most sensitively by strong winds. It is therefore necessary to make a reduced-order model represented by a one-degree-of-freedom system at an arbitrary location, in consideration of preventing spillover instability. In this paper, non-observability is used for making the reduced-order model, and the LQ control theory is used for controller design. For controlling vibration, a reduced-order model is constructed at the setting point of a hybrid dynamic absorber, and a displacement sensor is set at the vibration node of the second vibration mode. Then, the setting point of the sensor is changed to compare control effects by means of this model. It is demonstrated experimentally that a hybrid dynamic absorber, designed by this method, is capable of controlling vibration well without causing spillover instability. In addition, it is considered that the setting point of the sensor influences the robustness of the control system.
Vibration Control of A Time-Varying Flexible Beam Using a Piezoelectric Servo-Damper
Authors: Lee Chong-Won ,   Center for Noise and Vibration Control (NOVIC), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Taejon 305-701, Korea, Kim Sung-Dae , Jee Won-Ho , Lee Sang-Ho ,   Precision Instruments R&D Center, Samsung Aerospace Industries,   Corporate Production Engineering Research Laboratory, Gold Star Corporation,   Vehicle Test & Evaluation Department 1, Kia Motor Corporation
Published: April 2016

The purpose of this study is to reduce the transient operational vibration of the free end of an overhung flexible beam whose effective length is time-varying. The acceleration signals at its free end are measured by two accelerometers in the vertical and horizontal directions, and the beam is driven axially by a motor. The control device, a piezoelectric servo-damper mounted at the free end, consists of a sprung mass supported by two pairs of piezoelectric actuators which are placed perpendicular to each other. Modeling of the system is achieved experimentally and analytically for the horizontal and vertical directions when the beam length takes on the minimum, medium, and maximum values. Experimental results show that the performance of the control system can be well predicted by using the established model and that a fixed 1-gain which is derived from a beam of medium length is effective unless the time-varying property of system parameters is strong.
Performance Evaluation of Experimental Device for Space Robot
Authors: Fujii Hironori A. ,   Tokyo Metropolitan Institute of Technology, Asahigaoka 6-6, Hino, Tokyo 191, Japan, Uchiyama Kenji , Maruyama Tsugito ,   Fujitsu Laboratories Limited, Kamiodanaka 1015, Nakaharaku, Kawasaki 211, Japan
Published: April 2016

An experimental system simulating the dynamic behavior of a space manipulator is illustrated in this paper. It is constructed for the purpose of technological demonstration and performance evaluation of space robot. The system consists of a model of space robot having dual manipulators, suspension system, and control system. The model is hung by wire at each joint of the manipulator to cancel the effect of the gravitational force on the ground. The value of wire tension is maintained constant to provide a ground simulation of the dynamic behavior of the manipulator in space. Accelerometers are employed to evaluate the micro-gravity condition for the present experimental device. The dynamics of the twolink manipulator with rigid link is analyzed numerically and experimentally, employing the present facility through the inspection of their dynamic features. In the present paper, the motion of the manipulator is restricted in the vertical plane as the first stage of study. The motion of a free-flying robot is also simulated in the experiment. The results of the numerical simulation and ,the experiment are presented to show the sufficient capability of the ground simulation to study dynamcal behavior of the manipulator in space.
GNOSIS Knowledge Systematization: Configuration Systems for Design and Manufacturing
Authors: Toyama Moriki ,   IMS Promotion Section, Mitsubishi Electric Corporation 5-1-1 Ofuna, Kamakura, Kanagawa, 247 Japan, Murtagh Niall
Published: April 2016

The Gnosis project is founded on the premise that the existing manufacturing paradigm must be improved or altered in order to cope with various problems brought about by modern living. Such problems include those concerned with the environment -- resource depletion and generation of pollution and waste -- in addition to issues such as international trade friction. The consensus reached by the partners of Gnosis is that new environment-conscious and user-oriented ""soft"" machines can form the core of the new paradigm; that the intelligent use of systematized knowledge is the key to achieving these new machines; and that supporting technologies such as configuration management systems and reconfigurable production systems are necessary to support the research and implementation of the new paradigm. The Gnosis Test Case, which extended over a one-year period from February 1993, yielded considerable results in a short time and indicated that international collaborative research is both feasible and beneficial. Work is now proceeding on the finalization of a full-scale research proposal based on the Test Case results. This paper summarizes the Test Case formation, research content and results, and it outlines the full scale research proposal.
The Use of Self-Organizing Cells in Robot Motion Planning
Authors: Satake Toshifumi ,   Kyushu Institute of Technology, 680-4, Kawatsu, lizuka, Fukuoka, 820 Japan, Hayashi Akihiro , Suzuki Hiroshi
Published: April 2016

