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Yoshitaka Matsuda,Ryoichi Sakai,Takenao Sugi,Satoru Goto,Takeshi Yasunaga,Yasuyuki Ikegami 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
This research investigates the water level control of flash chamber in a spray flash desalination system. First, the water level model is constructed based on the mass conservation law and the thermophysical properties. In this research, not only the flow rate limitation but also the characteristics of valve is taken into account. For the constructed water level model, PI control system is considered. It is verified from simulation results using the PI control system that the control mechanism is suffered from the saturation nonlinearity and the water level has large overshoot. To solve this problem, in this research, an anti-windup compensation is applied. The effectiveness of the control system with anti-windup compensator was confirmed through simulation results.
Yoshitaka Matsuda,Tsukasa Shimada,Takenao Sugi,Satoru Goto,Takafumi Morisaki,Yasuyuki Ikegami 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This research deals with the design of PI controller for the liquid level control of separator in an ocean thermal energy conversion (OTEC) plant with Uehara cycle by considering some kinds of disturbances. The PI controller is designed for a liquid level model under H∞ constraint. The effectiveness of the designed PI controllers is evaluated through simulations considering disturbances.
Synthesis of PD-type Anti-windup Compensators for LTI Systems with Asymmetric Input Saturation
Yoshitaka Matsuda,Toshiki Haraguchi,Satoru Goto,Takenao Sugi 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This research is intended as an investigation of the synthesis of proportional-derivative-(PD-)type anti-windup compensators (PD-AWCs) for linear time-invariant (LTI) systems with asymmetric input saturation. The anti-windup control system is represented by using symmetric input saturation and introducing two vectors concerning the saturation nonlinearity in the control system. The problem of synthesizing PD-AWC is formulated as a linear matrix inequality (LMI) one. The effectiveness of the proposed synthesis method is confirmed by a numerical example.
Simulation and Analysis of Dynamics of the Force-free Control for Industrial Robot Arms
Achala Pallegedara,Yoshitaka Matsuda,Naruto Egashira,Takenao Sugi,Satoru Goto 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Simulation and analysis of the dynamic force-free control of robot arm with revolute joints are presented in this paper. Initially, modeling of dynamic force-free control method is described. Then simulation is carried out for single arm and two arm links robots by adopting Matlab/Simulink environment. The model characteristics of the force-free control is utilized to demonstrate the autonomous safety action being taken by the robot arm in particular instances such as; when the robot insisting on an undesirable operation or a collision with an obstacle or an unusual dragging along the working objects. Finally, simulation results are taken by adopting the force-free control on robot arms with industrial mechatronics controllers. Moreover, analysis of the force-free control is carried out by using real robot parameters throughout the simulations. Since the force-free control is about to deal with external forces given to the robot arm, it can be used to illustrate the cooperative control between a human and a robot arm by means of passive motion through external force.
Daiki Urayoshi,Yoshitaka Matsuda,Takenao Sugi,Satoru Goto,Takafumi Morisaki,Yasuyuki Ikegami 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In ocean thermal energy conversion (OTEC) plant, electricity is generated by heat energy from temperature difference between warm seawater at surface and cold seawater in depth. OTEC plants have an evaporator as one of the most important devices. Indeed, the evaporator evaporates the working fluid to rotate the turbine connected to the generator. In this research, a model of heat source system in an OTEC pilot plant for stable operation of the plant is constructed. In the OTEC pilot plant, the evaporation of the working fluid is realized by warm water from a boiler. Therefore, it is important to keep the temperature of warm water constant. Since the temperature of warm water can be changed by manipulating the valve opening, first order models to describe the relationship between the temperature and the valve opening are constructed based on experimental data. The effectiveness of the constructed models was verified through simulation.
Kazuhiko Goto,Takenao Sugi,Yoshitaka Matsuda,Satoru Goto,Hiroki Fukuda,Yoshinobu Goto,Takao Yamasaki,Shozo Tobimatsu 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Visual evoked potentials (VEPs) are the electrical responses from the brain concerned with visual information processing. Amplitude of VEPs is smaller than that of background EEG activity, and the stimulus-locked averaging method is usually used for obtained the waveform. VEP response to each stimulus is not completely the same however it is varying with its amplitude and duration. Therefore, amplitude of averaged VEP waveform deteriorates due to their variability in raw data. Feature extraction of background EEG activity during visual stimulation is also a one of significant items in VEP analysis. In that case, separation of VEP component and background EEG component (mainly posterior dominant rhythm) is crucial. In the past, we proposed the method of estimating both amplitude of VEP and dominant rhythm by use of EEG model. This present study, the proposed method was applied to actual recorded VEP data and its effectiveness was evaluated. EEGs with visual stimulus were recorded from nine healthy young adults. Usefulness of the proposed method was investigated by comparing the conventional power spectrum averaging method. The proposed method will be applicable to show an accurate VEP analysis and characteristic analysis of background activity under visual stimulus.