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Application of Tactile Sensor Using Shape-memory Polymer to Robot Arm 形状记忆聚合物触觉传感器在机械臂上的应用
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/SICETR.55.25
Hiromu Nagata, Kazuto Takashima, T. Mukai
{"title":"Application of Tactile Sensor Using Shape-memory Polymer to Robot Arm","authors":"Hiromu Nagata, Kazuto Takashima, T. Mukai","doi":"10.9746/SICETR.55.25","DOIUrl":"https://doi.org/10.9746/SICETR.55.25","url":null,"abstract":"Tactile sensors typically have elastic covers for reducing the impact of objects that make contact with the sensor. However, elastic covers decrease the spatial resolution of the sensor because of their low-pass spatial filtering characteristics, which vary based on the stiffness of each cover. Therefore, we propose a tactile sensor that uses shape-memory polymer (SMP) with stiffness that varies based on temperature. SMPs can be deformed above their glass transition temperature ( T g ) upon application of a small load. The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred-fold. These characteristics can be exploited to alter the spatial resolution and the rigidity of the sensor surface by adjusting the temperature of the SMP. In this study, a prototype sensor was fabricated using an SMP sheet with embedded electrical heating wires, and its fundamental performance was evaluated. The experimental re-sults of a preliminary proof-of-concept investigation conducted using the prototype confirm the feasibility of the proposed sensor. Moreover, using a 4 × 4 array of pressure sensors, it was possible to distinguish the shape of the object placed on the sensor above and below T g . The center of pressure applied on the prototype sensor could be measured by a developed program. In addition, we evaluated the control of the position of an object on the robot arm utilizing the prototype sensor attached on the arm. We could hold the constant position of the object on the sensor, although it took a longer time to stabilize the object above T g because of the deformation of the SMP.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114630468","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
Depth Estimation Based on Blur Widths in Microscopic Field and Its Stability Evaluation 基于微场模糊宽度的深度估计及其稳定性评价
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.55.733
Yuki Abe, K. Ozaki
{"title":"Depth Estimation Based on Blur Widths in Microscopic Field and Its Stability Evaluation","authors":"Yuki Abe, K. Ozaki","doi":"10.9746/sicetr.55.733","DOIUrl":"https://doi.org/10.9746/sicetr.55.733","url":null,"abstract":"Recent growth of a microscope and micromanipulators have been remarkable. With the growth, micro-manipulation in the micro world (less than dozens of micro-order) is significant in a variety of fields. However, 3D-estimation in microscopic view is difficult. We have developed a high-precision depth estimation method based on difference between blur widths of a particle and a tip of micromanipulator in our previous study. In our proposed method, one shot microscopic image can estimate precisely a depth distance without lens parameters. However, our method has a problem of a derivation of the depth equation. We propose a technique to derivate the equation using by Robust estimation and Mahalanobis’ distance. To confirm stability and precision of the proposed technique, we show the validity through experimented results.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"305 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116751057","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
Efficiency Improvement of Vibration Power Generation by Extremum Seeking Control against Vibration Randomness 针对振动随机性的极值寻求控制提高振动发电效率
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.59.19
Takumi Kawaguchi, S. Yamamoto, T. Ueno
{"title":"Efficiency Improvement of Vibration Power Generation by Extremum Seeking Control against Vibration Randomness","authors":"Takumi Kawaguchi, S. Yamamoto, T. Ueno","doi":"10.9746/sicetr.59.19","DOIUrl":"https://doi.org/10.9746/sicetr.59.19","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116756421","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
Multi-physical Domain Modeling of Constant Temperature Flow Sensor 恒温流量传感器的多物理域建模
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/SICETR.55.362
Kotaro Takijiri, Sakai Yukio, T. Sugie
{"title":"Multi-physical Domain Modeling of Constant Temperature Flow Sensor","authors":"Kotaro Takijiri, Sakai Yukio, T. Sugie","doi":"10.9746/SICETR.55.362","DOIUrl":"https://doi.org/10.9746/SICETR.55.362","url":null,"abstract":"The thermal flow sensors are widely accepted in semiconductor industry because they can measure the flow rate of various types of gases based on each reference flow data. However, it is difficult to obtain such data for some reactive gases because due to corrosion of the gas measurement system. To overcome such difficulties, this paper proposes a multi-domain physical model of the thermal based flow sensor taking account of both electrical and thermal characteristics. The proposed model is analyzable based on the physical properties of the target gas, and its validity is demonstrated through comparison with experimental data.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124873566","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
