S. Goka, S. Hashimoto, K. Ohishi, T. Ishikawa, S. Adachi, K. Kosaka, H. Kubota, T. Ohmi
{"title":"Variable Forgetting Factor-Based Friction Compensation Method of Precision Stages","authors":"S. Goka, S. Hashimoto, K. Ohishi, T. Ishikawa, S. Adachi, K. Kosaka, H. Kubota, T. Ohmi","doi":"10.1109/SICE.2006.315007","DOIUrl":"https://doi.org/10.1109/SICE.2006.315007","url":null,"abstract":"This paper presents the nonresonant ultrasonic motor (SPIDER)-driven precision stage control based on an adaptive identification method with a variable forgetting factor (VFF). SPIDER-driven stage has a strong non-linearity due to the frictional drive mechanism. Focusing on the VFF, dynamical change of frictional property is detected. Therefore, fast and precise friction compensation can be performed based on the VFF. The validity of both the identification and compensation methods is verified through experiments","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130164817","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}
W. Yang, Y. Xi, N. Yamauchi, Y. Miyazaki, N. Baba, H. Ikeda
{"title":"A Remote Wireless Networked Sensing System for Monitoring Stress of Fruits during Transportation","authors":"W. Yang, Y. Xi, N. Yamauchi, Y. Miyazaki, N. Baba, H. Ikeda","doi":"10.1109/SICE.2006.314728","DOIUrl":"https://doi.org/10.1109/SICE.2006.314728","url":null,"abstract":"A system to help that the produce reaches the market in the best possible condition has been developed, aiming specifically at strawberries. This system systematizes and integrates remote wireless sensor system, databases and biological expert knowledge to help every role of the strawberry condition cycle","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121534827","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}
H. Ohtsuka, Y. Nakashima, R. Kouzawa, I. Mizumoto, Z. Iwai
{"title":"Output Feedback Sliding Mode Control for Time Delay Systems","authors":"H. Ohtsuka, Y. Nakashima, R. Kouzawa, I. Mizumoto, Z. Iwai","doi":"10.1109/SICE.2006.315322","DOIUrl":"https://doi.org/10.1109/SICE.2006.315322","url":null,"abstract":"This paper is concerned with the output feedback sliding mode tracking control strategy based on parallel feedforward compensator (PFC) and Smith type predictor for time delay systems. The feature of this control system is to achieve output feedback control by using the PEC which guarantees almost strictly positive realness (ASPR) of the plant. The purpose of Smith type compensator is to compensate the time delay in control system. These compensators are designed based on the approximate plant model (low-order with time delay) of the real plant. Finally we confirm the effectiveness of our proposal through an experimental SISO liquid level control of the process","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115522222","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":"Intelligent Digital Redesign for Nonlinear Systems with Parametric Uncertainties","authors":"H. Sung, Jin-Bae Park, Y. Joo","doi":"10.1109/SICE.2006.314822","DOIUrl":"https://doi.org/10.1109/SICE.2006.314822","url":null,"abstract":"This paper presents intelligent digital redesign (IDR) method of global approach for fuzzy-model-based controllers. For effectiveness and stabilization of continuous-time uncertain nonlinear systems under discrete-time controller, Takagi-Sugeno (T-S) fuzzy model is used to represent the complex system. And global approach design problems viewed as a convex optimization problem that we minimize the error of the norm bounds between nonlinearly interpolated linear operators to be matched. Also, by using the power series, we analyzed nonlinear system's uncertain parts more precisely. When a sampling period is sufficiently small, the conversion of a continuous-time structured uncertain nonlinear system to an equivalent discrete-time system have proper reason. Sufficiently conditions for the global state-matching of the digitally controlled system are formulated in terms of linear matrix inequalities (LMIs). Finally, a T-S fuzzy model for the chaotic Lorentz system is used as an example to guarantee the stability and effectiveness of the proposed method","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115925823","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":"Pattern Recognition of EMG Signals by the Evolutionary Algorithms","authors":"K. Tohi, Y. Mitsukura, Y. Yazama, M. Fukumi","doi":"10.1109/SICE.2006.314791","DOIUrl":"https://doi.org/10.1109/SICE.2006.314791","url":null,"abstract":"In this paper, we propose a method of function derivation for performing recognition of wrist operations by the electromyographic (EMG) signals extracted from 4-channel EMG sensor. In designing a recognition device of operations, the important fewer amount of information is needed for reduction of cost and accuracy improvement in practical systems. Then, date mining is performed by specifying important frequency bands using genetic algorithm (GA) and neural network (NN). The derivation of function for generating a feature vector is performed only using the important frequency bands obtained by GA and NN. In this case, the feature vector which consists of frequency spectrum to be used is mapped to another space. We use the generated function as an input feature to perform recognition experiments of EMG signal by NN. Finally, the effectiveness of this method is demonstrated by means of computer simulations","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132520447","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":"Localization of Mobile Robot using Particle Filter","authors":"Jeong Woo, Young-Joong Kim, Jeong-On