Search Results 1-20 of 386

  • Non-collocated boundary control for contact-force control of a one-link flexible arm

    Yamaguchi Kaiyo , Endo Takahiro , Kawai Yuta , Matsuno Fumitoshi

    … This paper deals with contact-force control of a one-link flexible arm whose tip is constrained to a rigid environment. … The closed-loop system is analyzed in an appropriate Hilbert space, and it is shown that the exponential stability of the closed-loop system is obtained by setting the feedback gains to locate the eigenvalues of the closed-loop system on the complex left half-plane. …

    Journal of the Franklin Institute 357(7), 4109-4131, 2020-05

    IR 

  • The Model of Bullying in Class based on Socion Theory with Community  [in Japanese]

    KATSUSHIMA Shuhei , ANADA Hajime

    <p>社会における人間関係を形成する場所として小学校や中学校のような教育現場がある.これら閉鎖された空間では,ささいな誤解や思い込みによって人間関係が悪化してしまうことがある.特に現在の日本では、いじめは深刻な社会問題であるといえる.これらいじめへの有効な対策の検証を行うために,学校集団を模したマルチエージェントモデルを用いたシミュレーションがある. 既存研究では、いじめの発生をエージ …

    Proceedings of the Annual Conference of JSAI JSAI2020(0), 4G3GS704-4G3GS704, 2020

    J-STAGE 

  • Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions

    KIMURA Naoto , IWATSUKI Nobuyuki , IKEDA Ikuma

    … The structure of the MFCRP is composed of a link with two same spherical surfaces and a link with two same cam surfaces, and each set of the cam surface and the spherical surface is in contact at a point. … As an application, a flexible closed-loop linkage with the MFCRP is fabricated and its flexibility and kinematic performance are investigated through some experiments.</p> …

    Mechanical Engineering Journal, 2020

    J-STAGE 

  • Exponential stability of dual flexible arms for grasping and orientation control

    Takahiro Endo , Kazuki Umemoto , Fumitoshi Matsuno

    … The stability of two one-link flexible arms for grasping and orientation control of an object is studied. … In addition, they discuss the robustness of the closed-loop system with respect to the several disturbances including disturbances distributed over the arms and disturbances acting at boundaries. …

    IET Control Theory & Applications 13(16), 2546-2555, 2019-11-05

    IR 

  • Head-Trajectory-Tracking Control of a Snake Robot and Its Robustness Under Actuator Failure

    Ariizumi Ryo , Takahashi Ryota , Tanaka Motoyasu , Asai Toru

    … The reference trajectory of the head position and the orientation of link 1 are given, and torque control is determined to reduce tracking errors. … The extended Kalman filter was employed for this purpose, and the performance of the closed-loop system with the observer was also tested in simulations. …

    IEEE Transactions on Control Systems Technology 27(6), 2589-2597, 2019-11

    IR 

  • Motion analysis of flexible spatial closed loop mechanism made of a certain thin elastic plate  [in Japanese]

    Igarashi Jun , TERAMOTO Masanori , IKEDA Ikuma , IWATSUKI Nobuyuki

    … <p>A low-cost flexible spatial closed loop mechanism made by only punching and pressing a certain thin plate is developed. … In order to formulate the deformation of elastic thin link with a spatial curve with Darboux frame, two models, namely, the orthogonal model and the ruled surface model are proposed. … In the ruled surface model, by regarding the curved surface of the link as a ruled surface, the deformation can be expressed only as a bending around the generatrix. …

    The Proceedings of Mechanical Engineering Congress, Japan 2019(0), S11408P, 2019

    J-STAGE 

  • Experimental Analysis of Disturbance Damping Performance of Homogeneous Finite-Time Control Using Frequency Response  [in Japanese]

    Nagasaki Tomohiro , Fukui Yoshiro , Wada Takahiro

    … <p>This paper discusses the robustness of the performance of the closed loop system for a homogeneous finite time proportional-derivative control (FT-PD control) of a one-link robot manipulator. …

    Transactions of the Institute of Systems, Control and Information Engineers 32(11), 408-416, 2019

    J-STAGE 

  • Actuatable flexible lightweight structure with laminated foam-based soft actuator  [in Japanese]

    YAMADA Yasuyuki , NAKAMURA Taro

    … One of the useage of these soft actuators are used as substitute for electric motor in order to actuate the joint of the structure such as link mechanism. … We provide LayerCAKE that is Laminated open cell foam and closed cell foam. … This is actuated by using the phenomenon of open and closed cell foam is a different contraction when these are vacuumed. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019(0), 2P1-C13, 2019

    J-STAGE 

  • On the Performance of Hybrid Satellite-Terrestrial Cooperative Networks with Different Combining Schemes

    CHENG Guoqiang , HUANG Qingquan , LIN Zhi , TAO Xiangshuai , OUYANG Jian , WU Guodong

    … <p>In this paper, we consider a hybrid satellite terrestrial cooperative network with a multi-antenna relay where the satellite links follows the shadowed-Rician fading and the terrestrial link undergoes the correlated Rayleigh fading. … 2) full CSI of satellite-relay link and statistical CSI of relay-destination link at the relay. …

