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Tsuyoshi Tokinaga,Takumi Yonezawa,Masateru Saito,Yoshifumi Morita,Hirofumi Tanabe,Balint Kiss 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The objective of the study involved developing a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. Based on our previous analysis of the therapist"s guiding movements in standing-up training of patients, a passive-type robot was adopted. However, the link weight of the robot acts as a load at the patient’s waist. In this work, we designed a counterbalance mechanism for the robot in order to reduce the load at the patient’s waist and determined the optimal parameters for the mechanism. We confirmed by simulation that the specifications of the forces acting on the end-effectors of the robots were satisfied, and thus the proposed counterbalance mechanism was effective.
Evaluation of Voltage Control Effect for Data Acquisition Period Length from SCADA with IT Switches
Udagawa, Tsuyoshi,Yasuhiro, Hayashi,Takahashi, Naoyuki,Matsuura, Yasuo,Morita, Tomohiko,Minami, Masahiro The Korean Institute of Electrical Engineers 2013 The Journal of International Council on Electrical Vol.3 No.2
Measured data from IT switches are utilized in order to control voltage in Japanese distribution systems with photovoltaic generation systems. However, length of period from the data measurement to the data acquisition from IT switches by SCADA affects voltage control ability in a distribution automation system. In this paper, the effect of the length of the data acquisition period for voltage control by LRT and SVR is evaluated through numerical simulations in a distribution system model. Furthermore, the optimal length of the data acquisition period is determined according to PV penetration rate.