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Robot auditory system was studied due to the advantages of non-line of sight and small data quantity, so the system was studied. Denoise background signal by EMD method, and then choose suitable IMF used for TDOA measured by GCC method. Substitute TDOA obtained into SI algorithm, then the position information of sound source could be get in near field. The influence factors on position error are TDOA...
PID control schemes have been widely used in most industrial control systems. However, it is difficult to determine a suitable set of PID parameters because most industrial systems have nonlinearity. In order to overcome such a problem, a data-driven PID (DD-PID) control scheme based on utilizing a database has been proposed and its effectiveness has been investigated. However, the DD-PID controller...
Researchers must constantly produce academic publications to promote their contributions and findings. The Research Article (RA) genre consists of sub-genres based on the typical IMRAD (Introduction, Method, Result and Discussion) structure that is commonly used for research in science and engineering. Researchers still find difficulties in learning systematically how to write RAs during university...
Research abstract is a text of foremost importance to students of science and engineering. However, explicit teaching of it tends to be missing in EGP and EGAP curricula of general Japanese English education. This paper reports the evaluation of abstracts written by 3rd-year students in an undergraduate ESP course at a Japanese university of science and engineering. At first, students were taught...
In this paper, an electric wheelchair control system based on a brain-computer interface (BCI) headset having 14 electrodes and two gyroscope sensors was proposed. This system allows a disabled person who cannot manually operate a joystick to drive the electric wheelchair without using his/her hands. The headset was mounted on the user's head, and the user's bio signals were subsequently measured...
The real-time change of road adhesion coefficient has a huge impact on the driver road feeling, easily lead to cause car in the driving conditions of the safety problem. To solve this problem, designing power characteristic curve of the electric power steering (EPS) system based on road adhesion coefficient. With the dynamics models of the vehicle and EPS system are established, this paper reasons...
This paper discusses the use of image processing technique to detect lizards in a video stream. We discuss the categorization of form perception, human perception, and animal perception. The sub-categories of them are briefly discussed. We defragmented the video into a total of 3459 images, some are with only background scene, some contains lizard. We discuss how we apply background subtraction to...
This paper first presents a simplified single wheel model for underground mining electric vehicles with bounds of system uncertainties. Then, a fuzzy parameter tuning (FPT) technique is used to adjust the parameters in the sliding mode control (SMC) to improve system stability and robustness at an unexpected external disturbances and unbound system uncertainties. The comparison of the simulation results...
Jointed arm robots inherit a vast number of beneficial features like flexibility of movement and repeatability in combination with low investment costs. However, one main drawback, which most often disqualifies these robots for tasks with high accuracy requirements, is their low absolute accuracy. Suitable methods to overcome this problem belong to the field of visual servoing. In this context a 6D-pose...
To detect fault early is very important for safety. This paper proposes a method to detect plant faults early. For the early detections, to classify whether the signals is an early sign of faults or not in subtle signal difference is necessary. To the classification, this paper uses SVM (Support Vector Machine), which is one of a powerful classification technique of machine learning. Data in abnormal...
This paper deals with an adaptive output tracking control system design problem. A design scheme of adaptive output feedback based output tracking control system is proposed for minimum-phase systems. In the proposed method, in order to guarantee the stability of the obtained adaptive control system, a parallel feedforward compensator (PFC), which remains the almost strictly positive realness (ASPR-ness)...
Fractional order based robust right coprime factorization control is proposed for an inverted pendulum. The mathematical model is firstly derived from Lagrange Equation and its parameters are identified by using fractional order modeling and control toolbox. Then, the right factorization of the model is obtained and the right coprime factorization controllers are designed satisfying the robust stability...
This study proposes a new design for generalized predictive control in a multirate system in which the sampling interval of the plant output is an integer multiple of the hold interval of the control input. We design a system with one degree of freedom, and then, for integral action we extend it to two degrees of freedom. Because the integral compensation is revealed only when a modeling error or...
This paper proposes a data-driven design method of a force controller using input/output data of a force control system, i.e., force response obtained when contacting to an unknown environment and input to a robot at that time. The force control system includes the environment to be contacted in addition to the robot itself. The force controller must be designed in consideration of the environment...
In this paper we treat the mixed H2/H∞ control problem with the static output feedback, whose feasible solution is difficult to be found theoretically. To this problem we propose an iterative approach based on the idea of the exterior-point approach in the sense that a sequence of controller variables starting from the infeasible region to the feasible one is constructed. One of features of our approach...
In recent times the cloud based applications for robotics has become an emerging topic of discussion. Both individual as well as networked robotic operation can be benefitted with the support of cloud computing paradigm. The different applications of the cloud enhance its integration with various aspects of robotic operation. However, it depends on the scope of the applications as well as the setup...
Module based robot has long history. There are many module based robot in the market. Some companies sell those to be used in industrial application. However software technology is not doing catch up hardware performance. Company provide software tool-set, and user can build their own control system. Customers meet the limitation when they want to build kinematics library to control their robots in...
In general, a game pad and images from a camera mounted on a robot are used for the teleoperation of a rescue robot. However, teleoperation is difficult for inexperienced users because the relationship between the user input and robot motion is not always intuitive. Therefore, we propose an interface in which the operator operates a robot as if touching it directly in a virtual 3D space. In our previous...
In this paper, a novel active vibration control method for house structure by using magnetic levitation (MAGLEV) is proposed. Instead of active mass damper (AMD), a MAGLEV device is developed to provide the force for reducing the vibration from the wind or transportation. When a vibration occurs, the developed MAGLEV device will repeat to levitate and contact to the ceiling of housing properly. According...
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