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2006 SICE-ICASE International Joint Conference最新文献

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Robust Control Design for the Mass-Damper Type Anti-Sway System 质量-阻尼式防摇系统的鲁棒控制设计
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315160
Young-Bok Kim, M. Ikeda, J. Suh, G. Zhai, Seong-hoon Han
{"title":"Robust Control Design for the Mass-Damper Type Anti-Sway System","authors":"Young-Bok Kim, M. Ikeda, J. Suh, G. Zhai, Seong-hoon Han","doi":"10.1109/SICE.2006.315160","DOIUrl":"https://doi.org/10.1109/SICE.2006.315160","url":null,"abstract":"In the previous studies, we suggested a new type of swing motion control system for the crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In the papers, to identify the usefulness and validity of the proposed system, we applied several control strategies. In the results, good control performance and valuable results had been achieved. In this paper, we evaluate and check the system in the point of more real application. For an example, the transportation process of RTG to handle the cargos is considered. In this case, undesirable sway motion might be occurred. To suppress this motion, a pursueable strategy (approach) is introduced. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"50 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":"132051132","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
Inverse Dynamics Analysis of Forearm in CPM CPM中前臂逆动力学分析
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315498
K. Nojiri, N. Matsunaga, S. Kawaji
{"title":"Inverse Dynamics Analysis of Forearm in CPM","authors":"K. Nojiri, N. Matsunaga, S. Kawaji","doi":"10.1109/SICE.2006.315498","DOIUrl":"https://doi.org/10.1109/SICE.2006.315498","url":null,"abstract":"In the rehabilitation with the continuous passive motion (CPM) device for the upper limb, the musculoskeletal structure of the upper limb has not been clarified. In this paper, we regard the forearm as a skeleton model with an elastokinematic coupling between axial displacement and lateral swaying of the humero-ulnar (elbow) articulation. The solution of the inverse dynamics is obtained by using the geometric constraint, and validity of the inverse dynamics is evaluated by simulation","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"11 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":"131434386","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: 0
Tri-Band Rectangular Spiral Slot Antenna with L-Shaped Slot Antenna for WLAN and Radar Applications 三波段矩形螺旋槽天线和l形槽天线，用于无线局域网和雷达应用
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315662
P. Wiriyacosol, N. Anantrasirichai, P. Thumwarin, T. Wakabayashi
{"title":"Tri-Band Rectangular Spiral Slot Antenna with L-Shaped Slot Antenna for WLAN and Radar Applications","authors":"P. Wiriyacosol, N. Anantrasirichai, P. Thumwarin, T. Wakabayashi","doi":"10.1109/SICE.2006.315662","DOIUrl":"https://doi.org/10.1109/SICE.2006.315662","url":null,"abstract":"Tri-band rectangular spiral slot (RSS) antenna with an L-shaped slot antenna insertion is introduced in this paper. The antenna was designed on the substrate with 2.2 of dielectric constant and 1.575 mm of thickness. FDTD method was adopted to evaluate the proposed antenna characteristics A rectangular spiral slot antenna was designed to support dual-frequency at 2.44 GHz and 8 GHz. An L-shaped slot antenna was inserted to obtain more resonant frequency at 5.2 GHz. The simulation results revealed that the proposed antenna could be used to support tri-band of frequency which is compatible to IEEE 802.11a or HIPERLAN (5.2 GHz) standard, IEEE 802.11b/g (Wi-Fi 2.44 GHz) standard and 8.0 GHz satellite or radar communications","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"2 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":"131764443","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: 11
GPS Standard Positioning using Kalman filter GPS标准定位使用卡尔曼滤波
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315572
S. Yamaguchi, T. Tanaka
{"title":"GPS Standard Positioning using Kalman filter","authors":"S. Yamaguchi, T. Tanaka","doi":"10.1109/SICE.2006.315572","DOIUrl":"https://doi.org/10.1109/SICE.2006.315572","url":null,"abstract":"At present GPS is applied to various situations because of its confidence and usefulness. Position calculated by GPS makes some errors caused from many different factors which GPS signals made. The greatest error factor which affects the accuracy and the precision of positioning by GPS is lack of the number of satellites you can see in the sky. To reduce this error factor and to improve the precision and accuracy of GPS positioning many projects are carried out research, such as QZSS, pseudolite system. These systems have potentiality to make the precision of GPS positioning under worse situation that you can see few GPS satellites because they increase the number of satellites which are available to use for position calculating. However, they require much time and expensive device for their infrastructure. We paid attention to GPS calculating method itself. We adapted Kalman filter to GPS positioning calculation. We improved the precision and accuracy of SPS positioning in stand-alone mode under worse situation adapted the Kalman filter parameter","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":"130244358","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: 33
