Sensor Fusion System Using Recurrent Fuzzy Inference

In robotic and manufacturing systems, it is difficult to measure the state of systems accurately because of many uncertain factors and noise, and it is very important to estimate the state of systems. We must measure the phenomena of systems by multiple sensors and estimate the state of systems by acquiring information of sensors. However, we can not acquire all of sensor information synchronically, because each sensor has particular sensor information and measuring time. For estimating the state of systems by multiple sensors, a multi-sensor fusion system fusing various sensory information is needed. In this paper, we propose a Recurrent Fuzzy Inference (RFI) with recurrent inputs and apply it to a multi-sensor fusion system for estimating the state of systems. The membership functions of RFI are expressed by Radial Basis Function (RBF) with insensitive ranges. The shape of the membership functions can be adjusted by a learning algorithm. The learning algorithm is based on the steepest descent method and incremental learning which can add new fuzzy rules. The effectiveness of the multi-sensor fusion system using RFI will be shown through a numerical experiment of moving robot and estimation of surface roughness in grinding process.     

Neuro-fuzzy control of a robotic exoskeleton with EMG signals

We have been developing robotic exoskeletons to assist motion of physically weak persons such as elderly, disabled, and injured persons. The robotic exoskeleton is controlled basically based on the electromyogram (EMG) signals, since the EMG signals of human muscles are important signals to understand how the user intends to move. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a robotic exoskeleton for human upper-limb motion assist, a hierarchical neuro-fuzzy controller for the robotic exoskeleton, and its adaptation method.     

Growth of Yb-doped YLiF4 laser crystal by the Czochralski method. Attempt of Yb energy level assignment and estimation of the laser potentiality

YLiF₄ (YLF) single crystals undoped and Yb³⁺-doped with different concentrations were grown by the Czochralski technique under CF₄ atmosphere. Detailed analysis of Yb³⁺-doped YLF spectroscopy were made to contribute to the determination of energy levels in this host. We are dealing with temperature and concentration dependences of both π and σ polarizations of the infrared (IR) absorption and emission spectra. Raman spectra were also used to give an attempt of interpretation of electronic and vibronic levels. The radiative energy transfer (self-trapping) and strong phonon–electron coupling make the assignment of Yb³⁺ energy levels difficult. Evaluation of the laser potentiality of this fluoride host is also presented.     

Czochralski growth of Yb doped oxyapatite for high power laser application

Ca₈(La,Yb)₂(PO₄)₆O₂ (Yb:CLPA) single crystals with the apatite-type structure could be grown from the melt using the Czochralski method. Grown crystal was 18 mm in diameter and 110 mm in length. It is transparent with slightly blue color. Neither visible inclusion nor crack was observed. Thermal conductivity of Yb:CLPA was calculated from the values of thermal diffusivity, heat capacity measurement and density. Luminescent characterization was carried out from the results of emission, absorption and Raman spectrum.     

Field Investigation of Soil Heave by a Large Diameter Chilled Gas Pipeline Experiment, Fairbanks, Alaska

A large scale 105-m-long, 0.9-m-diam chilled pipeline experiment was conducted to assess the response of a production pipeline that transits between unfrozen (seasonally frozen) and permafrost soils in discontinuous permafrost regions. Thermal and heave characteristics of the experiment for a three-year monitoring period are reported. In response to the chilled pipeline, the progressive cooling patterns within the permafrost and unfrozen soils were different, resulting in the development of a thermal boundary at the transition zone between the two thermally different soils. The absolute maximum movement of pipeline was 0.197 m near the thermal boundary, resulting in a differential heave of 0.148 m. Three distinct heave phases were identified within the unfrozen soil. Phase 1 of the first 200 days related to penetration and heave above the groundwater table and was characterized by heave rates between 0.211 and 0.237 mm/day. Phase 2 resulted in increased ice segregation due to interaction of the freez-ing front with the groundwater table. This phase lasted from approximately day200 to day 500 and corresponded to a heave rate from 0.206 to 0.313 mm/day. Phase 3 was characterized by a further decrease in the heave rate to about 0.081 mm/day and lasted from approximately day 500 to day 1,056.     