Robot motion planning including obstacle avoidance is a necessary technique for realizing autonomous intelligent robots. In this study, a robot motion planning algorithm has been developed by applying the organic mechanisms such as artificial life (AL) and GAs. The proposed concept represents a robot as a combination of several groups composed of a set of cells defined as autonomous elements like a living thing. Robot motion is determined as the result of behavior that individual cells avoid obstacles, and they then organize themselves as forming a geometric shape of component parts of a robot according to the control mechanism given to each cell. This paper describes the preliminary concepts of the Obstacle Avoidance and Self Organization in the proposed methodology for generating collision-free motion of a robot and the details of the developed algorithm based on these concepts. To estimate the effectiveness of the proposed idea, simple case studies of the motion planning for mobile robot have been executed.
Trajectory Planning of Manipulator Using Optimization of Uniform B-Spline
Authors: Ozaki Hiroaki ,   Faculty of Engineering, Fukuoka University, Nanakuma 8-19-1, Jonan-ku, Fukuoka, 814-01 Japan, Chiu Hua ,   Faculty of Engineering, Kyushu Sangyo University, Matsukadai 2-3-1, Higashi-ku, Fukuoka, 813 Japan
Published: April 2016

A basic optimization algorithm is presented in this paper, in order to obtain the optimum solution of a two-point boundary value variational problem without constraints. The solution is given by a parallel and iterative computation and described as a set of control points of a uniform B-spline. This algorithm can also be applied to solving problems with some constraints, if we introduce an additional component, namely the potential function, corresponding to constraints in the original objective function. The algorithm is very simple and easily applicable to various engineering problems. As an application, trajectory planning of a manipulator with redundant degrees of freedom is considered under the conditions that the end effector path, the smoothness of movement, and the constraints of the control or the state variables are specified. The validity of the algorithm is well confirmed by numerical examples.
Applications of Neuro Fuzzy Technology in Consumer Electronics Products
Authors: Katayama Ryu ,   Information Processing Department Hypermedia Research Center, Sanyo Electric Co., Ltd., 1-18-13, Hashiridani, Hirakata, Osaka, 573 Japan
Published: April 2016

In recent years, intelligent industrial systems and consumer electronic products have been widely and intensively developed. Fuzzy logic, neural network, and neuro fuzzy technology, which integrates both approaches, are now regarded as an effective method to realize such intelligent features. In this paper, a review of the fuzzy boom in the consumer electronics market of Japan is presented. Typical applications of home appliances using fuzzy logic and neuro fuzzy technology are then described. Finally, methods and tools for developing fuzzy systems such as self-tuning and fuzzy modeling are reviewed.
Structure Organization of Hierarchical Fuzzy Model Using Genetic Algorithm
Authors: Fukuda Toshio ,   Dept. of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi, 464-01 Japan, Hasegawa Yasuhisa , Shimojima Koji
Published: April 2016

This paper proposes a method to organize the hierarchical structure of fuzzy model using the Genetic Algorithm and back-propagation method. The number of fuzzy rules increases exponentially with the number of input variables. Thus, a fuzzy system with many input variables has an extremely large number of fuzzy rules. Hierarchical structure of fuzzy reasoning is one of the methods to reduce the number of fuzzy rules and membership functions. However, it is very difficult to organize the hierarchical structure because the hierarchical structure cannot be constructed without considering the relationship among input and output variables. The proposed method can organize the suitable hierarchical structure for the relationship among input and output variables in teaching numerical data. It is based on the Genetic Algorithm with an evaluation function as a strategy that adopts a system with fewer fuzzy rules and more accurate outputs. The proposed method is applied to the approximation problems of multi-dimensional nonlinear functions in order to demonstrate its effectiveness.
Positioning System with Progressive Wave-Type Ultrasonic Motor under Self-Tuning Fuzzy Control
Authors: Fukumi Junji ,   Department of Electrical and Electronics Engineering, Faculty of Engineering, The University of Tokushima, 2-1, Minamijosanjima, Tokushima, 770 Japan, Kamano Takuya , Suzuki Takayuki , Kataoka Yu ,   Kataoka Machine Co. Ltd., 4765-46, Sangawa, Iyomishima, 799-04 Japan
Published: April 2016

