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1.
Takeshi Shiofuku Norihiro Abe Yoshihiro Tabuchi Hirokazu Taki Shoujie He 《Artificial Life and Robotics》2008,13(1):290-293
This paper presents an approach of measuring in real-time the vector of finger that is pointing to an object. DSP is used
in the operation processing unit in order to do the real-time processing. The steps include the extraction of flesh-colored
regions from an image, the labeling of the flesh-colored regions, and the detection of two characteristic positions on the
finger so that the direction that the finger is pointing at will be calculated. The entire process takes about 29 msec, which
makes it possible to have the frame rate of 34 fps. With this frame rate, this measurement approach is considered real-time
and promising to be merged into other application systems.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
2.
A serious problem in motion control is the occurrence of torque ripple. Since a direct drive (DD) motor with a magnet rotor uses a rare-earth magnet, the torque ripple is more serious than that of conventional servomotors. This paper presents an auto-compensation of torque ripple using a software-implemented torque observer. The frequency and amplitude of torque ripple can be obtained in the controller by using the estimated torque from an observer, and the autonomous generation of a compensating current component for a torque ripple is possible. The proposed algorithm has been verified by experiments. 相似文献
3.
4.
Hirokazu Ikeda Chikara Fukunaga Yutaka Saitoh Masahiro Inoue Junko Yamanaka 《Nuclear instruments & methods in physics research. Section A, Accelerators, spectrometers, detectors and associated equipment》1996,380(3):618-622
The radiation tolerance for prototype front-end chips designed for a silicon micro-strip detector was examined with a 60Co irradiation source to establish an allowable range of the radiation dose. The irradiated front-end chips were SMA2SH-64A, a 64-channel preamplifier array; SMA2SH-1, a single-channel preamplifier circuit with a comparator; and Control-C, a digital-control chip for the preamplifiers. 相似文献
5.
In this paper, we propose a multi-agent learning system for the control of an intelligent robot, based on a model of the human
consciousnesses, including the ego. We pay attention to the intelligent learning processes of human beings. We try to give
a robot a high learning ability by modeling the roles of the human consciousnesses, including the ego. In most ordinary methods,
the instructions for learning are given from outside the system only. In the proposed method, the instructions are given not
only from outside, but also from inside (from other agents in the system). Therefore, the robot can learn efficiently because
it has more instructions than usual. The learning is also more flexible, since an agent learns by instructions from other
agents while the learning agent and one of the instructing agents exchange roles according to changes in the environment.
We experimentally verified that the proposed method is efficient by using an actual robot. 相似文献
6.
Toshihide Miyagi Norihiro Abe Yoshimasa Kinoshita Tatsushi Tokuyasu Hirokazu Taki Shoujie He 《Artificial Life and Robotics》2009,14(2):237-241
In this article, a system is proposed for a simulated operation which would help a trainee surgeon to perform a medical operation
to ensure that a cerebral aneurysm does not burst. The physician will have acquired empirical medical technologies from operations
in traditional clinical teaching. However, there is a problem with safety and the burden to the patient. Therefore, recently
a new training approach for a simulated medical operation using virtual reality has been explored. With the aim of developing
a simulated system for a medical operation for a cerebral aneurysm, we considered the necessary functions such as detecting
the brain aneurysm that is the target of the operation, and searching for a suitable blood vessel to make a plan for the operation. 相似文献
7.
We propose to redesign a neural network used as a motion generator with bimanual coordination for upper limb prosthesis in
order to improve its learning capability. We assumed that the wearer of the prosthesis was a unilateral amputee. In our previous
work, we proposed a prosthesis control system using a neural network that learned bimanual coordination in order to implement
smooth motion with both hands. However, the previously proposed system has the problem that a neural network cannot generate
the desired motion of the prosthesis in special cases. The reason is that the motion generator calculates the desired posture
of the prosthesis from the current posture of the healthy arm only, regardless of the current posture of the prosthesis. We
propose to use the current posture of both the healthy arm and the prosthesis as neural network inputs in order to solve this
problem. In this article, we show that a single neural network whose input was the current posture of both arms could learn
the relationships of the coordinated motions of holding boxes of different sizes, and the newly proposed system can calculate
the desired motion of the prosthesis in special cases through computer simulations. 相似文献
8.
This paper presents an algebraic approach to polynomial spectral factorization, an important mathematical tool in signal processing and control. The approach exploits an intriguing relationship between the theory of Gröbner bases and polynomial spectral factorization which can be observed through the sum of roots, and allows us to perform polynomial spectral factorization in the presence of real parameters. It is discussed that parametric polynomial spectral factorization enables us to express quantities such as the optimal cost in terms of parameters and the sum of roots. Furthermore an optimization method over parameters is suggested that makes use of the results from parametric polynomial spectral factorization and also employs two quantifier elimination techniques. This proposed approach is demonstrated in a numerical example of a particular control problem. 相似文献
9.
Fieldbus-based control systems (FCS) have been increasingly used in process automation. Some processes and dynamic specifications need higher control frequencies to avoid instability. The aim of this paper is to analyze the temporal characteristics of communication and computation tasks and the configuration of the function blocks in a FCS and to allow the control interval to be shortened. An FCS for a water tank process is used as a case study. The experimental results show that the execution time of function blocks and the margin time are dominant over communication delays, and optimizing configuration by reducing the number of external links can contribute to increasing the control frequency. 相似文献
10.
Site-specific electronic structures were investigated by electron energy loss spectroscopy (EELS) under electron channeling conditions. The Al-K and Mn-L(2,3) electron energy loss near-edge structure (ELNES) of, respectively, NiAl2O4 and Mn3O4 were measured. Deconvolution of the raw spectra with the instrumental resolution function restored the blunt and hidden fine features, which allowed us to interpret the experimental spectral features by comparing with theoretical spectra obtained by first-principles calculations. The present method successfully revealed the electronic structures specific to the differently coordinated cationic sites. 相似文献