Development of the Face Robot SAYA for Rich Facial Expressions 面向丰富面部表情的人脸机器人SAYA的研制
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315537
T. Hashimoto, S. Hitramatsu, T. Tsuji, H. Kobayashi
{"title":"Development of the Face Robot SAYA for Rich Facial Expressions","authors":"T. Hashimoto, S. Hitramatsu, T. Tsuji, H. Kobayashi","doi":"10.1109/SICE.2006.315537","DOIUrl":"https://doi.org/10.1109/SICE.2006.315537","url":null,"abstract":"The purpose of this study is to develop an interactive communication system that communicates with human beings emotionally. Since the face and its expressions are the most important role for natural communication, we have been developing a face robot that can express facial expressions similar to human beings. In this study, we show a new type face robot SAYA. All McKibben pneumatic actuators are distributed to the surface of the face like a human muscle in order to improve the structure of the face robot and facial muscle movement (Action unit) for natural facial expressions. Since the bending manner of coil spring might be similar to human cervical vertebra, we developed the new head motion mechanism by using coil spring for realizing human like head motion. In this paper, we describe the structure of face robot SAYA and the way of constructing new neck mechanism. We have confirmed that SAYA has ability to express fine facial expressions","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"362 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":"115955099","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: 162
Thinning-based Topological Exploration in Dynamic Environments 动态环境下基于稀疏的拓扑探索
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315463
Tae-Bum Kwon, Yong-Ju Lee, Jae-Bok Song, W. Chung
{"title":"Thinning-based Topological Exploration in Dynamic Environments","authors":"Tae-Bum Kwon, Yong-Ju Lee, Jae-Bok Song, W. Chung","doi":"10.1109/SICE.2006.315463","DOIUrl":"https://doi.org/10.1109/SICE.2006.315463","url":null,"abstract":"For navigation of a service robot, mapping and localization are very important and essential abilities of the robot. Mapping is the task of modeling a robot's environment and localization is the process of determining the position and orientation of a robot with respect to the global map. Exploration is the fundamental task of guiding a robot autonomously during mapping such that it covers the entire environment. In this paper, an efficient exploration scheme based on the position probability of the end nodes of a topological map is proposed. In this scheme, a grid map is built using the range sensor data and then a topological map is constructed in real time using the thinning-based approach. From the position probability, a robot can determine whether or not it needs to visit the specific end node to examine the environment. And the robot can choose which end node is the next target. The robot can also estimate how much of the environment is explored by observing their position probabilities. The edges of the topological map can also be used for navigation path without additional path planning. This method can generate obstacle free paths even in the dynamic environment. Various experiments show that the proposed scheme can perform exploration more efficiently than other schemes in that, in most cases, exploration for the entire environment can be completed without directly visiting everywhere. It is shown that the exploration can work safely and stably in the dynamic environment","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"142 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":"116051425","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: 9
The Improved Draining Method and Its Application to Proper Benchmark Problems 改进排水方法及其在适当基准问题中的应用
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315724
T. Okamoto, E. Aiyoshi