This paper considers the use of a self-tuning fuzzy controller for a positioning system with a progressive wavetype ultrasonic motor. The system consists of a feedback loop with a conventional controller and a self tuning fuzzy controller. The objective of the self tuning fuzzy controller is to restrain the adverse effect of nonlinear characteristics of the motor and to improve the tracking performance. The self-tuning fuzzy controller is functionally divided into two layers. The fuzzy rules are automatically adjusted by a tuning algorithm so that the tracking error is minimized in the upper layer. In lower layer, the output signal of the self tuning fuzzy controller is obtained by fuzzy reasoning procedure. After the tuning process is completed, the tracking error almost converges to zero, and the ultrasonic motor is no longer controlled by the fixed gain feedback controller but by the self-tuning fuzzy controller. The effectiveness of the proposed self-tuning fuzzy controller is demonstrated by an experiment.
Expert Fuzzy-Neuro Controller Design for Wall Climbing Robot for Decontamination of Nuclear-Power Station
Authors: Ulyanov Sergei V. ,   Department of Mechanical and Control Engineering, The University of Electro-Communications, Chofu, Tokyo, 182 Japan, Yamafuji Kazuo , Gradetsky Valery G. , Pagni Andrea ,   The Institute for Problems in Mechanics, Russian Academy of Sciences, 117526, Moscow Prospect Vernadskogo, 101, Russia,   Corporate Advanced System Architectures SGS-THOMSON Microelectronics Centro Direzionale Colleoni Palazzo Andromeda 3 20041 Agrate Brianza (MI) Italy
Published: April 2016

The arrangement principles and design methodology for complex control framework of Al control systems are introduced. The notions of intelligence levels with top boundary (""intelligence in large"") and the bottom boundary (""intelligence in small"") are defined. Special methodology of Al control system design for decontamination of nuclear-power station (IMPS) on the base of a wall-climbing robot (WCR) with various intelligence levels is considered. The basis of this methodology is computer simulation of dynamics for mechanical systems with the help of qualitative physics and search for possible solutions by genetic algorithm (GA). On artificial neural networks, optimal solutions are obtained and a knowledge base of fuzzy controller on WARP (Weight Associative Rule Processor) is formed. Strategy for planning, environment recognition using two types of sensors, and locomotion control to realize autonomous locomotion of the mobile robot are described. The WCR and the mobile robot for horizontal displacement with manipulators are moved in unstructured environments. Fuzzy qualitative simulation, GA and hierarchical node map, and fuzzy neural network (FNN) have demonstrated their effectiveness for path planning of the mobile robots. The results of fuzzy robot control simulation, monitoring, and experimental investigations are presented. The application of WARP to design automatic fuzzy controller for fuzzy correction motion of manipulator and WCR is examined.
A Study of Line-Fitting Method by Using Genetic Algorithm
Authors: Yamagishi Takatoshi ,   Kanagawa Institute of Technology, Atsugi, Kanagawa, 243-02 Japan, Tomikawa Takehiko
Published: April 2016

A straight line approximation method of either closed curve or open-ended curve is proposed. In this system, Genetic Algorithm is considered to meet robustness requirements in a multi-point searching procedure, since conventional line fitting methods have a tendency to take troublesome parameters while having less flexibility in system configurations. Whether or not the entire divided point, which is initially allocated at regular intervals along the curved line, is adequate for approximation according to the objective function. This function: (the total length of approximate lines) - ( the value in proportion to the number of approximate points), is newly introduced in between two patterns as a quantitative measure. Some comparative simulations are performed for confirmation of this system performance. As a result, we have learned that a) the provided parameters in this system are easily handled regardless of the shape of original patterns, and b) the approximate points are not remarkably affected by the starting location of implementation along the curved line.
Identification of Fuzzy Rule on Manual Control of an Unstable System
Authors: Masui Shigehiro ,   Hosei University, 3-7-2, Kajino-cho, Koganei, Tokyo, 184 Japan, Terano Toshiro , Sugaya Yoshimasa ,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152 Japan,   Shimizu Corp., 1-2-3, Shibaura, Minato-ku, Tokyo, 105-07 Japan
Published: April 2016

After some training, human operators can manually control very unstable objects when some proper information is given. But they can hardly explain how they do it, because they operate them intuitively and not logically. In this paper, we study the human behavior during the control of a double inverted pendulum and identify its control rules experimentally. The motion of a double inverted pendulum is simulated by a micro-computer and some of the state variables are indicated on a CRT, observed by a subject, and controlled on a keyboard. In order to find which information is used by a subject, his visual points are examined by an eye-camera. As a result, we see that there are three phases of operation, that is, the decrease of initial deviation, the prevention of over-shoot, and the keeping of stability. Next, the motion of a pendulum is analyzed qualitatively in each phase so as to identify the control rules of a human operator. By this analysis, we see that the intuitive manipulator of the human operator is quite reasonable from the physical viewpoint, and we represent it by some linguistic rules. From these results, we suggest a hierarchical structure of fuzzy rules as a model of a human operator which is verified through experiments on fuzzy control. It is concluded that this fuzzy controller acts as a skilled operator, but its performance is far superior to humans.
Low Dose Radio Frequency Irradiation at 906MHz did not Cause Any Adverse Effects on Growth of Several Organs in Mice but Caused Elongation of the Gestation Period
Authors: Saito Kenichi ,   Nippon Veterinary and Animal Science University, 1-7-1, Kyonan-cho, Musashino, Tokyo, 180 Japan, Goto Nobuo , Imamura Kenkichi , Suzuki Katsushi ,   Faculty of Agriculture, Kobe University, 1, Rokko-dai, Nada-ku, Kobe, 657 Japan,   National Institute Animal Health, 3-1-1, Kannondai, Tukuba, lbaraki, 305 Japan
Published: April 2016

