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Sekizaki, Shinya,Aoki, Mutsumi,Ukai, Hiroyuki,Sasaki, Shunsuke,Shigetou, Takaya,Wang, Weihua,Belanger, Jean 대한전기학회 2013 The Journal of International Council on Electrical Vol.3 No.4
With the increasing the number of Photovoltaic generators (PV) connected to distribution system (DS), several concerns such as rise and sudden change of voltage on distribution line are growing in Japan. Step Voltage Regulator (SVR) is well known as the one of voltage control equipment used in current DS. Meanwhile, SVR cannot regulate rapid voltage change because SVR has time delay against variation of voltage. In contrast, Static Var Compensator (SVC) is the effective device to control voltage changed rapidly. However, since the cost of SVC with large capacity is expensive, it is important to reduce the capacity of SVC in order to increase the introduction of SVC into power system. From this background, the novel control method of SVR using solar radiation information to reduce the capacity of SVC is proposed in this paper. The effectiveness of the proposed method is confirmed by numerical simulation with real time simulator.
Power Factor Control for Hybrid Type Power Quality Conditioner
Yamagiwa, Kyohei,Kobayashi, Yuta,Aoki, Mutsumi,Ukai, Hiroyuki,Ueda, Fukashi,Kobayashi, Hiroshi The Korean Institute of Electrical Engineers 2012 The Journal of International Council on Electrical Vol.2 No.4
In recent years, power quality in distribution system becomes to be greatly concerned. There are two power quality problems greatly. One is the voltage rise, the other is harmonics voltage. The voltage rise in distribution system is caused by leading current from Static Capacitors (SCs) which are widely installed at receiving points by consumers to improve power factor. Especially, the voltage rise is caused in light-load time, because of the excessive amount of SCs. On the other hand, the harmonic voltages are caused by nonlinear loads such as power electronics devices. Since harmonic currents from nonlinear loads flow through the line and transformers, the voltage is distorted. To improve those problems of power quality, Hybrid type Power Quality Conditioner (HyPQC) is proposed. HyPQC is consist of the power electronics converter and LC circuit, it could compensate the reactive current and harmonic currents from loads. In order to use for practical application, the experimental test should be performed. From this background, this paper presents the control algorithm to compensate the reactive current and harmonic currents in case of changing the loads. The simulation and experimental results are also presented using the proto type model.
Screening Test Robot for Functional Decline of Shoulder Joint
Keita Kamada,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kenji Komori,Shinya Taguchi 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In this paper, we propose a screening test robot for prevention and early detection of functional decline of the shoulder joint. For this purpose, we used a three-dimensional reaction force display robot (3D robot) that executed a method for quantitatively evaluating shoulder joint functions. We focused on two shoulder joint functions: one is flexibility/stability, and the other is cooperativeness. In the screening test for functional decline of flexibility/stability, the 3D robot measured the maximum isometric force exerted on the brace of the 3D robot by a subject. In the screening test for functional decline in cooperativeness, the 3D robot measured the maximum isokinetic force exerted on the brace by the subject and the rotational angle of the upper limb during the testing motion. We propose procedures for implementing the two kinds of screening tests using the 3D robot, and we developed a control method. We verified the effectiveness of the proposed screening robot in executing these procedures, the control method, and the quantitative evaluation method.
Study on Quantitative Evaluation Methods of Therapeutic Effects of Sanding Training
Yoshifumi Morita,Ryota Tanioku,Tsubasa Horie,Masaki Uchida,Hiroyuki Ukai,Nobuyuki Matsui 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In the future the final aims of our research are to quantitatively evaluate the therapeutic effect of upper limb motion during the training and to develop a new rehabilitation training support robot with the evaluation function. This paper presents new evaluation methods of therapeutic effect of a sanding training. The sanding training is one type of resistance training for upper limbs. Three methods to evaluate achievement level of sanding training, cooperative movement of healthy and disabled arms, and cooperative movement of forearm and upper arm are proposed. The validities of the proposed evaluation methods are examined using the measurement data of patients with hemiplegia. Moreover, the relationships between the evaluation results and the Brunnstrom Stage of the patients are examined.