{"title":"The Improved Draining Method and Its Application to Proper Benchmark Problems","authors":"T. Okamoto, E. Aiyoshi","doi":"10.1109/SICE.2006.315724","DOIUrl":"https://doi.org/10.1109/SICE.2006.315724","url":null,"abstract":"We have proposed \"draining method (DM)\". DM is based on the discrete gradient chaos model (DGCM) and the objective function transformation which is developed by the analysis of DGCM. Applying DM to typical benchmark problems, we have confirmed its superior global optimization capability. Besides, DM has a problem that we need to set objective function value (OFV) of global minima (or desired value) at the start of the search. In this study, we propose to improve draining procedure so that OFV of the global minimum is not needed. Then, we apply the improved DM to more proper benchmark problems which are created by recommended methods. Through several numerical simulations, we confirm that improved DM is generally effective for proper benchmark problems. This result suggests that improved DM is effective in general situations","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"42 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":"129742703","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
Dynamic Locomotion and Mechanism of Biped Walking Robot 双足步行机器人的动态运动与机理研究
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314618
H. Lim, Y. Ogura, A. Takanishi
{"title":"Dynamic Locomotion and Mechanism of Biped Walking Robot","authors":"H. Lim, Y. Ogura, A. Takanishi","doi":"10.1109/SICE.2006.314618","DOIUrl":"https://doi.org/10.1109/SICE.2006.314618","url":null,"abstract":"The walking biped robot (WABIAN-2LL) can imitate human motions such as knee-stretching locomotions and deep bending motions because it is designed with large movable ranges as a human. It has two seven degrees of freedom, (DOF) legs and a two DOF waist. Each leg consists of a three DOF ankle, a one DOF knee and a three DOF hip to deal with human walking motion. Its height is about 1.2[m], and its weight is 40[kg]. Also, how to make a knee-stretched walk pattern is proposed. During the walking, moments generated by the motion of the legs should be cancelled. So, a compensatory motion control algorithm, is used which is based on the waist motion. Through dynamic walking experiments, the effectiveness of the biped robot is confirmed","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"120 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":"116367270","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: 9
A Design of an Age Estimation System Using the SOM 基于SOM的年龄估计系统设计
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314793
H. Fukai, Y. Mitsukura, H. Takimoto, M. Fukumi
{"title":"A Design of an Age Estimation System Using the SOM","authors":"H. Fukai, Y. Mitsukura, H. Takimoto, M. Fukumi","doi":"10.1109/SICE.2006.314793","DOIUrl":"https://doi.org/10.1109/SICE.2006.314793","url":null,"abstract":"In this paper, we propose the new age estimation system using the GA and SOM. The GA is used in the feature extraction of faces at each age. Especially, we use the interactive GA. The faces are classified by using the SOM. Moreover, features are analyzed in the age by the selected parts of faces. Furthermore, in order to show the effectiveness of the proposed method, we show the simulation examples","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"10 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":"122373610","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: 1
Application of Partial Unsteady Simulator and LOM for Blast Furnace Operation Support 部分非定常模拟器及LOM在高炉运行支持中的应用
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315155
M. Ogawa, Y. Yeh, J. Tajima, H. Ogai, K. Uchida, S. Matsuzaki, M. Ito
{"title":"Application of Partial Unsteady Simulator and LOM for Blast Furnace Operation Support","authors":"M. Ogawa, Y. Yeh, J. Tajima, H. Ogai, K. Uchida, S. Matsuzaki, M. Ito","doi":"10.1109/SICE.2006.315155","DOIUrl":"https://doi.org/10.1109/SICE.2006.315155","url":null,"abstract":"In the field of pig ironmaking process, operation malfunction is caused by both enlarging a blast furnace and increasing use of low quality ore. Thus, operation support systems predicting a blast furnace performance are demanded. This paper reports application of a partial unsteady simulator and a \"large-scale database-based online modeling (LOM)\" for blast furnace operation support. First, the partial unsteady simulator constructed by using steady model as fundamental model is described. Second, a generalized LOM rebuilt by the existing LOM system is introduced. Third, a Java-based operation support system is described. The system is realized by combining the simulator of the physical modeling method and the LOM of the local modeling method. The system predicts dynamic molten pig-iron temperature in blast furnace. To predict the dynamic molten pig-iron temperature, a basic tank model of metal and slag is incorporated into the simulator. Functions representing effect of pulverized coal injection are incorporated into the unsteady model","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"39 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":"117187108","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: 9
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