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An Assistant System for Riding a Unicycle
M. Iwase,Y. Kanai,M. Kinoshita,S. Hatakeyama,Y. Kashimura,I. Hanazaki,T. Yokoyama,H. Higaki,K. Fujisawa 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.1
The final purpose of this study is to design a control system to assist in the skill of riding a unicycle. To realize such a system, it is necessary to make a mathematical model and to analyze the dynamics of the unicycle. It is ideal that the dynamics of a unicycle is kept as original as possible even if any automatic support control is required to assist the operator. Thus, this paper presents modeling of the unicycle and a control system design by the controlled Lagrangian to realize this type of controller.
T. Sanami,M. Hagiwara,H. Iwase,M. Takada,D. Satoh,Y. Iwamoto,S. Kunieda,H. Yashima,A. Tamii,M. Baba 한국물리학회 2011 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.59 No.23
The experimental program to measure double differential cross section (DDX) data for fragment production is launched to establish reaction models and parameters for proton induced reaction on light-medium nuclei for the energy range from threshold to a few hundred MeV. In this program, a Bragg Curve Counter (BCC) that is improved to cover entire energy range of fragment is employed as a detector. DDXs of lithium, beryllium, boron and carbon emission at 30, 60, 90, and 135 degree were measured for 40, 50, 70, and 80 MeV proton on carbon, nitrogen, oxygen and aluminium Theoretical calculation results using three different intra-nuclear cascade models were compared with experimental data. By choosing appropriate model, the calculation generally reproduces the DDXs except for fragments having relatively high energy and small emission angle, and fragments from two body reaction.
Safe Manual Control of Pendulums - A Human Adaptive Mechatronics Perspective
K,J,Astrom,M,Iwase,K,Furuta,J,Akesson 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2006 International Journal of Assistive Robotics and Me Vol.7 No.1
Human Adaptive Mechatronics is a research project at Tokyo Denki University sponsored by Ministry of Education, Sports, Culture, Science and Technology (MEXT). Human Adaptive Mechatronics consists of Human and Mechatronics, and aims to develop Mechatronic systems adapting and assisting human operations. This paper explores the interaction of manual and automatic control in a demanding task where the process is unstable and has actuator limitation. The problem is inspired by control of high performance aircrafts but which is similar to controlling the arm of a Furuta pendulum while maintaining the stability of the pendulum.
Shielding Experiments under JASMIN Collaboration at Fermilab (I) Overview of the Research Activities
Y. Kasugai,N. Matsuda,Y. Iwamoto,Y. Sakamoto,H. Nakashima,H. Matsumura,N. Kinoshitay,H. Iwase,T. Sanami,M. Hagiwara,H. Hirayama,H. Yashima,N. Sigyo,H. Arakawa,K. Ishibashi,N. Mokhov,A. Leveling,D. Boe 한국물리학회 2011 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.59 No.23
Shielding experiments were started on 2007 using high-energy proton accelerator at Fermi National Accelerator Laboratory (Fermilab) under the collaborative study program of JASMIN: Japanese and American Study of Muon Interaction and Neutron Detection. In this series of papers entitled "Shielding experiments under JASMIN collaboration at Fermilab", the part of the results regarding neutron detection has been reported. This paper, as a first paper of the series, overview of the research activities are described, and experimental results on high-energy neutron transportation are presented in a viewpoint of neutron attenuation in steel shield and applicability of Moyer's model. In addition, deductions of a neutron spectrum in wide energy range between 1 eV and 100 MeV by means of the hybrid method using the current-readout Bonner sphere together with foil-activation technique are presented.