International Journal of Applied Electromagnetics and Mechanics - Volume 36, issue 1-2

Article Type: Editorial

Abstract: Preface to the Proceedings of the International Conference on Mechatronics and Information Technology (ICMIT 2005, ICMIT 2007)

DOI: 10.3233/JAE-2011-1338

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 1-2, 2011

Authors: Song, Ki Won | Choi, Gi Sang | Choi, Gi Heung

Article Type: Research Article

Abstract: Tracking position control of a linear magnetic actuator implemented on distributed control network was studied. In the distributed control system involving a discrete-time controller and a linear magnetic actuator, time delay happens as the controller reads the sensor data or sends out the control input to the actuator located at a local or a remote site. In many cases the time delay is not ignorable, and has significant effect on the control system performance. In order …to compensate for the adverse effect of the time delay, the modified Smith predictor was introduced to the control system. The results of simulation and experiment show that the performance of linear magnetic actuator can be improved by augmenting the modified Smith predictor onto the existing control system. With the modified Smith predictor, the position error is reduced and the constant disturbance is suppressed. Show more

Keywords: Tracking position control, linear magnetic actuator, Smith predictor

DOI: 10.3233/JAE-2011-1339

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 3-10, 2011

Authors: Lim, Yo-An | Kim, Jong-Phil | Ryu, Jeha

Article Type: Research Article

Abstract: This paper presents a frequency-dependent damping element, called an analog input shaper (AIS), to improve the stability of haptic interaction with virtual or real environments. High frequency inputs to a haptic interface, which usually occur in the collision with very stiff objects, can bring limit cycle oscillations and instabilities. In order to reduce these high frequency inputs and thus to improve the stability of haptic interaction, the AIS is added to the haptic system. Moreover, the …AIS is applied to a passivity-based haptic stability control algorithm, called an energy-bounding algorithm (EBA), to increase the displayed impedance range by the EBA. Through scaled teleoperation experiments using an atomic force microscope (AFM), we show that the AIS can enhance stability during haptic interaction and consequently increase impedance range that a haptic interface can stably display. Also, we show that the AIS can alleviate conservativeness of the passivity-based haptic control algorithms. Show more

DOI: 10.3233/JAE-2011-1340

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 11-27, 2011

Authors: Sasaki, Minoru | Kuribayashi, Takumi | Ito, Satoshi | Inoue, Yoshihiro

Article Type: Research Article

Abstract: In this paper an active random noise control using adaptive learning rate neural networks with an immune feedback law is presented. The adaptive learning rate strategy increases the learning rate by a small constant if the current partial derivative of the objective function with respect to the weight and the exponential average of the previous derivatives have the same sign, otherwise the learning rate is decreased in proportion to its value. The use of an adaptive …learning rate attempts to keep the learning step size as large as possible without inducing oscillation. In the proposed method, because an immune feedback law is changing the learning rate of the neural networks individually and adaptively, it is expected that the neural cost function will reach its minimum rapidly, resulting in a reduced training time. Numerical simulations and experiments of active random noise control with the transfer function of the error path will be performed to validate the convergence properties of the method. Control results show that the adaptive learning rate neural network control structure can outperform linear controllers and conventional neural network controllers for active random noise control. Show more

Keywords: Active noise control, random noise, immune feedback law, adaptive filtering algorithm

DOI: 10.3233/JAE-2011-1341

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 29-39, 2011

Authors: Zhu, Yu-wu | Lee, Sang-geon | Cho, Yun-hyun

Article Type: Research Article

Abstract: The problem in improving the high positioning precision of permanent magnet linear synchronous motor (PMLSM) for direct drive conveyer is the large detent force, which contains two components: one is the cogging force caused by the interaction between the permanent magnet (PM) and the iron core, the other is the end effect caused by the finite mover length. In this paper a force compensator in the field oriented control (FOC) algorithm is employed to reduce this …detent force, thus the thrust and the normal force characteristics analyses of PMLSM are of the most importance. First the characteristics of the thrust and the normal force are simulated by finite element method (FEM), and the relation of the thrust and the normal force to the q-axis current is analyzed. Then the components of detent force are defined by Fourier series using the curve fitting method, and compensated by injecting the instantaneous currents using the FOC method. Finally the dynamic characteristics of this PMLSM for direct drive conveyer are investigated, and the numerical results are reported to validate the effectiveness of this proposed method. Show more

