2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics最新文献

{"title":"Development of a Wearable Thermo-Conditioning Device Controlled by Human Factors Based Thermal Comfort Estimation","authors":"G. Lopez, Kazuto Takahashi, Kizito Nkurikiyeyezu, Anna Yokokubo","doi":"10.1109/MECATRONICS.2018.8495727","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495727","url":null,"abstract":"Today in Japan, comfortable lifestyle and environment realized by abundant electric power is being questioned by energy consumption reduction policies called “cool biz” in summer, and “warm biz” in winter. One reason of these policies is the bad energy consumption efficiency of current airconditioning systems that cool or warm indirectly human body. Several researches have been investigating the effect of direct human body cooling and warming. However, most proposed solutions focus on direct head or neck cooling, using ice to cool a water circulating system, such temperature during use cannot be controlled accurately nor adapted to user and environment conditions. If the system can automatically perform the optimum warming and cooling operation, it becomes also possible to present an optimum thermal cooling environment for children and physically handicapped persons who have difficulties to control cooling/warming operation by their own will. In our objective of developing effective energy saving technology for direct thermal conditioning of human body, we have proposed and developed a Peltier element based neck-mounted wearable device that directly cools or warms human body based on estimation of user’s thermal sensation by biological information. The thermal sensation estimation algorithm was tested in an environment where the thermal sensation of Cold, Neutral, and Hot can be obtained. Obtained thermal sensation estimation was in accordance with the subjective thermal sensation from each subject. However, temperature range while wearing the device was 28 to 38°C, when ideal cooling/warming function is 20 to 40°C.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127346943","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robust Full-Closed Control-Based Vibration Suppression for Positioning Devices with Strain Wave Gearing","authors":"M. Iwasaki","doi":"10.1109/MECATRONICS.2018.8495718","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495718","url":null,"abstract":"The plenary lecture presents a practical robust compensator design technique for precision positioning devices including strain wave gearing. Since HarmonicDrive ®1 gear (HDG), a typical strain wave gearing, inherently possesses non-linear properties known as angular transmission errors (ATEs) due to structural errors and flexibility in the mechanisms, the ideal positioning accuracy corresponding to the apparent resolution cannot be essentially attained at the output of gearing in the devices. In addition, mechanisms with HDGs generally excite resonant vibrations due to the periodical disturbance by ATEs, especially in the condition that the frequency of synchronous components of the ATE corresponds to the critical mechanical resonant frequency. The lecture, therefore, focuses on the vibration suppression in positioning, in order to improve the performance deteriorations by applying a robust full-closed control. In the compensator design, under the assumption that full-closed feedback positioning systems can be constructed using load-side (i.e. output of the gearing) sensors, an H∞ compensator design has been adopting to shape frequency characteristics on the mechanical vibration. The proposed approach has been applied to precision motion control of actual devices as servo actuators, and verified through numerical and experimental evaluations.Registered Trademark in Japan.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":" 39","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113947244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimal Posture Determination Methods for Variable Stiffness Tendon Driven Arms","authors":"T. Tomita, S. Komada, K. Yubai, D. Yashiro","doi":"10.1109/MECATRONICS.2018.8495849","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495849","url":null,"abstract":"Under the human environment, robot arms are desired to have safety and versatility. There is a tendon driven arm using nonlinear springs as a mechanism that meets the requirement. By using springs, this mechanism can ensure safety at the time of contact. Moreover, by using nonlinear springs, it is possible to mechanically adjust the stiffness of the arm. Determining the arm posture is important to maximize the performance of the robot. In this paper, we focus on the posture which minimizes the burden by distributing the required torque to each actuator when the robots perform tasks. I proposed the algorithm that simply determines the optimal posture (Method 1) and the algorithm that reduces calculation cost by using the tension difference limit (Method2). I confirmed equivalent posture determination by both methods and compared calculation cost. I confirmed calculation cost can be shortened by the Method2.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114823879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Control a Mobile Robot for Guide a Person Cosidering Each Specific induction Distance","authors":"T. Arakawa, Jinseok Woo, N. Kubota","doi":"10.1109/MECATRONICS.2018.8495847","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495847","url":null,"abstract":"In this research, focusing on the interaction (cooperative behavior) between the user and the induction robot based on knowledge on robot and human’s follow-up behavior, we propose a guidance method considering the psychological factors of the user.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131892963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Stick-Slip Conveyance Device based on a Hexagonal Digital Electromagnetic Actuator","authors":"A. Deshmukh, L. Petit, M. Khan, F. Lamarque, C. Prelle","doi":"10.1109/MECATRONICS.2018.8495712","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495712","url":null,"abstract":"This paper introduces a micro conveyance device able to convey small objects in a 2D plane. The conveyance of such objects is carried out using a single digital electromagnetic actuator. The mobile part of the digital actuator is able to reach six discrete positions. It consists of a hexagonal permanent magnet, which is able to switch with the help of the generated Lorentz force due to the conductors placed beneath it. Six cylindrical permanent magnets are placed in a circular fashion around the mobile part in order to provide a magnetic holding to the mobile part at each discrete position. To generate conveyance tasks using this digital actuator, a stickslip approach is proposed. A semi-analytical model has been developed to design a prototype which has been manufactured with the help of laser cutting machine and tested to validate the conveyance principle. Experiments have been carried out and the conveyance of an object in different directions has been realized. The influence of the driving current used to control the actuator on the conveyed distance has also been observed.