Precision Instrumentation and Measurement

Paper Title Page

Authors: Yang Zhou, Lei Yang, Yuan Bao Leng
Abstract: This paper introduced the working principle of 3-D laser scanning technology, analyzed the feasibility of monitoring changes in topography based on the technology, designed the method to monitor the change of terrain, achieved the terrain deformation monitor system by the using of GIS technology, carried out the practical application of terrain deformation monitoring tests, and with the comparison with traditional deformation monitoring method. Terrain deformation monitor system based on 3-D laser scanning technology can quickly and efficiently got many kinds of results. The research presented a new, practical approach for terrain deformation monitor. The method can also be applied in the fields of terrain analysis, disaster prevention and mitigation, disaster assessment, soil erosion and mine production estimates and so on.
192
Authors: Meechai Jamsai, Hironori Ebara, Nithiroth Pornsuwancharoen, Koichi Maru, Yusaku Fujii
Abstract: A testing method for precision force measurement using a small pendulum based on the levitation mass method (LMM) has been developed. In this method, the force acting on the material to be tested is measured using an optical interferometer. In this paper, a collision test of the spring and the pendulum is performed. As the result of the test, the maximum force on the spring was evaluated as approximately 0.533 N. To demonstrate the performance of the developed instrument, the impact responses of the pendulum are accurately evaluated. The possible applications of the developed method are also discussed.
199
Authors: Takao Yamaguchi, Yusaku Fujii, Tomoyuki Kanai, Kenichi Nagai, Shinichi Maruyama
Abstract: To compute dynamic characteristics of nonlinear viscoelastic springs with elastic structures having huge degree-of-freedom, Yamaguchi proposed a new fast numerical method using finite element method. In this method, restoring forces of the springs are expressed using power series of their elongation. In the expression, nonlinear hysterisis damping is introduced. Finite element for the nonlinear spring having complex coefficients is expressed and is connected to the elastic structures modeled by linear solid finite element. Further, to save computational time, the discrete equations in physical coordinate are transformed into the nonlinear ordinary coupled equations using normal coordinate corresponding to linear natural modes. In this report, the proposed method is applied to simulation for impact responses of a silicone block with an elastic structure (a S-shaped structure) by colliding with a concentrated mass. The concentrated mass has initial velocities and collides with the silicon block. Accelerations of the elastic structure and the concentrated mass are measured using Levitation Mass Method proposed by Fujii. The calculated accelerations from the proposed FEM, corresponds to the experimental ones.
205
Authors: Iwanori Murakami, Kou Yamada, Takaaki Hagiwara, Da Zhi Gong, Yoshinori Ando, Yoichi Imai, Masahiko Kobayashi
Abstract: Disturbance observers have been used to estimate the disturbance in the plant. Recently, parameterizations of all disturbance observers and all linear functional disturbance observers for plants with any output disturbance were clarified. If parameterizations of all disturbance observers and all linear functional disturbance observers for plants with any output disturbance are used, there is a possibility that we can design control systems to attenuate unknown output disturbances effectively. From this viewpoint, a design method for control system to attenuate unknown output disturbances using parameterizations of all disturbance observers and all linear functional disturbance observers was proposed. However, an application of control system to attenuate unknown output disturbances using parameterizations of all disturbance observers and all linear functional disturbance observers for real plants in motion-control field is not examined. In this paper, we show the effectiveness of the control system to attenuate unknown output disturbances using parameterizations of all disturbance observers and all linear functional disturbance observers for the angular velocity and the angle control for motor control experiment.
210
Authors: Iwanori Murakami, Kenta Suzuki, Tsutomu Odaka, Yoshinori Ando, Kou Yamada
Abstract: The biarticular muscle that synchronizes the knee joint with the ankle joint plays an important role in the jumping motion. In order to reproduce the biarticular muscle, in the present article, we have developed a jumping robot with a variable geared mechanism using a planetary gear. When the planetary gear is not used, the ankle joint movement synchronizes with the movement of the knee joint. By using the planetary gear, that rate becomes variable. The robot with two-joint gear mechanism can drive the ankle joint without driving the knee joint. Therefore, the robot can determine the direction of the jump from the movement of the ankle joint. The robot mimics the human jumping motion, and it executes the jump experiment. Therefore, the developed robot was able to satisfactorily mimic human jumping action, and its motion was analyzed.