Keywords: Permanent magnet linear synchronous motor, detect force, field oriented control, thrust ripple, current compensation

DOI: 10.3233/JAE-2011-1342

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 41-48, 2011

Authors: Liu, Diantong | Guo, Weiping

Article Type: Research Article

Abstract: The nonlinear dynamic model of a class of underactuated mechanical systems (UMSs) in a potential field is built with the Lagrangian method and some system properties are analyzed such as the system passivity. A genetic algorithm (GA) based stable intelligent control algorithm is proposed for the class of UMSs combining fuzzy control and sliding mode control. The real-valued GA is used to adjust the parameters of stable intelligent controller to improve the system performance. The underactuated …double-pendulum-type overhead crane (DPTOC) is used to validate the proposed control algorithm. The system is proved to be stabilized asymptotically to its equilibrium with sliding mode theory. Simulation results illustrate the system's complexity and the validity of proposed control algorithm under different conditions. Show more

Keywords: Underactuated mechanical systems, stable intelligent control, real-valued genetic algorithm, overhead crane

DOI: 10.3233/JAE-2011-1343

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 49-61, 2011

Authors: Sasaki, Minoru | Yamada, Hiroyuki | Nam, Yoonsu | Ito, Satoshi | Inoue, Yoshihiro

Article Type: Research Article

Abstract: This paper presents a system identification process and control system design of an artificial neural network based suspension assembly with self-sensing micro-actuator for hard disk drives. Artificial neural networks can be used effectively for the identification and control of nonlinear dynamical systems such as flexible micro-actuators and self-sensing systems. Three neural networks are developed for the self-sensing micro-actuator. The first for system identification, the second for inverse modeling for control using the …signal from a laser sensor, and the third for inverse modeling for control using the signal from a self-sensing piezoelectric. We also use a neural network inverse model to control the suspension assembly which includes a micro-actuator pair. Simulation and experimental results show that good control performance can be achieved using artificial neural networks. Show more

Keywords: Neural network, identification and control, self-sensing, micro-actuator, hard disk drive, dual-stage actuation

DOI: 10.3233/JAE-2011-1344

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 63-70, 2011

Authors: Yamaguchi, Katsuhiko | Imae, Kazuhito | Nittono, Osamu | Takagi, Toshiyuki | Yamada, Koji

Article Type: Research Article

Abstract: A new possibility of residual stress detector is proposed for iron based materials through measurement of angle resolved Barkhausen noise which is known as phenomena of dynamic magnetic process. It is important for keeping safety of our society to early detect metal fatigue, therefore the convenient residual stress detector will be available especially for machines including any robots given heavy loads

Keywords: Residual stress, nondestructive evaluation, Barkhausen noise, metal fatigue

DOI: 10.3233/JAE-2011-1345

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 71-74, 2011

Authors: Ohtaki, Yasuaki | Hu, Dan | Hashimoto, Koichi | Inooka, Hikaru

Article Type: Research Article

Abstract: This paper presents a method for indoor personal positioning especially addressing on a simple gait measurement using a body-mounted inertial sensor, a walk path estimation algorithm, and a trajectory identification technique. Considering utility of on-site customer traffic tracking, the method was designed to be autonomous needless of neither external measures nor cumbersome installations to the environment. The inertial sensor combining three-dimensional accelerometer, angular rate sensors, and geomagnetic sensors was used to assess …walking dynamics and to obtain changes of heading directions. To avoid an inherent problem of the walk trajectory estimation by conventional dead-reckoning algorithm, an advanced probabilistic map matching method which employs a Particle filter was developed. The experiment with healthy male adults was evaluated to confirm the utility of the method in a condition of small retail store. The result showed that the proposed method demonstrated sufficiently feasible tacking which delineated personal trajectories and positioning while shopping. The method showed possible availability with the portable instrument and improved estimation accuracy by the advanced probabilistic map matching which identifies proper routings on the basis of the maximum likelihood. The method will be useful to enhance ambulatory personal tracking technique in daily indoor environment. Show more