Evaluation of Simplified Repeated Resistance Training System for Severe Hemiplegic Stroke Patient
Michito Yasukita,Yuki Iida,Kazunori Yamazaki,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Yoshiaki Takagi,Yoshitaka Aoki,Hirofumi Tanabe,Rumi Tanemura 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
We have developed a three-dimensional force display robot (3D robot) to discover and embody needs in rehabilitation site. Then we have exchanged opinions with therapists by using the 3D robot together in rehabilitation site. From a therapist" needs we have developed repeated resistance training system by using the 3D robot as one of the application of the 3D robot. On the basis of the results we have developed a simplified repeated resistance training system equipped with a user interface for easy operation for therapists. Moreover, we have developed a brace for fixation as the attachment between the training system and the patient’s arm. In this paper, we perform the functional evaluation of the simplified repeated resistance training system and the brace in the clinical site. These results are based on the opinions from the therapist and the patient. Moreover, we verify the therapeutic effects of the repeated resistance training using the simplified system for a hemiplegic stroke patient. The AROMs of pronation and supination of the patient were improved after repeated resistance training using the simplified system.
Development of Knee Joint Robot for Students Becoming Therapists
Yoshie Maeda,Tatsuya Hirano,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kouji Sanaka,Keiko Takao,Ayako Satonaka 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Students becoming physical therapists (PT) or occupational therapists (OT) cannot experience rehabilitation for actual patients’ troubles before clinical training. For this reason we have developed the knee joint robot imitating patients" troubles such as range of motion trouble, contracture, rigidity, spasticity and so on. Therefore students can experience rehabilitation for patients’ troubles virtually by using the robot. Moreover, from the standpoint of educational effect we have to develop a training program using the robot for the students to learn skilled manual therapy techniques for patients’ troubles. In this paper, we propose a training program consisting of the monitoring system, the force display system, the supervisory system and the evaluation system. Firstly, we develop monitoring function in which the graphs of robot’s angle, velocity and their appropriate values for training are displayed during training. Secondly, we develop simulation algorithms of clonus and hypertonia occurring in manual therapy. Lastly, we develop an evaluation method of manual therapy techniques for a patient with hypertonia.
Improvement of Knee Flexion and Extension Simulation Accuracy in KneeRobo
Qichang Qi,Yoshie Maeda,Kazunori Yamazaki,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kouji Sanaka 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In a previous paper, we reported on the initial development of KneeRobo, which replicates knee joint troubles experienced by patients in order to enable students studying to become physical or occupational therapists to gain practical training/testing virtually. We also developed a control algorithm that enabled KneeRobo to realize involuntary internal/external rotation during knee flexion and extension. However, it is well known that in addition to internal/external rotation, abduction/adduction also occurs involuntarily during knee flexion and extension. Consequently, this paper proposes a new control method that improves the simulation accuracy of KneeRobo’s knee joint movements. This is accomplished by developing a control algorithm and designing a pulley arrangement that facilitates realization of involuntary movements such as internal/external rotation and abduction/adduction during knee flexion and extension by KneeRobo. The results of experimental comparison with the actual knee joint movements of a healthy person confirm that the knee joint movements simulated by the improved KneeRobo are accurate.
Development of Knee Joint Robot for Students Becoming Therapist
Yoshifumi Morita,Yuki Kawai,Yusuke Hayashi,Tatsuya Hirano,Hiroyuki Ukai,Kouji Sanaka,Hironori Nakamuta,Keiko Takao 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension movement but also inner/outer rotation movement, which is based on the idea of rolling, sliding and coming off movement. In addition the robot has the wire drive system to control the knee joint passive movement. In this paper we design optimal arrangement of four pulleys in the wire drive system by introducing performance indices. In addition we design control algorithms to imitate two kinds of knee joint troubles and verify the effectiveness by fundamental experiments.