220
Authors: Nobuaki Nakazawa, Toshikazu Matsui, Kou Yamada
Abstract: This paper suggests a new type interface using the user’s mouth open/close motions. The user’s face was observed by the USB camera and the changes in the darkness on the mouth image were utilized as an interface. In order to improve the procedure speed, the only image around the mouth was used for image processing. This focused image area could be moved according to the movement of the user’s face, based on the displacement of the nostril with respect to the original position. Moreover, the developed interface was applied to the operations of the meal support manipulator. In the test operation, the developed interface could be successfully used after a few times practices.
228
Authors: Yoshinori Ando, Kou Yamada, Nobuaki Nakazawa, Takaaki Hagiwara, Iwanori Murakami, Shun Yamamoto, Tatsuya Sakanushi
Abstract: In this paper, we examine the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants. The modified repetitive control system is a type of servomechanism designed for a periodic reference input. When modified repetitive control design methods are applied to real systems, the influence of uncertainties in the plant must be considered. The stability problem with uncertainty is known as the robust stability problem. Recently, the parameterization of all stabilizing modified repetitive controllers was obtained. Since the parameterization of all stabilizing modified repetitive controllers was obtained, we can express previous study of robust stabilizing modified repetitive controller in a uniform manner and can design a stabilizing modified repetitive controller systematically. However, the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants has not been obtained. In this paper, we clarify the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants.
233
Authors: Yoshinori Ando, Tatsuya Sakanushi, Kou Yamada, Iwanori Murakami, Takaaki Hagiwara, Masahiko Kobayashi
Abstract: The multi-period repetitive (MPR) control system is a type of servomechanism for periodic reference inputs. Using MPR controllers, transfer functions from the reference input to the output and from the disturbance to the output of the MPR control system have infinite numbers of poles. To specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada and Takenaga proposed MPR control systems, named simple multi-period repetitive (simple MPR) control systems, where these transfer functions have finite numbers of poles. In addition, Yamada and Takenaga clarified the parameterization of all stabilizing simple MPR controllers. However, using the simple MPR repetitive controller by Yamada and Takenaga, we cannot specify the input-output characteristic and the disturbance attenuation characteristic separately. From the practical point of view, it is desirable to specify the input-output characteristic and the disturbance attenuation characteristic separately. The purpose of this paper is to propose the parameterization of all stabilizing two-degree-of-freedom (TDOF) simple MPR controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately.
243
Authors: Iwanori Murakami, Nghia Thi Mai, Kou Yamada, Takaaki Hagiwara, Yoshinori Ando, Hideharu Yamamoto
Abstract: In this paper, we examine a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays. The Smith predictor is proposed by Smith to overcome time-delay and known as an effective time-delay compensator for a plant with large time-delay. The Smith predictor by Smith cannot be used for plants having an integral mode, because a step disturbance will result in a steady state error. Several papers considered the problem to design modified Smith predictors for unstable plants. However, no paper examines a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays. In this paper, we examine a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays.
253
Authors: Kou Yamada, Iwanori Murakami, Yoshinori Ando, Takaaki Hagiwara, Yoichi Imai, Da Zhi Gong, Satoshi Aoyama
Abstract: In this paper, we examine the parameterization of all disturbance observers for plants with any state disturbance. The disturbance observers have been used to estimate the disturbance in the plant. Several papers on design methods of disturbance observers have been published. Recently, the parameterizations of all disturbance observers for plants with any output disturbance and all disturbance observers for plants with any input disturbance were clarified. However, no paper examines the parameterization of all disturbance observers for plants with any state disturbance. In this paper, we propose parameterizations of all disturbance observers and all linear functional disturbance observers for plants with any state disturbance.
263

Showing 31 to 40 of 73 Paper Titles