Keywords: Human walking, ambulatory measurement, inertial sensor, geomagnetic sensor, indoor positioning, location estimation, dead reckoning, map matching, particle filter

DOI: 10.3233/JAE-2011-1346

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 75-83, 2011

Authors: Sagawa, Koichi | Kimura, Orie

Article Type: Research Article

Abstract: A robot manipulator control method using an electromyogram (EMG) from a human face is proposed. The robot has a three-degree-of-freedom arm with an end effector installed on the tip of the robot. The amplitude of the EMG signal generated from the masseter, a jaw muscle, is used to control the robot hand velocity and to grasp the object. The difference of the EMG level between right and left masseter determines the hand's direction of movement. The …open-close control of the robot hand is activated by detecting double clenches performed within 0.6 s. Low-pass filters of two kinds are applied to the measured EMG to enable reliable and effortless control of the velocity and grasping task. Picking, transferring, and placing of a brick object are performed. The effectiveness of the proposed method was verified. Show more

Keywords: Robot control, electromyogram, hands free control, masseter, experiment

DOI: 10.3233/JAE-2011-1347

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 85-93, 2011

Authors: Wang, Yuanxin | Ikeura, Ryojun | Zhang, Nan | Sawai, Hideki | Hayakawa, Soichiro

Article Type: Research Article

Abstract: Human characteristics are supposed to be applied to the control systems of the human-friendly robots. Therefore, it is important to know the human characteristics in human-robot cooperative tasks. In this study, we considered a single rotational degree of freedom experimental system as well as a mass-spring-damper-friction dynamic model for the human arm, measured the torque acting on the armload from subject's forearm and the angular displacement of subject's forearm using the force sensor and the eddy …current sensor, analyzed their mutual relation, and attained the characteristics of the human arm with the effect of the gravity load. We compared this cooperative motion to that studied without the gravity load and found that the damping and friction characteristics remained unchanged and the spring characteristics disappeared. In this case, the characteristics of the follower's arm had no relationship with the weight of the load. Show more

Keywords: Mass-spring-friction dynamic model, human-robot cooperative task, effect of the gravity load

DOI: 10.3233/JAE-2011-1348

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 95-107, 2011

Authors: Uchida, Masaki | Morita, Yoshifumi | Magasaki, Masaya | Ukai, Hiroyuki | Matsui, Nobuyuki

Article Type: Research Article

Abstract: In this paper we propose a new rehabilitation training support system of upper limbs with a teaching/guided function for personalized rehabilitation. The proposed teaching/guided function enables the therapists to easily make training trajectories of the resistance training to suit the individual needs of the patients. It is shown in this paper that two kinds of training programs requested by therapists can be made by using the teaching/guided function. In the algorithm of the teaching/guided function, the …impedance control and modification of training trajectory are used. The availability of the teaching/guided function is verified experimentally. Show more

Keywords: Rehabilitation training support system, personalized rehabilitation, resistance training, muscle strengthening training, impedance control

DOI: 10.3233/JAE-2011-1349

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 109-119, 2011

Authors: Horihata, S. | Iwahara, H. | Yano, K.