Control of Quadcopter Considering Collision with Wall Utilizing Monte Carlo Model Predictive Control 基于蒙特卡罗模型预测控制的四轴飞行器撞墙控制
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.57.379
Mikiya Kato, H. Date, Shintaro Nakatani, A. Ohya
{"title":"Control of Quadcopter Considering Collision with Wall Utilizing Monte Carlo Model Predictive Control","authors":"Mikiya Kato, H. Date, Shintaro Nakatani, A. Ohya","doi":"10.9746/sicetr.57.379","DOIUrl":"https://doi.org/10.9746/sicetr.57.379","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123024208","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
A Design of Control Systems Based on Smart Model-based Development (MBD) and Its Application to Yaw Rate Control of Automobiles 基于智能模型开发(MBD)的控制系统设计及其在汽车横摆角速度控制中的应用
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.58.186
Seiya Fujii, Minoru Miyakoshi, S. Wakitani, N. Wada, Tomohiko Adachi, Yasuhide Yano, Toru Yamamoto
{"title":"A Design of Control Systems Based on Smart Model-based Development (MBD) and Its Application to Yaw Rate Control of Automobiles","authors":"Seiya Fujii, Minoru Miyakoshi, S. Wakitani, N. Wada, Tomohiko Adachi, Yasuhide Yano, Toru Yamamoto","doi":"10.9746/sicetr.58.186","DOIUrl":"https://doi.org/10.9746/sicetr.58.186","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123628939","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
Preface to Special Issue on the 26th Robotics Symposia 第26届机器人技术研讨会特刊前言
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.57.503
Keisuke Shima
{"title":"Preface to Special Issue on the 26th Robotics Symposia","authors":"Keisuke Shima","doi":"10.9746/sicetr.57.503","DOIUrl":"https://doi.org/10.9746/sicetr.57.503","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"226 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123639040","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
Silhouette Reconstruction of Sub-surface Defects Based on the Point-source Constrained Partial Differential Equation over the A0-mode Lamb Wave Field 基于0模Lamb波场点源约束偏微分方程的亚表面缺陷轮廓重建
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.56.217
H. Ishibashi, K. Teramoto
{"title":"Silhouette Reconstruction of Sub-surface Defects Based on the Point-source Constrained Partial Differential Equation over the A0-mode Lamb Wave Field","authors":"H. Ishibashi, K. Teramoto","doi":"10.9746/sicetr.56.217","DOIUrl":"https://doi.org/10.9746/sicetr.56.217","url":null,"abstract":"Guided elastic waves are used for the non-destructive evaluation of plate-like structures. In recent years, man-ufacturing based on composites has increased gradually. However, the elastic wave dynamics in such materials is considerably more complicated. The conventional time-of-flight technique is not reliable for locating the defects even in isotropic plates because of the dispersiveness in the Lamb wave propagation. Avoiding difficulties caused by the dispersiveness, this paper proposes a novel imaging method based on the point-source constrained partial differential equation in order to reconstruct the silhouette image of the subsurface defects. A theoretical analysis of the proposed method is developed for single point-like defect in the isotropic plate. Numerical evaluation and several experimental results are presented to verify the image reconstruction process of the subsurface defects in the CFRP plates.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122719192","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
An Evaluation of Achievable Inertia Constant by Preview Load Frequency Control 预估负荷频率控制可实现惯性常数的评估
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.58.527
Shogo Ikekawa, Fuga Miyamoto, K. Hashikura, A. Kojima, T. Masuta
{"title":"An Evaluation of Achievable Inertia Constant by Preview Load Frequency Control","authors":"Shogo Ikekawa, Fuga Miyamoto, K. Hashikura, A. Kojima, T. Masuta","doi":"10.9746/sicetr.58.527","DOIUrl":"https://doi.org/10.9746/sicetr.58.527","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122807007","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
集中系·分布系のカオス同期化を用いたRGB画像の秘匿通信 使用集中系统·分布系统的混沌同步化的RGB图像的隐匿通信
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.59.297
Hideki Sano, Yusuke Harashita
{"title":"集中系·分布系のカオス同期化を用いたRGB画像の秘匿通信","authors":"Hideki Sano, Yusuke Harashita","doi":"10.9746/sicetr.59.297","DOIUrl":"https://doi.org/10.9746/sicetr.59.297","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125194851","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
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