In Japan, the electromagnetic wave has been utilized so widely that the frequency band in use is being saturated. The radio stations have been increasing in number, resulting in gradual shift to unused frequency band. For instance, the frequency of personal communicators and car phones which have rapidly increased in number is concentrated around 1GHz in recent years (the Ministry of Labour, 1987). The authors (Saito,1986; Saito et al., 1987) have investigated on the effect of long term radio frequency (RF) irradiation (428MHz) at low levels on the reproduction, growth, organ weight, etc in mice. The effect of RF on organisms could include the thermal and non-thermal effects, although the authors have not measured the thermal effect previously. Since the use of electromagnetic waves around 1GHz is increasing in our environment, the chances to be exposed will increase in future. Therefore, in the present study, we investigated the biological effects of the irradiation of RF at 906MHz band on mice. The specific absorption rates (SAR) of the irradiation with this frequency band was indirectly measured to assess the thermal effect.
Development of Feeble Grasping Power Sensor Based on Rubber Optical Fiber
Authors: Toba Eiji ,   Faculty of Textile Science and Technology, Shinshu University, 3-1-15, Tokita, Ueda, Nagano, 386 Japan, Furihata Ichiro , Naito Mitsuo , Yokozeki Tokuji ,   Hanazono Hospital, 1-15-25, Chuo-Nishi, Ueda, Nagano, 386 Japan
Published: April 2016

A new type of sensor for measuring an extremely feeble grasping power by using rubber optical fiber has been developed which can measure human grasping power. In addition, the possibility to measure patients' grasping power by a hand dynamometer was examined. The optical intensity of rubber optical fiber was linearly related to the applied force. The sensitivity levels were 5.38mV/kg and 0.56mV/kg for the range from 0 to 0.50kg and for the range above 0.50kg, respectively.
Special Issue on 2nd Japan-France Congress on Mechatronics
Authors: Hata Seiji ,   Professor, Faculty of Engineering, Kagawa University, 1-1 Saiwai-cho, Takamatsu, Kagawa, 760 Japan
Published: April 2016

Following the I st congress in Besancon in 1992, the 2nd Japan-France Congress on Mechatronics was held at Takamatsu City in Japan from November 1 to 3, 1994. The congress was co-sponsored by Kagawa University, the Japan Society for Precision Engineering, and l'Institut des Microtechniques de Franche-Comte. A total of 282 persons participated in the congress, 49 from France, 209 from Japan, and 24 from other countries including China, U.S., Turkey, Korea, and Switzerland. Researchers and engineers from a total of 15 countries participated in the congress. The congress continues to become more international and exciting. There are six sessions at the congress. The session names and the number of the papers belonging to each are as follows: (1) Mechatronics, 33 papers; (2) Robotics, 53 papers; (3) Sensors, 26 papers; (4) Vision, 33 papers; (5) Microelectro Mechanical Systems, 20 papers; and (6) CIM & Systems, 21 papers. The total number of papers 186. Additionally, three keynote speakers discussed the current status and future of the mechatronics technologies. The papers were presented at the oral sessions and the poster sessions. In this special issue, 11 papers from these fields are presented to describe the current technological status in Japan. Takamatsu is charming old city near Osaka. The congress was held at the exhibition center in Intelligent Park in Takamatsu, which was newly developed as the technological center of the area. The congress was held at such a location so that participants from abroad could gain a feel for ordinary life in Japan. In addition to the congress, there were two technical tours before and after the congress. The technical tour to the industries in Takamatsu showed the vivid medium size manufacturers in Japan. It is the another viewpoint contrary to the huge companies of Japan. During the congress, there were warm and friendly technological interactions between Japan and Europe. This should be further encouraged, and more countries should be included in the congress. The 3rd French-Japanese Congress on Mechatronics will be held at Besancon, France in 1996. It will also be the first European-Asia Congress. I hope that many researchers and engineers from all over the world, will participate in the congress and that the warm and friendly atmosphere of the past congress is provided at the next congress.
Packaged Sensors, Microactuators and Three-Dimensional Microfabrication
Authors: Esashi Masayoshi ,   Faculty of Engineering, Tohoku University, Aza Aoba, Aramaki, Aoba-ku, Sendai, Miyagi, 980-77 Japan
Published: April 2016

