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Voice Control of a Robotic Forceps Using Hierarchical Instructions
Kiyotaka Izumi,Shinichi Ishii,Keigo Watanabe 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
A robotic forceps is controlled by voice instructions in the framework of a fuzzy coach-player system. In the proposed system, we can deal with some fuzziness included in voice instructions and the system is composed of two instruction levels in order to increase the efficiency of voice instructions. One is a local instruction level that uses any action commands directly. The other is a global instruction level that uses a task command. Such a fuzzy coach-player system is applied for the manipulation of a robotic forceps and the effectiveness of the present system is verified through some actual experiments.
Switching Manifold Control for an Extended Nonholonomic Double Integrator
Kiyotaka Izumi,Keigo Watanabe 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Control approaches for nonholonomic systems have utilized canonical forms. A nonholonomic double integrator model is the one of canonical forms for nonholonomic systems. Outputs of the controller based on the nonholonomic double integrator model are velocity commands for the kinematic model of a nonholonomic system. In this paper, we consider an extended nonholonomic double integrator model, in which control inputs are torque or force commands. We propose a switching controller based on the invariant manifold theory. Each controller is designed with a quasi-continuous exponential stabilized control. The effectiveness of the present method is verified by some simulations.
Study of a Suitable Structure of Dynamically Reconfigurable VLD Circuit for MP3 Decoding
Kiyotaka Komoku,Takashi Miyake,Takayuki Morishita,Nobuo Sasaki 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
We have been proposed a VLD architecture that includes many comparators and can reconfigure the circuit structure adaptively, corresponding to VLC table number. For analyzing performance of the circuit, a functional simulation program of the proposed VLD circuit was developed. In this paper, we show the output result of the simulation program.
Hierarchy Structure of Dynamically Reconfigurable Circuit for MP3 Decoder
Kiyotaka Komoku,Takayuki Morishita 대한전자공학회 2007 ITC-CSCC :International Technical Conference on Ci Vol.2007 No.7
In this study, we proposed hierarchy structure of dynamically reconfigurable circuit for MP3 (MPEG-1 Audio Layer Ⅲ) decoder. Suitable composition of Unit group, that is basic structure of the circuit, was investigated. Target application circuits are dequantization, antialiasing and IMDCT processing in MP3 decoding process. Suitable UG was decided, that has five register units, two multiply units, two addition/subtraction units, and two counter units. For configuring three application circuits using this UG, four UG is needed.
Voice Instructions for Controlling a Robotic Forceps with Image and Auxiliary Information
Kiyotaka Izumi,Takuya Tokunaga,Keigo Watanabe 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
An image related to three-dimensional movement is used for constructing a control system for a robotic forceps by voice in structions, to gether with use of auxiliary information such as, the information on the tip-position in three-dimension and on the distance of the previous movement. A degree-related adverbin cluded in the voice instruction is quantified by using fuzzy reasoning, in which such auxiliary information is also applied to update the membership functions so as to realizea user-friendly interface. The effectiveness of the present system is demonstrated by actual experiments.