Papers by Author: Minoru Sasaki

Abstract: This paper describes a development of an autonomous two-wheeled vehicle robot. The model of the two-wheeled vehicle using steering control is derived. The control systems are designed by linear quadratic regulator and linear quadratic integral method. Stabilization is achieved by measuring roll angle and roll rate and controlling the steering torque. The experimental results and simulation results show stable running control of the two-wheeled vehicle robot and coincident with each other. The approach is validated through these results.

Abstract: This paper treats a discrimination problem of wrist/hand motion patterns from EMG signal. We examined which of the following signal features was appropriate: raw signal, integrated signal (IEMG), the max frequency component, power spectrum or rising voltage level. For the discrimination algorism, a Support Vector Machine (SVM) was introduced. As a result, around 80% discrimination rate was accomplished from integrated signal, power spectrum and rising voltage level. The IEMG signal scored the highest 83.3% discrimination rate.

Abstract: Mathematical models predicting the behaviour of IMPCs (Ionic Polymer-Metal Composites ) were built and their validity was verified computationally as well as experimentally. A transfer function associating the applied input voltage with the IPMC tip displacement was derived based on results obtained by vibration analysis. Employing the derived transfer function, three mathematical models, based on feed forward, feedback and two-degree-of-freedom models, were formulated. Computational and experimental verification of these models revealed that the feedback and two-degree-of-freedom models were capable of high performance in controlling the bending of an IPMC.