Packaged micromechanical sensors were fabricated using bonded glass-silicon microstructures. These are integrated, resonant, or force-balancing sensors. Distributed electrostatic microactuator (DEMA) and three-dimensional microfabrication methods were developed.
Inspection System of Soldering Joint on Printed Circuit Board by Using Neural Network
Authors: Oe Shunichiro ,   Faculty of Engineering, University of Tokushima, 2-1 Minamijosanjima, Tokushima, 770 Japan, Kaida Kennichi , Nagai Daisuke , Nakamura Mituo , Kimura Tomohiro , Kameyama Koichi ,   Matsushita Kotobuki Electronic Ind. Co., Ltd., Kawauchi-cho, Onsen-gun, Ehime, 791-03 Japan
Published: April 2016

This paper deals with a new inspection system of soldering joint on printed circuit board by using neural network. A sensor unit of this system consists of a semiconductor laser unit, four PSDs, and a pin photo-diode. We can obtain four types of images which are called height image, PSD brightness image, vertical image and vector image, by using four sensor units. We extract the features which show the state of soldering joint from these images and develop an inspection system using the neural networks constructed for the features and the state of soldering joint.
Measurement of Color CRT Beam Profile and Its Application to Focus Evaluation
Authors: Asano Toshio ,   Production Engineering Research Laboratory, Hitachi, Ltd., 292 Yoshida-Machi, Tots uka-ku, Yokohama, 244 Japan, Mochizuki Jun , Hagimae Kinuyo , Ohta Takashi , Fukuhara Nobuo ,   Electron Tube & Devices Division, Hitachi, Ltd., 3300 Hayano, Mobara, Chiba, 297 Japan
Published: April 2016

A method for measuring electron beam profiles is developed with the goal of evaluating the focus of color CRT displays. To increase measurement speed, a two-dimensional sensor is used and the electron beam profile is measured from the light emission intensity of phosphor dots. The portion blocked by the shadow-mask is measured by applying a magnetic field from the glass panel side. The electron beam profile obtained by this method and the results of visual focus evaluation by character pattern are compared. Good agreement with the visual evaluation results is obtained using two types of beam cross-section areas in the high and low intensity regions.
Automotive’s Vibration Analysis by Dynamic Impedance Method (Available Criterion in Use of Singular Value Decomposition)
Authors: Nakamura Masanobu ,   Department of Mechanical System Engineering, Yamanashi University, 4-3-11 Takeda, Kofu, Yamanashi, 400 Japan, Nagamatsu Akio , Sawanobori Takeshi , Kamada Yoshinobu , Hata Hideyuki ,   Department of Mechanical Engineering and Science, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo, 152 Japan,   Mitsubishi Motors Corporation, 1 Nakashinkiri, Hashime-cho,  Okazaki, Aichi, 444 Japan
Published: April 2016

This paper presents the results of numerical simulations to mix noise generated with random numbers in response signals to show that the use of the Singular Value Decomposition theorem to calculate a low rank generalized matrix inverse can reduce the influence of noise on synthesized results obtained with a dynamic impedance method. The effectiveness of this approach over the direct method is confirmed . A new procedure is also proposed for determining the applicability of the SVD theorem. An application of the proposed approach is presented to demonstrate its usefulness in analyzing vibration problems in automotive systems.
Vehicle Dynamics Control with Variable Alignment Suspension
Authors: Harara Mitsuhiko ,   Vehicle Research, Research Dept., Office of Passenger Car Development & Engineering, Mitsubishi Motors Corp., 1, Nakashinkiri, Hashime-cho, Okazaki, Aichi, 444 Japan, Suzuki Hidekazu , Takeo Tsuyoshi , Isoda Keiji
Published: April 2016

This study discusses the effect of variable alignment control suspension on vehicle dynamics by altering the suspension arm's length. In this system, two of the four arms of the front multi-link suspension can extend or contract depending on each driving condition to control the camber and caster angles independently. a camber angle and a caster angle are altered by the action of upper and lower control actuators. The camber angle control contributes to the increase in a turning limit with the improvement of tire footprints condition, and the caster angle and caster trail control aid the wheel's ability to right itself with a suitable steering feeling for the driver. Vehicle tests are conducted using a prototype vehicle equipped with a variable alignment control system to clarify the above effects, and remarkable improvements in a vehicle dynamics are verified.
The Estimation of Ambiguous Change in 4WS Control System Using Failure Detection Filter
Authors: Yamaguchi Hiroyuki ,   Toyota Central Research & Development Laboratories, Inc., 41-1, Yokomichi, Oaza, Nagakute, Nagakute-cho, Aichi-gun, Aichi-ken, 480-11 Japan, Osawa Masataka , Iwama Norio , Yamamoto Masaki ,   Toyota Motor Corporation, 1200, Mishuku, Susono-shi, Shizuoka, 410-11 Japan
Published: April 2016