Development of a simple method for fabrication of transparent conductive films with high mechanical strength

We have developed a simple method of fabricating transparent conductive films with a high mechanical strength on glass and indium tin oxide substrates. It does not require a large excess of organic solvents and polymerization catalysts and can yield smooth films by spin-coating of a mixture of a commercially available aqueous dispersion of poly(3,4-ethylenedioxythiophene)-poly(4-styrene sulfonate) and a neat liquid of tetraethyl orthosilicate. Preparation conditions such as feed ratio, kinds of additives, and annealing temperature and time were optimized to give highly conductive, transparent and mechanically strong films.     

Photographic study on transitions from non-boiling and nucleate boiling regime to film boiling due to increasing heat inputs in liquid nitrogen and water

The behavior of vapor bubbles and vapor film during the transition from non-boiling regime such as natural convection or transient conduction regime to film boiling regime on a 1.2-mm diameter platinum horizontal cylinder in liquid nitrogen and in water due to exponentially increasing heat inputs, ranging from a quasi-steady state heat input to a very rapidly increasing one, were examined by photographs taken by a high-speed video camera. The experiments for water were performed for the two cases without and with pre-pressurization before each experimental run. It was confirmed by the observation of vapor behavior that the direct transitions in liquid nitrogen and in water which is pre-pressurized before each run occur due to the explosive-like heterogeneous spontaneous nucleation (HSN) in originally flooded cavities not only in the transient conduction regime, but also in quasi-steadily increasing natural convection regime without the vapor bubbles from active cavities entraining vapor. It was also confirmed that the semi-direct transition from conduction regime to film boiling with nucleate boiling due to the rapidly increasing heat inputs in water occurs due to the HSN with nucleate boiling at around the lower limit of HSN surface superheat in subcooled water even for the non-prepressure case. The lower limit of HSN surface superheat was measured as an initial boiling surface superheat caused by a quasi-steadily increasing heat input for the case with pre-pressurization before each experimental run.     

A robust implicit state observer for multiple-input multiple-output uncertain systems

A new mathematical method of estimating the state for uncertain continuous-time multiple-input multiple-output minimum-phase (with respect to the relation between the disturbance and the output) dynamical systems with arbitrarily relative degrees is presented. For the systems with relative degree one, the state observer which is perfectly robust to disturbances is constructed by using only the input and output information. The estimating error of the state decays to zero exponentially. For the systems with higher relative degrees, the state observer is formulated for the first time, where the input and output information, and the a priori information of the upper and lower bounds of the disturbances are employed. In this case, the estimating error of the state can be controlled to be as small as is needed by the design parameters. The attraction of the proposed observers lies in their robustness to disturbances and insensitivity to the high-frequency noises accompanying the inputs. A design example and its simulation results are presented to illustrate the proposed algorithm.     

Solar-powered air conditioner

We have successfully developed and industrialized a solar-powered air conditioner that operates through a combination of photovoltaic (PV) arrays and commercial power supplies. In order to achieve the most efficient operation possible from a one-horsepower inverter-type household air conditioner, we selected a PV array output of 540 W under standard test conditions, based on single-day power use patterns for air conditioners as well as on solar cell output patterns. When using a 540-W PV array, we have shown that the system can supply at least 90% of the power consumed by an air conditioner during peak power periods in summer. We have confirmed that on average the power generated by the PV array can satisfy at least 50% of the power consumed by an air conditioner in summer. We also confirmed that the system functions according to system design specifications. There is little doubt that the introduction and widespread use of this system will play an important role in reducing peak power energy requirements in summer.     

Effects of phosphorus content on generation and growth of cracks in nickel–phosphorus platings owing to thermal cycling

We observed crack generation and structural changes in electroless nickel–phosphorus (Ni–P) plating layers formed on copper-metalized silicon nitride substrates both during thermal cycling from ? 40 to 250 °C and during storage (not cycling) at 250 °C in order to investigate the effect of the phosphorus contents on crack generation and growth in the Ni–P platings. The used platings contained phosphorus at three different contents: 2.1 wt% [Ni–P(low)], 6.5 wt% [Ni–P(med)], and 10.9 wt% [Ni–P(high)]. The generation time and the amount of cracks were strongly dependent on their phosphorus contents. More cracks appeared after thermal cycling than after storage at 250 °C. In Ni–P(low), cracks were generated after 200 thermal cycles, whereas no cracks were observed even after 250 h of storage at 250 °C. In Ni–P(med) and Ni–P(high), both during thermal cycling and storage at 250 °C, cracks formed during or after crystallization of the amorphous layers. These results suggest that the primary factors affecting the generation of cracks in electroless Ni–P platings are crystallization of the Ni–P platings and repeated changes in thermal stress.