Lee, M. Lim","doi":"10.1109/SICE.2006.315151","DOIUrl":"https://doi.org/10.1109/SICE.2006.315151","url":null,"abstract":"Localization is an important topic in mobile robots. It is essential that a mobile robot plans movement and reaches goals. In this paper, we described self-localization technique for mobile robot based on particle filtering in active beacon system. The basic method is to estimate value of position and heading of mobile robot using ultrasonic sensor as particle filter is used to eliminate process and measurement noise. Several variants of the particle filter such as SIR and RPF are introduced. These are discussed and compared with EKF for localization of mobile robot","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131061172","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":"Evolutionary Approach for Designing the Behavior Generator of Communication Robot","authors":"Y. Suga, Tetsuya Ogata, S. Sugano","doi":"10.1109/SICE.2006.315560","DOIUrl":"https://doi.org/10.1109/SICE.2006.315560","url":null,"abstract":"Our goal is to create the robot system which interacts with human users keeping their interest during a long period. We focus on the interactive evolutionary computation (IEC) technique to achieve this goal. Although the IEC enables users to design various systems which reflect their subjective preferences, it forces users to evaluate a huge number of individuals in the genetic pool during the evolution period. To solve this problem, we propose a refined IEC technique, named human-machine hybrid evaluation (HMHE), which selects the representative genes for user evaluation and estimates the evaluation results of the other genes. It can increase the population size without increasing the users' evaluation processes. We carried out some simulations where a humanoid robot with our method interacted with a user. The experimental results demonstrated that the HMHE could continue to generate the various robot behaviors by adapting to the transition of user's subjective preferences","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131200477","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":"Convergence property on algorithmic control for real-time optimization SICE-ICCAS 2006","authors":"J. Imae, M. Nagata, T. Kobayashi, G. Zhai","doi":"10.1109/SICE.2006.315327","DOIUrl":"https://doi.org/10.1109/SICE.2006.315327","url":null,"abstract":"A convergence property on the method for real-time calculation of nonlinear optimal control problems is proved. We adopt the so-called 'algorithmic control' as one of the real-time optimization methods, which is based on the iterative algorithms for obtaining the numerical solutions. In this paper, we prove that the value of the performance index is improved in the design process, if the optimal solutions are not yet obtained.","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126790310","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":"Automated Extraction and Diagnosis of Lung Emphysema from Lung CT Images Using Artificial Neural Network","authors":"T. K. Liang, T. Tanaka, H. Nakamura, A. Ishizaka","doi":"10.1109/SICE.2006.315359","DOIUrl":"https://doi.org/10.1109/SICE.2006.315359","url":null,"abstract":"Emphysema is characterized by loss of elasticity of the lung tissue; destruction of structures supporting the alveoli; the destruction of capillaries feeding the alveoli. The result is that the small airways collapse during expiration, leading to an obstructive form of lung disease (air is trapped in the lungs in obstructive lung diseases). The scientific definition of emphysema is: \"permanent destructive enlargement of the airspaces distal to the terminal bronchioles without obvious fibrosis\". Hence, the definite diagnosis is made by a pathologist. At present, diagnosis of emphysema is done by using spirometry, X-rays, spiral chest CT-scan, bronchoscopy, blood tests, pulse oximetry and arterial blood gas sampling. Although emphysema is an irreversible degenerative condition, early prognosis and treatment are very important for optimizing the patients' quality of life. This paper proposes an automated computed-aided diagnosis algorithm for extracting enlarged airways from lung CT image automatically using an image matching method, and consequently classifying the lung condition artificial neural network (ANN) by supplying 30 network inputs obtained from texture analysis of the lung CT image and calculations of the feature properties of extracted enlarged airways to the trained ANN. Our research aims to produce an automated system which has higher objectivity in the diagnosis of lung emphysema","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116223226","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":"Relations Between Positioning Result and Each Error Factor in GPS","authors":"M. Yonekawa, T. Tanaka","doi":"10.1109/SICE.2006.315574","DOIUrl":"https://doi.org/10.1109/SICE.2006.315574","url":null,"abstract":"Various researches have been performed on the positioning system using satellites due to the increasing demand in the whole world. Those researches are aiming at construction of convenient system. Global Positioning System (GPS) are generally used as the worldwide satellite positioning system. Precise positioning with GPS requires revisions of information from a base station. There are some limitations by using the base station. We study the relations between positioning result and each error factor in GPS, and propose a new positioning algorithm for precise positioning","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121601737","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}