This paper presents a new method for estimating the ambiguous change in a 4WS control system using failure detection filter. This filter is designed to discriminate ambiguous failure modes in the control system by processing output errors between sensors and an observer. The result of the experiments using a 4WS vehicle revealed that the filter can estimate the failures of the sensors and the actuator with high accuracy. The effects of lateral wind and other disturbances on the filter were also clarified.
Enhanced Curving Performance of Unsymmetric Suspension Trucks with Semiactive Control Concept Even under Acting Traction/Brake Torque
Authors: Grenčík Juraj ,   Faculty of Mechanical Engineering, University of Transport and Communications in Zilina, VSDS, SjF, 010 26 Zilina, Slovakia, Suda Yoshihiro ,   Institute of Industrial Science, University of Tokyo, 7-22-1 Roppongi, Minato-ku, Tokyo, 106 Japan
Published: April 2016

In this paper, dynamic behavior of rail vehicles during curve negotiation when traction or brake torque is applied has been studied. Vehicles with conventional symmetric trucks are compared to those with the recently proposed trucks having longitudinally unsymmetric suspension characteristics. Computer simulations using full car body models considering non-linear characteristics of the contact force between wheel and rail are performed. Wheel lateral displacement and wheel attack angle are calculated to describe curving performance under different speed, curve radius, and vehicle load. Under the same curve conditions, wheel lateral displacement is considerably smaller and wheel attack angle is almost zero within wide range of torque, while growing from higher value in case of conventional truck design. Consequently, enhanced curving performance of new unsymmetric trucks even under acting traction/braking torque is proved.
A Force Controlled Finishing Robot System with a Task-Directed Robot Language
Authors: Ozaki Fumio ,   Research and Development Center, Toshiba Corporation, 4-1 Ukishima-cho, Kawasaki-ku, Kawasaki, 210 Japan, Jinno Makoto , Yoshimi Takashi , Tatsuno Kyoichi , Takahashi Mikio , Kanda Masakazu , Tamada Yasuhiko , Nagataki Shintaro ,   Toshiba Machine Co., Ltd., 2068-3 Ooka, Numazu, Shizuoka, 410 Japan
Published: April 2016

We have developed a force controlled robot system for finishing tasks such as grinding, chamfering, and polishing tasks in machining plants. Casted workpieces for finishing differ in size, shape, or both. Thus, a position controlled robot system cannot handle these workpieces. Force controlled robot systems can handle them because they can follow the edges or the surfaces of the workpieces using the force control function. Until now, however, the force controlled robot systems have been difficult to use for the following two reasons. One is that many force control. parameters-for example, a force control direction, a force detecting direction, a desired force pattern, and force control gains-have to be assigned in order to make the system work. The other is that you should be very careful to teach the robot to conduct a finishing task which needs contact between the robot and the workpiece. To cope with these issues, we have developed a task-directed robot language and also a controller with force controlled guide function. The robot language enables the force control parameters to be assigned with only three key parameters-a task name, a tool code, and a tool center point-, and one motion command. The force controlled guide function allows you to guide the robot easily in work environments without fear of collision. The experiment of chamfering the edges of a part in an injection molding machine is also reported.
Maneuverability of Control in Passing Over a Reducer and Pipeline Diagnostic Results of Mark V Robot with Lazy Tongs Mechanism
Authors: Hosokai Hidemi ,   Science University of Tokyo, Suwa College, Toyohira 5000-1, Chino, Nagano Pref., 391-02 Japan, Hara Fumio , Uchida Yasuyuki , Abe Yasunori , Tanaka Koetsu , Tanaka Yoshio ,   Faculty of Engineering, Science University of Tokyo, Kagurazaka 1-3, Shinjuku, Tokyo, 162 Japan,   Japan Defence Agency, Fuchinobe 2-9-54, Sagamihara, Kanagawa Pref., 229 Japan,   Shinryo Corp., Wadai 41, Tsukuba, lbaraki, 300-42 Japan
Published: April 2016

This paper deals with a control method for a newly designed module-type robot with lazy tongs mechanism, with the experimental results of passing over a reducer, and with the diagnostic results of the Mark V robot with the lazy tongs mechanism. This module-type robot has been newly designed for inspection of pipelines, such as ones for air conditioners and water pipes, in buildings. This robot can recognize reducers by means of a newly designed sensor and can pass over reducers automatically without requirements for changing any part of the robot. Passing the reducers and changes in thickness of pipelines caused by corrosion are shown in experimental results.
Evaluation of Removed Quantity for Wall Coating Removing Robot Using Image Processing
Authors: Kakikura Masayoshi ,   Faculty of Engineering, Tokyo Denki University, 2-2 Nishiki-cho, Kanda, Chiyoda-ku, Tokyo 101, Amano Masaru , Okamoto Osamu ,   Nishimatsu Construction Co., Ltd., 2570-4, Shimo-Tsuruma, Yamato, Kanagawa, 242 Japan
Published: April 2016

