2009 35th Annual Conference of IEEE Industrial Electronics最新文献_第2页

Out-of-focus blur image restoration using the Akamatsu transform 使用赤松变换恢复失焦模糊图像

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415072

S. Karungaru, M. Sugizaki, M. Fukumi, Y. Mitsukura, N. Akamatsu

引用次数: 4

Bilateral control using estimated environmental stiffness as the master position gain 使用估计的环境刚度作为主位置增益的双边控制

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415282

K. Kitamura, D. Yashiro, K. Ohnishi

{"title":"Bilateral control using estimated environmental stiffness as the master position gain","authors":"K. Kitamura, D. Yashiro, K. Ohnishi","doi":"10.1109/IECON.2009.5415282","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415282","url":null,"abstract":"Bilateral control system has been developed as a method to transmit a tactile sense. It enables human operators to feel as if they were really touching the environment. Teleopertion with the bilateral control has a wide range of application such as telesurgery, deep-sea operation, space mission, etc. However, the presence of the communication delay between master and slave systems degrades performance and stability. There are two representative conventional methods based on acceleration control. One is 4ch bilateral control and the other is 3ch bilateral control. In 4ch bilateral control system, an operator is able to feel the hard environment, but the operator feel the large operational force. On the other hand, in 3ch bilateral control system, little operational force is generated, but stable contact can not be achieved. This paper proposes a novel bilateral control using the estimated environmental stiffness as the master position gain. The proposed method enables the operator to feel the hard environment with little operational force. The validity of the proposed control system is confirmed by analyses and experiments.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121890080","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}

引用次数: 7

Environment copying system based on real-world haptics 基于真实世界触觉的环境复制系统

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5414827

Y. Yokokura, S. Katsura

引用次数: 21

Wrist EMG signals identification using neural network 腕部肌电信号的神经网络识别

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415065

T. Oyama, Y. Mitsukura, S. Karungaru, S. Tsuge, M. Fukumi

引用次数: 19

Transparency issues of acceleration waves 加速度波的透明度问题

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415304

B. Yalcin, K. Ohnishi

引用次数: 4

Identification of contact condition based on modal motion stiffness by bilateral motion control 基于模态运动刚度的双边运动控制接触条件辨识

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415287

T. Shimono, K. Ohnishi

引用次数: 0

Haptic communication system using FPGA and real-time network framework 触觉通信系统采用FPGA和实时网络框架

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415387

Hiroyuki Tanaka, K. Ohnishi, H. Nishi

{"title":"Haptic communication system using FPGA and real-time network framework","authors":"Hiroyuki Tanaka, K. Ohnishi, H. Nishi","doi":"10.1109/IECON.2009.5415387","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415387","url":null,"abstract":"In this paper, a scheme for a haptic communication system is proposed by using an FPGA (Field Programmable Gate Array) and real-time network framework, RTnet. In the haptic communication system, the FPGA is used as a motion control processor, and the Linux-based real-time network framework is applied to the communication line between a master and a slave robot. The FPGA can execute control calculations in a short interval. Sending a large number of packets in a short period is, however, not acceptable for the communication line. In the haptic communication system, the FPGA execute the control calculation in every 50 µs, and the packets are sent in every 1 ms to prevent network congestion. The degrees-of-freedom(DOF) of the haptic device can be increased without increasing the number of sending packets, since the data of the each DOF is packed into one packet in a Linux module. In this paper, a master-slave haptic communication system is developed. The master side consists of a haptic device, whereas the slave side consists of a virtual haptic device and a virtual environment. The validity of the haptic communication system is shown through an experiment.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124736018","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}

引用次数: 3

Analysis of interaction force of wire-based robot using variable wire rope tension control 基于变钢丝绳张力控制的钢丝绳机器人作用力分析

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415298

C. Mitsantisuk, T. Tran, K. Ohishi, S. Urushihara, S. Katsura

引用次数: 5

Partial shadowing detection based on equivalent thermal voltage monitoring for PV module diagnostics 基于等效热电压监测的部分阴影检测在光伏组件诊断中的应用

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415006

D. Sera, R. Teodorescu, P. Rodríguez

引用次数: 16

Reaction force control on accelerator pedal and steering wheel basaed on tire-road friction forces 基于轮胎-路面摩擦力的加速踏板和方向盘反作用力控制

2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415069

Hiraku Ogura, T. Murakami

引用次数: 4