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131291506","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hand Sensory Rehabilitation System Which Incorporated Visual and Tactile Feedback","authors":"Yutaka Hagiwara, K. Takeda, Shin-ichiroh Yamamoto, Yukio Saito","doi":"10.1109/MECATRONICS.2018.8495868","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495868","url":null,"abstract":"In this study, we have been developing a rehabilitation system that combining a motor and sensory function recovery device and a measuring device for a hand sensory. These devices are purposely developed for paralyzed patients. The rehabilitation system was named HSRS (Hand Sensory Rehabilitation system) and it’s consists of a training device hand sensory function, a computer to control the device, and an external monitor displays an obtained data from sensors. The training device is able to applycontinuous mechanical stimulation to the hand of a user by grasping the device probe. On the monitor, the self-made Graphical User Interface (GUI) is displayed. An operator instructs the user to match the target value to the measured value in the training. When the user operates the switches, and the device measures the point that contacted with the probe. We did two experiments by using these devices. One is stimulus evaluation experiment. In this experiment, three frequencies (30 [Hz], 60[Hz], 100[Hz]) were given to the human hand and we verified which frequency was most effective. Using a slide caliper and the device to measure sensory function, we evaluated the difference in sensory degree of each healthy subject between before and after using the training device. As a result, we found 60[Hz] is the most effective frequency. In the second experiment, we let a subject follow a target value of GUI. In this experiment, we examined the relation between the sensory function and the motor function and investigated the best evaluation parameter when training the paralyzed patient. As a result, we didn’t get difference in the results when comparing in sports experience. However, we got a particularly big difference of the magnitude of the residual during accelerated and deceleration time of the gripping with other items. Moreover, when comparing those who are good and not good sensory in sensory function measurement experiments, there was a tendency that the subjects with not good sensory have the bigger difference with the target value. We confirmed the utility of the measuring devise and the relationship between motor and sensory function.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126937187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Mecatronics 2018 Mechatronics in Rehabilitation and Sports","authors":"","doi":"10.1109/mecatronics.2018.8495873","DOIUrl":"https://doi.org/10.1109/mecatronics.2018.8495873","url":null,"abstract":"","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131750904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Burden-Reducing Shoes with Elastomer-Embedded Flexible Joint","authors":"Taiki Oshimoto, Isao Abe, T. Kikuchi, Naoki Chijiwa, Tomohisa Yabuta, Kenichiro Tanaka, Yasue Asaumi","doi":"10.1109/MECATRONICS.2018.8495668","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495668","url":null,"abstract":"A new type of shoe with elastomer-embedded flexible joint (EEFJ) comprising a C-shaped spring and an embedded elastomer was proposed herein. The EEFJ was designed to support the plantar flexion muscle moments and to move freely in the other direction. Theoretical analysis and strength test were conducted for the EEFJ. According to the results of the strength test, the minimum moment at 10° in the plantar flexion was 8.9 Nm. This moment achieved the requirement moment (3.6 Nm). The maximum moment at 45° in the dorsiflexion was 0.022 Nm. The moments in the plantar flexion were significantly stronger than those in the dorsiflexion. We prototyped burden-reducing shoes by installing the EEFJ on the outside of the ankle joint. The total weight of a cuff, an aluminum plate, and the EEFJ for one leg was 183 g.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126233541","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robust Defect Detection on 3D Textured Low-Contrast Surfaces Using Accumulated Aggregation Shifting Model","authors":"Y. Yan, Sheng Xiang, Hirokazu Asano, S. Kaneko","doi":"10.1109/MECATRONICS.2018.8495747","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495747","url":null,"abstract":"Detecting defects on 3D textured low-contrast surfaces plays an important role in product quality control. However, because of affects from the uneven distributions of material, irregular textures, and unclear boundary between defect and background, this is a very challenging problem. In this paper, we propose an unsupervised defect detection method guided by saliency. Firstly, two features, named local-global intensity difference and local intensity aggregation, are proposed to measure saliency of each pixel. These two features are further utilized to construct an accumulated aggregation shifting (AAS) model, which iteratively shifts brightness of pixels based on their visual saliency, i.e. defective probability. And then, the output sequence of AAS at different iterations can be formalized as linear distribution or exponential distribution through statistical analysis. Finally, by utilizing the risk minimization method, we theoretically determine a reasonable threshold to classify all pixels as defective ones or defect-free ones. Experiments on a real industrial image dataset demonstrate the effectiveness of our approach.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126397730","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimal Self-triggered Control in Networked Control Systems","authors":"Yuki Uchiyama, T. Zanma, Shota Fujisawa, K. Koiwa, Kang‐Zhi Liu","doi":"10.1109/MECATRONICS.2018.8495821","DOIUrl":"https://doi.org/10.1109/MECATRONICS.2018.8495821","url":null,"abstract":"Networked control systems (NCSs) have attracted attentions and have a great advantage that NCSs can reduce costs of installation and have extensive industrial application. On the other hand, the disadvantage that the control performance can be degraded and the plant can be destabilized is happening. Furthermore, data transmission means waste of communication resource and transmission energy when it is not necessary to transmit the packet data. In order to solve the problem, an event-triggered control and self-triggered control are studied. Although these method is attractive, most of recent studies have only focused on an analysis of stability. Therefore, we proposed self-triggered control based on model predictive control to improve the performance furthermore. In addition, Kalman filter is extended and event-driven estimator is derived and employed to the systems. This strategy can reduce transmission rate drastically while guaranteeing the control performance. Eventually, the results are shown and displayed by demonstrating simulations.","PeriodicalId":145863,"journal":{"name":"2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126549858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}