The surfaces of buildings are covered with various wall coatings for beauty and protection. When a wall surface is to be repainted, its coating has to be removed completely. Almost every worker wants to avoid such work since it is very hard and dangerous. In order to solve this problem, we have developed a ""wall coating removing robot."" This robot has a sucking disk, a rotatable water jet nozzle for removing work, and four driving wheels. Coating-removed wall surfaces can be classified into three states: properly removed surface (P surface); over-removed surface (0 surface); and under-removed surface (U surface). The wall surfaces are classified by using data represented in HLS space. It seems that each surface has the following features: a P surface is a concrete surface which looks like a smooth surface; an 0 surface shows some aggregates in concrete, which presents the appearance of a coarse surface; and a U surface has non-removed coating areas. Images from a CCD camera fixed on the robot can be classified into three groups based on a newly developed method. This method uses the following values: (a) color differences between pixels in HLS space and (b) percentage of nonremoved areas in processed images.
Hybrid-Type Position and Force Control of Robot Manipulator Using Artificial Rubber Muscle
Authors: Noritsugu Toshiro ,   Faculty of Engineering, Okayama University, 3-1-1, Tsushimanaka, Okayama, 700 Japan, Ando Fuminori , Dohta Shujiro , Yamanaka Takashi ,   Kawasaki Heavy Industries, Ltd., 3-1-l, Higashikawasaki-cho, Chuo-ku, Kobe, 650-91 Japan,   Faculty of Engineering, Okayama University of Science, 1-1, Ridai-cho, Okayama, 700 Japan,   Bridgestone Corporation, 3-1-1, Ogawahigashi-cho, Kodaira, Tokyo, 187 Japan
Published: April 2016

An artificial rubber muscle has attracted much attention because of its light weight and mechanical flexibility. Thus, it is anticipated that it may be applied to a robot which can operate gently against or with humans. However, there are only few reports on multi-d.o.f. manipulators using this actuator. In this study, a hybrid-type position and force control is carried out by using a 2 d.o.f. manipulator comprising this manipulator, and its fundamental control performance is investigated. This actuator has a nonlinear characteristic in terms of structure and air compressibility, which makes accurate position control difficult. To cope with such a problem, a position controller using a two d.o.f. PID controller is realized by adding a feedforward compensator. As a result, a satisfactory position-tracking control performance can be obtained. Also, hybrid-type control of force control and tracking speed can be accomplished with sufficient accuracy.
Pneumatic Bellows Actuator with Force Sensing Ability and Its Application to a Pneumatic Robot
Authors: Hayakawa Yasuhiro ,   Nara National College of Technology, 22 Yata-cho, Yamatokoriyama, Nara, 639-11 Japan, Kawamura Sadao ,   Ritsumeikan University, Noji, Kusatsu, Shiga, 525 Japan
Published: April 2016

In this paper, we design a new pneumatic actuator using metal bellows. Because this actuator has no sliding parts, there is no influence of friction forces. Therefore, it is expected that the actuator has good performance in positioning and generating exact desired forces. Furthermore, because external forces can be precisely measured through pressure sensors, the bellows actuator works as a force sensor. In order to use the bellows actuator as a force sensor (bellows sensor), we investigate the static and dynamic characteristics of the bellows actuator. Based on these experimental results, the capability of the bellows sensor becomes clear. We use the bellows actuator as a sensing actuator which works as a sensor and an actuator simultaneously. In addition, the effectiveness of the actuator is demonstrated through several experimental results. We design one joint of a robot which is antagonistically activated by the two bellows actuators. Based on some experimental results, we disclose the static and dynamic characteristics of the proposed robot and confirm that it can move flexibly following external forces by utilizing the force sensing ability.
Motion Planning for Mobile Robots in a Time-Varying Environment: A Survey
Authors: Tsubouchi Takashi ,   Institute of Information Science and Electronics, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, lbaraki, 305 Japan, Rude Markus
Published: April 2016

This survey reviews research papers dealing with mobile robot motion planning among moving obstacles. The major goal is collision avoidance of an individual robot: Cooperative planning is treated only peripherally.
Fuzzy Real-time Advanced Shell for Intelligent Control with Fuzzy Algorithm Compiler
Authors: Maeda Yoichiro ,   Faculty of Engineering, Osaka Electro-Communication University, 18-8 Hatsu-cho, Neyagawa, Osaka, 572
Published: April 2016

