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Analysis of Dynamic Quantizer in 2-DOF Internal Model Control System with Dead-time
Hiroshi Okajima,Tatsuya Umemoto,Nobutomo Matsunaga,Shigeyasu Kawaji 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
It is well known that plants with dead-time are difficult to be controlled by using traditional control method. For this, controller with dead-time have been proposed for the systems with dead-time, e.g. In ternal Model Control(IMC), Smith-method. However, it would be difficulttorealize the dead-time component of controller because of memory limit of micro control unit(MCU). The sampling time might be large in case of the application to the plant with large time delay. Hence, the trade-off between sampling time and maximum quantizing error exists. In this paper, the design method of dynamic quantizers are proposed for achieving small quantizing error for control systems in MCU. The effectiveness of the proposed method is shown by numerical example.
Evaluation of Steering Model depending on Gazing Distance by using Driving Simulator
Yuki Shida,Hiroshi Okajima,Daisuke Matsuno,Nobutomo Matsunaga 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the situations. The PID gain of the steering model are modified depending on driver’s gazing distance. The facts are familiar, but the relationship between driver’s steering gain and the gazing distance has not been clarified yet. If this relation becomes clear, it can be helpful for the comfortable driving assistance and/or automatic driving systems to provide for each driver. In this paper, how to model the steering behavior is discussed and steering model depending on gazing distance is proposed. The features of the model are real-time measurement of gazing distance, and incorporating the gazing distance explicitly into a model. The effectiveness of the model is evaluated using a Honda driving simulator assuming an actual driving environment.
Direct Yaw Moment Control of Front Drive Type Electric Wheelchair with Free-casters
Yutaro Maruno,Hiroshi Okajima,Aydin Tarik Zengin,Nobutomo Matsunaga 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, front drive type electric wheelchair has been focused on, with which handicapped person get on it from a bed easily. However, the front drive type wheelchair is difficult to run straight not only on slope but also on flat floor because of its over-steering characteristic. If wheelchair can be driven by easy stick operation, it will be a comfortable function for handicap persons. In this paper, we propose a new wheelchair control method which provides under-steering characteristic and also realizes comfortable function, i.e. driving with same easy stick operation like the traditional rear drive type wheelchair. First, dynamic model of the wheelchair is outlined. Next, yaw rate control method based on internal model control (IMC) is proposed. Finally, the effectiveness of proposed method is confirmed by driving simulations on slope.
Yudai TAKEUCHI,Nobutomo Matsunaga,Hiroshi Okajima 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
Recently, welfare vehicles are widely used among the aged. However, it is not easy for inexperienced beginners to control the welfare vehicle in narrow places such as elevators and corridors. For these problems, the driving assistant system has been proposed in which the virtual vehicle can be projected on Head Mounted Display (HMD) and the virtual vehicle is remotely controlled by a pseudo objective viewpoint so that the user drives easily on the complex courses. However, it is difficult for beginners to drive the virtual vehicles smoothly. The well-suited instruction for beginners is necessary by the instructors, but the virtual vehicle is invisible because it is controlled in Augmented Reality (AR) world. In this paper, the driving instruction and training system using the sharing system of AR is proposed. The experience is shared by the vehicle user and the instructor wearing the HMD. In AR space, the instructor gives the appropriate directions and the vehicle user drives avoiding virtual items. The effectiveness of the proposed system is evaluated by experiments.
Shoichi Sakamoto,Tomoki Tanaka,Hiroshi Okajima,Nobutomo Matsunaga 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Recently, electrical welfare vehicles with free casters are widely used by patients and elders indoors. However, welfare vehicles may not be able to move well on gravel or dirty roads as seen in suburbs. In order to expand driving area, the skid steer mechanism is focused on. The sked steer vehicle (SSV) has been used for its high traveling ability on rough road. However, the SSV has disadvantage that the driving assistance is required because its steering is highly affected by road conditions. In this paper, a driving assistance control of SSV using the model error compensator and state estimator, i.e. EKF and cornering power estimator is proposed. The maneuverability is evaluated by correlation coefficient of joystick operation comparing asphalt road and gravel road.
Yuto YAMAMOTO,Nobutomo MATSUNAGA,Hiroshi OKAJIMA 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
When human co-exists with robots, the secure flexible motion will be required for the robots. The soft-actuator will be a key to make a safe robot. McKibben type pneumatic artificial muscle (PAM) is representative soft actuator, and has been used widely in many fields. However, there is a trade-off between the soft actuation and the precise control. This study aims to an accurate variableness stiffness control of PAM arm. To control the PAM arm, the angle, pressure and stiffness controllers are designed using Model Error Compensator (MEC) to increase robustness. According to flexibility and accuracy requirement selectively, the variable stiffness control system is implemented. Finally, the effectiveness of proposed method is evaluated by experiment using one link PAM arm.
Development of an automatic picking system for assistive robots using MR
Naoki Miyamura,Nobutomo Matsunaga,Hiroshi Okajima 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
Welfare vehicles are widely used for disabled or elders, however, it is difficult for users to pick up their package while they are in the vehicle. For these picking tasks, the automatic mobile robot with a robot arm has been used. The pointing of the package and its actions should be instructed at first. For disabled or elders, however, it is desirable to give instructions as simple as possible to operate the robot. Recently, Mixed Reality (MR) devices attract attention to support these tasks. Users will give instructions for the robot intuitively by using an HMD with MR. In this paper, an assist robot in which a robot arm automatically sucks the package is proposed by indicating the rough position using HMD. We have developed a system in which the user commands an assist robot to handle packages from a distance location using an HMD and an assist robot picks packages automatically using AR markers.
Stiffness Analysis of Crank Motion Task using Musculoskeletal Model with Sixmuscles
Nobutomo MATSUNAGA,Ryohei MERA,Hiroshi OKAJIMA,Shigeyasu KAWAJI 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
It is important to clarify that how are the stiffness and the torque of human arm controlled in the interaction with the environment. Traditionally, the stiffness of human arm has been measured by adding perturbation. However, it is difficult to measure the stiffnes sinisotonic movements with various loads, because the perturbation provides the unexpected stiffness increase by an tagonistic muscles. In this paper, the musculoskeletal model with six musclesis used to estimate the joint torque and stiffness incrank rotation tasks. The parameters of the model are estimated by experiments. And the pre-programmed reaction for the predictable load torque are evaluated.
On Vibration Feedback Method for Pain Emulation and its Feedback to Human
Aydin Tarik Zengin,Hiroshi Okajima,Nobutomo Matsunaga 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Considering human and robot cooperation and interaction, sensory and emotional feelings can be assumed as the most important point of being safe and secure for human and environment. In our previous study that is focused on imitating human pain sensing system, we designed a multi-layer pain sensing unit to mimic human behaviors in the case of superficial stimulation. Translating data acquired by pain sensing system to human is remained another important issue. In this study, we implemented a translation method from pain signal to subject, providing a vibratory feedback that has the ability to adjust vibration frequency due to actual stimulation. After an overview of pain sensing system and multiple sensor unit structure, we discuss the feedback system providing information about the stimulation applied onto sensor units. Results confirmed that the proposed feedback system translates sufficient information about the stimulation in a human readable format.