    IEICE Transactions on Communications E102.B(10), 2006-2013, 2019

    J-STAGE 

  • Jumping Movement of Biped Robot Using Closed Link Legs and Spring Mechanism

    Yamanaka Yu , Suzuki Hiroshi , Yasuno Takashi

    <p>We describe the mechanism and attitude control of a biped robot using a spring-damper mechanism for jumping movement. To improve the movement performances of the biped robot, it is necessary …

    Journal of Signal Processing 23(4), 197-200, 2019

    J-STAGE 

  • Adaptive Wireless Power Transfer System without Feedback Information Using Single Matching Network

    LEE Jae-Ho , SEO Dong-Wook

    … In this paper, we derive the optimum source condition for the given load and the achievable maximum PTE under the optimum source condition in a closed-form. …

    IEICE Transactions on Communications E102.B(2), 257-265, 2019

    J-STAGE 

  • Precision Measurement of 3D Forces/Torques at Each Grip During Golf Swing  [in Japanese]

    OHTA Ken , Mochida Takemi

    … <p>Golf club is manipulated by both hands and arms which consist closed link structure. … Since the closed link structure can move fast the club and transfer the energy of trunk and lower body into the club directly, it is important to understand how golfer manipulates the golf club using both arm forces and torques acting at each grip. …

    The Proceedings of the Symposium on sports and human dynamics 2018(0), B-11, 2018

    J-STAGE 

  • Modeling of a Serial Link Robot Fabricated by Robot Packaging Method  [in Japanese]

    SAKAGAMI Norimitsu , SHIBATA Mizuho

    … <p>This paper presents the modeling and numerical simulation of a serial link robot fabricated by robot packaging method. … First, we derive the equations of motion of a laminated robot made of a rigid serial link and a plastic film. … We assume the plastic film as a closed-loop link structure with passive joints. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-H08, 2018

    J-STAGE 

  • Motion analysis of transfemoral prosthesis with a knee joint including closed loop link mechanism  [in Japanese]

    NAITO Hisashi , TANIMOTO Ryoma , NOGAWA Masamichi , TANAKA Shinobu

    The Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 2018.30(0), 2D04, 2018

    J-STAGE 

  • Performance Comparison of In-Band Full-Duplex and Half-Duplex Two-Hop Relaying with Channel Estimation Errors

    WANG Siye , LI Yonghua , WANG Mingyao , XU Wenbo

    … According to the channel quality of the link between the base station (BS) and the relay, we investigate two typical relay scenarios. … Closed-form expressions of ergodic capacities with channel estimation errors are obtained for scenario-1. …

    IEICE Transactions on Communications E101.B(2), 573-581, 2018

    J-STAGE 

  • Legitimate Surveillance with a Wireless Powered Monitor in Rayleigh Fading Channels

    XU Ding , LI Qun

    … <p>This letter investigates the performance of a legitimate surveillance system, where a wireless powered legitimate monitor aims to eavesdrop a suspicious communication link. … Assuming that perfect channel state information (CSI) or only the channel distribution information (CDI) is available, the closed-form maximum successful eavesdropping probability is obtained in Rayleigh fading channels. …

    IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E101.A(1), 293-297, 2018

    J-STAGE 

  • A Vassiliev type invariant of order one for stable maps of 3-manifolds into surfaces (Singularity theory of differential maps and its applications)  [in Japanese]

    佐伯 修

    … Based on the signature formula for stable maps of closed oriented 4-manifolds into 3-manifolds, the author defined a Vassiliev type invariant of order one for stable maps of closed oriented 3-manifolds into surfaces. … In this article, we announce an explicit formula for computing the invariant in terms of a certain linking matrix for the framed link consisting of regular fibers of a given stable map. …

    数理解析研究所講究録 (2049), 155-172, 2017-10

    IR 

  • Boundary cooperative control by flexible Timoshenko arms

    Endo Takahiro , Matsuno Fumitoshi , Jia Yingmin

    … This paper discusses a cooperative control problem by two one-link flexible Timoshenko arms. … the exponential stability of the closed-loop system is then proven by the frequency domain method. …

    Automatica (81), 377-389, 2017-07

    IR 

  • Contact-Force Control of a Flexible Timoshenko Arm in Rigid/Soft Environment

    Endo Takahiro , Sasaki Minoru , Matsuno Fumitoshi , Jia Yingmin

    … This paper discusses a contact-force control problem of a one-link flexible arm. … To do so, we first apply our previously proposed force controller, which exponentially stabilizes the closed-loop system of a flexible Euler-Bernoulli arm, to the force-control problem of the flexible Timoshenko arm. … We then prove the exponential stability of the closed-loop system. …

    IEEE Transactions on Automatic Control 62(5), 2546-2553, 2017-05

    IR 

  • Fading Correlations for Wireless Cooperative Communications: Diversity and Coding Gains

    Qian Shen , He Jiguang , Juntti Markku , Matsumoto Tad

    … First, the exact outage probability expressions are analytically obtained for LF, DF, and ADF relaying assuming each link suffers from statistically independent Rayleigh fading. … Then, approximated, yet accurate closed-form expressions of the outage probabilities for the relaying schemes are derived. …

    IEEE Access (5), 8001-8016, 2017-04-28

    IR 

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