In general, an expert system which supports the conventional fuzzy reasoning has relatively high user interface functions like the rule editor by multi-windows and others. However, it has suffered from some problems, because it has a hard time linking with a user program as it is rule-driven on a shell or because its reasoning speed is slow, as the shell system tends to be huge, and it is, therefore, not suited to real-time control. Under these circumstances, the present author and others have developed a user-program-initiated fuzzy shell FRASH (Fuzzy Real-time Advanced SHell) which is used for intelligent control in real time. This paper is intended mainly to describe the basic configuration of FRASH and its expression functions. This shell has a number of features, such as a high-speed reasoning engine in the form of a library, a function for online-tuning of all the data in the reasoning, an off-line editor function based on multi-windows, a function for displaying reasoning states, a capability to express fuzzy frames which can define fuzzy numbers as slot values, a fuzzy algorithm compiler based on macro-descriptions, and so on. In addition, with a view to confirming the basic functions of the shell, a simple simulation was carried out by taking up vehicle tracking and overtaking control as an example. By this simulation, it was demonstrated that the fuzzy reasoning function of FRASH is sufficiently fast for mechatronic control in real time and that the fuzzy frame and fuzzy algorithm functions are effective in describing macrolevel decision-making problems.
Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and Their Velocities
Authors: Tsubouchi Takashi ,   Institute of Information Science and Electronics, University of Tsukuba, Tsukuba, lbaraki, 305 Japan, Naniwa Tomohide , Arimoto Suguru ,   Faculty of Engineering, Yamaguchi University, 2557, Tokiwadai, Ube, Yamaguchi, 755 Japan,   Faculty of Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113 Japan
Published: April 2016

This paper presents a navigation scheme for a mobile robot which works even in an environment with multiple moving obstacles. An “iterated forecast and planning” approach is proposed by the authors. It is assumed that each obstacle moves at a constant velocity in the approach. The most feasible path for a robot is planned in (x,y,t) space. The planning and motion execution according to the plan are iterated frequently to cope with changes of motion of the moving obstacles. The behavior of the proposed navigation algorithm is also presented by means of computer simulations.
Planning Cooperative Motion for Distributed Mobile Agents
Authors: Fujimura Kikuo ,   Department of Computer and Information Science, Ohio State University, 2015 Neil Avenue, Columbus, OH 43210 USA, Singh Karansher
Published: April 2016

The problem of planning the motion is investigated for distributed multiple mobile agents. A method is proposed for a few heterogeneous mobile agents (robots) of different sizes and moving capabilities to coordinate their motions in a distributed manner in order to achieve a map-making task. The agents are assumed to have sufficient memory for storing the map and to be able to communicate with each other. Our approach makes use of an occupancy grid and a map is to be completed to a specified resolution. The algorithm is described, and computer simulation of the algorithm is reported.
Intelligent Control Concerning Obstacle Avoidance of Mobile Robot
Authors: Nagata Hideo ,   Mitsubishi Electric Corporation, 2-2-3, Marunouchi, Chiyoda-ku, Tokyo, 100 Japan, Tsuchiya Takeshi ,   Faculty of Engineering, Hokkaido University, Nishi-8-chome, Kita-13-jo, Kita-ku, Sapporo, Hokkaido, 060 Japan
Published: April 2016

This paper describes a collision avoidance method for a mobile robot operated by the operational histories of human operators as well as by a computerized fuzzy controller. In order to cope with a changeable environment, a mobile robot has to provide higher planning which watches for the success or failure of a plan and provides feedback of perception. in this paper,a mobile robot makes a judgment based on relative positions and speeds between the robot and obstacles, and predicts a next environment to some extent. Moreover, the mobile robot tries to acquire skill-based intelligence through a layered neural network. Some results of computer simulations are shown to ascertain the effectiveness of this two-stage control. Finally, we propose layered pathplanning in terms of thinking levels which take into consideration the dynamics of a robot.
Estimation of Vocal Spectra Using Maximum Entropy Method - on Number of Sample Data and Estimation Order
Authors: Shirataki Jun ,   Department of Electrical and Electronic Engineering, Kanagawa Institute of Technology, 1030, Shimoogino, Atsugi-shi, Kanagawa, 243-02 Japan, Ishihara Manabu ,   Department of Electronic Engineering, Polytechnic University, 4-1-1, Hashimotodai, Sagamihara-shi, Kanagawa, 229 Japan
Published: April 2016

In this paper, an analysis with the use of the maximum entropy method (MEM) was made for estimating voice spectra. By this analytical method, features regarding changes in the number of data and changes in the prediction error orders, in particular, were obtained from computer experiments. As a result, it was made clear that even when the number of data is small, it is possible to extract voice spectra more effective than FFT. It was further made clear that in case the prediction error order is large, there are a large number of confusing spectra so that it is not suited in such a case to extract spectra. From these results, it was found that the prediction error order of about 10 to 15 is most appropriate. It was shown that although these analyses might require somewhat long computational times, it is possible to make necessary analyses within sufficiently practical times by configuring the digital circuits by means of specialized hardware.