Article Type: Research Article

Abstract: The lack of carers for senior citizens and physically handicapped persons in our country has now become a huge issue and has created a great need for carer robots. The usual carer robots (many of which have switches or joysticks for their interfaces), however, are neither easy to use it nor very popular. Therefore, haptic devices have been adopted for a human-machine interface that will enable an intuitive operation. At this point, a method is being …tested that seeks to prevent a wrong operation from occurring from the user's signals. This method matches motions with EMG signals. Show more

Keywords: Physically handicapped person, meal support robot, arm operation system, EMG signal

DOI: 10.3233/JAE-2011-1350

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 121-130, 2011

Authors: Ishii, Tomohiro | Iwasaki, Jun | Hosaka, Hiroshi

Article Type: Research Article

Abstract: To solve energy supply problems for ubiquitous equipment, dynamic analysis of a gyroscopic power generator that uses the kinetic energy developed from human movement is proposed. In the generator, a rotor increases its spinning velocity by precession and friction caused by input vibration. This paper first presents an analytical method of rotor movement. The equations of motion are derived by using Euler's equation and their approximate solution is obtained by assuming the spinning velocity is constant. …Then the output power of the prototype generator is estimated by using the solution. The output power of the ideal generator was shown to be 0.11 W and 0.85 W during walking and running, respectively. Show more

Keywords: Electromagnetic power generator, gyroscope, precession

DOI: 10.3233/JAE-2011-1351

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 131-139, 2011

Authors: Shimizu, Toshimi | Sasaki, Minoru | Okada, Tokuji

Article Type: Research Article

Abstract: This paper presents a passivity based control method combined with velocity estimation by an extended Kalman filter for a magnetically levitated flexible beam with both ends free by two electromagnets. An energy-based analysis concludes that the system can be decomposed into two passive subsystems: a mechanical subsystem consisting of the flexible beam and an electrical subsystem consisting of the electromagnets. We designed a passivity based controller independently for each subsystem. An output feedback …controller for the mechanical subsystem computes the desired force that is required to achieve position convergence and vibration suppression of the flexible beam. A feed forward controller for the electrical subsystem computes the input voltage for the electromagnets to generate the desired force. In a practical point of view, structural and economic considerations restrict simultaneous usage of both position sensors and velocity sensors while the control strategy requires accurate measurements of the position and velocity of the flexible beam. We employ the extended Kalman filtering technique in order to estimate the velocity of the flexible beam from the measured micro-displacement vibration at a high sampling frequency. Effectiveness of the proposed controller and velocity estimator is demonstrated by a numerical simulation. Show more

Keywords: Passivity, flexible beam, magnetic levitation, extended kalman filter

DOI: 10.3233/JAE-2011-1352

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 141-149, 2011

Authors: Ito, Satoshi | Ueki, Satoshi | Ishihara, Koji | Miura, Masayuki | Kawasaki, Haruhisa | Ishigure, Yasuhiko | Nishimoto, Yutaka

Article Type: Research Article

Abstract: This paper describes the development of a hand rehabilitation system for stroke patients. Our objective is to provide fine motion assistance in exercises for a hand and fingers. Thus, a hand rehabilitation device that assists patient's finger movements was developed. Because this device has 18 degrees of freedom, it is difficult for disabled patients to use it by themselves. Therefore, an appropriate control strategy and a control system are required to allow it to be used …safely and effectively. In light of this requirement, a control system was developed that comprises four separate controllers. This paper presents the structure of the control system and introduces the control protocols used in the hand rehabilitation system. Show more

Keywords: Hand rehabilitation, multi-dofs equipment, parallel controller, control protocol, multi-control mode

DOI: 10.3233/JAE-2011-1353

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 151-158, 2011

Authors: Sasaki, Minoru | Fujihara, Koji | Nam, Yoonsu | Ito, Satoshi | Inoue, Yoshihiro

Article Type: Research Article

Abstract: The present paper describes a two-degree-of-freedom control of a self-sensing micro-actuator for a dual-stage hard disk drive. The two-degree-of-freedom control system is comprised of a feedforward controller and a feedback controller. Two controllers are designed for the two-degree-of-freedom control system, one using the inverse dynamic model for the feedforward controller and one for the feedback controller using a self-sensing signal from the actuator itself. The micro-actuator uses a PZT actuator pair, installed …on the assembly of the suspension. The self-sensing micro-actuator can be used to form a combined actuation and sensing mechanism. Experimental results show that the two-degree-of-freedom control approach can be used effectively for the control of the self-sensing micro-actuator system. Show more

Keywords: Two-degree-of-freedom control, self-sensing, PZT, HDD, micro-actuator

DOI: 10.3233/JAE-2011-1354

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 159-166, 2011

Authors: Jeong, Seonghee | Takahashi, Takayuki

Article Type: Research Article

Abstract: This paper describes quick and stable standing and sitting motion of an inverted pendulum type robot by whole-body motion including force control. The whole-body motion is achieved by controlling composite center of gravity of the robot, and damping force control of a wrist-roller is employed to assure the stability of inverted pendulum control on a contact situation with the ground. Motion planning of standing and sitting based on the proposed control method is also proposed. Standing …and sitting motion using the proposed motion control and motion planning is simulated with a dynamic simulator, ODE (Open Dynamics Engine). From the simulation results, it was confirmed that the robot successively realized the standing and sitting motion quickly and stably. Show more

Keywords: Inverted pendulum, standing and sitting, force control

DOI: 10.3233/JAE-2011-1355

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 167-175, 2011

Authors: Tanaka, K. | Kodani, Y. | Oka, M. | Nishimura, Y. | Farida, F.A. | Mu, S.

Article Type: Research Article

Abstract: In this paper, we develop a meal assistance robot for people with disabilities of upper limbs and pacemakers in the body. In the robot, ultrasonic motors are used because the motors do not generate an electromagnetic field. The robot is handled using acts of user's eyes so that the people can use it. Moreover, the vibration is small because the arms of our robot move independently of each other. In this paper, we introduce structure of …our robot and show the advantage with experiment results. Show more

Keywords: Meal assistance robot, ultrasonic motor, welfare equipment

DOI: 10.3233/JAE-2011-1356

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 177-181, 2011

Authors: Tarao, Susumu | Koiwa, Toshihiko

Article Type: Research Article

Abstract: A new kind of motion base is proposed for the purpose of setting up a user-friendly interaction system on a desktop. It aims at generating motion in various situations with a large range of movement using a simple mechanism, and generating motion adequate for an interaction with a man and for computer application. In this paper, a prototype of the motion base is developed. Its mechanism consists of a combination of a wheel drive locomotion mechanism and a …3-degrees of freedom (DOF) parallel link mechanism in parallel. It is aimed at generating 3 DOF translational motion on a desktop with a simple mechanism as a whole and with a large range of movement, especially in the horizontal direction. In consideration of application for man-computer interaction, the prototype is controlled by a microprocessor, a microcontroller and FPGA. This paper presents a description of the concept of the motion base for a desktop interaction system, the prototype mechanism, the control system and the preliminary experiment which demonstrates typical translational motions. Show more

Keywords: Motion base, Desktop interaction, Wheel drive locomotion, Parallel link mechanism

DOI: 10.3233/JAE-2011-1357

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 183-189, 2011

Authors: Lee, Sung-Whan | Yoo, Jeonghoon | Rhim, Sungsoo

Article Type: Research Article

Abstract: A crawling robot with a magnetic binder called CROMAB is developed and the finite element magnetic analysis and the speed control system of the robot are studied. CROMAB is designed to be used on the slopped surface and to perform pipe-cutting, welding, or similar process onto the work-surface. The robot binds itself to the magnetic-permeable surface using magnetic force and autonomously travels along the work-path. In the current research, the particular application of pipe-cutting process is …considered. A repetitive learning controller is designed and implemented to maintain a constant velocity and consistent cutting performance by compensating the varying gravitational effect caused by the position change of the robot and the nonlinear disturbances caused by mechanical defects of the robot. An accelerometer-based angular displacement estimation system is developed and implemented for the improved control performance.The magnetic binding system is analyzed by using an finite element analysis tool. The numerical analysis of the magnetic system and the experimental results of the control system verify the effectiveness of CROMAB. Show more

Keywords: Crawling robot, magnetic binder, magnetic analysis, speed control, angular position estimation

DOI: 10.3233/JAE-2011-1358

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 191-205, 2011