Increasing Efficiency of Force-Controlled Robotic Assembly: -Design of Damping Control Parameters Considering Cycle Time-

Parameter tuning of force control to achieve operations efficiently in robotic assembly is essential but time-consuming. In this paper, an optimal set of parameters for damping control is computed, which can reduce the cycle time of an assembly operation. The proposed method is formulated as a nonlinear optimization using a dynamic simulator based on 3D geometric model of assembled parts. The method is applied to clutch assembly for practical use. The results verify how the operations can be sped up using the obtained parameters. The proposed method enables users to introduce force control agilely.     

Analytical study on cantilever resonance type magnet-integrated sensor device for micro-magnetic field detection

A beam-shaped cantilever resonance type magnetic sensor device has been proposed with a micro magnet. Two structural designs, named as design 1 and design 2, have been comparatively analyzed using ANSYS in order to obtain larger frequency shifts (higher magnetism sensitivity) due to the applied exterior magnetic field. The analytical results show that, in the range of 0–10 mT, the frequency shifts are small, while under 100 mT, a relatively larger frequency shift of about 30 Hz can be theoretically obtained. The power consumption of the proposed devices has been further theoretically studied for preliminary understanding. Using the well-known displacement equations, the estimated power consumption is around 0.21 μW, which is very lower than that of the reported magnetic field sensors. This implies that it is possible to fabricate higher sensitive magnetic field sensor with lower power consumption.     

Set-based particle swarm optimization with status memory for knapsack problem

Set-based particle swarm optimization (S-PSO) operates on discrete space. S-PSO can solve combinatorial optimization problem with high quality and is successful to apply to the large-scale problem. In S-PSO, a velocity is a set with possibility and a position is a candidate solution. In this paper, we present a novel algorithm of set-based particle swarm optimization with status memory (S-PSOSM) to decide the position based on the previous position for solving knapsack problem. Some operators are redefined for S-PSOSM. S-PSOSM is a simple algorithm because the state of probability reduces. In addition, the weight of S-PSOSM is discussed. S-PSOSM shows high qualities in experimental results.     

Development of a high pressure automated lag time apparatus for experimental studies and statistical analyses of nucleation and growth of gas hydrates

Nucleation in a supercooled or a supersaturated medium is a stochastic event, and hence statistical analyses are required for the understanding and prediction of such events. The development of reliable statistical methods for quantifying nucleation probability is highly desirable for applications where control of nucleation is required. The nucleation of gas hydrates in supercooled conditions is one such application. We describe the design and development of a high pressure automated lag time apparatus (HP-ALTA) for the statistical study of gas hydrate nucleation and growth at elevated gas pressures. The apparatus allows a small volume (≈150 μl) of water to be cooled at a controlled rate in a pressurized gas atmosphere, and the temperature of gas hydrate nucleation, T(f), to be detected. The instrument then raises the sample temperature under controlled conditions to facilitate dissociation of the gas hydrate before repeating the cooling-nucleation cycle again. This process of forming and dissociating gas hydrates can be automatically repeated for a statistically significant (>100) number of nucleation events. The HP-ALTA can be operated in two modes, one for the detection of hydrate in the bulk of the sample, under a stirring action, and the other for the detection of the formation of hydrate films across the water-gas interface of a quiescent sample. The technique can be applied to the study of several parameters, such as gas pressure, cooling rate and gas composition, on the gas hydrate nucleation probability distribution for supercooled water samples.     

Anode‐voltage‐control circuit for compensation of luminance deterioration

Abstract— An external driving circuit that has realized long lifetime, power‐consumption control, and peak luminance for organic light‐emitting diode (OLED) displays have been developed. This circuit realizes an effective method for constant‐anode‐voltage (CV) driving refered to as clamped inverter (CI) driving. The feature of CV driving is to achieve low‐power consumption compared with constant‐anode‐current (CC) driving and to control the power consumption and peak luminance according to the image because display luminance can be easily changed by controlling the anode voltage. On the other hand, CV driving has the problem that luminance deterioration appears to be serious compared with that of CC driving because the current of the OLED element decreases according to usage time. To cope with this, a lifetime compensation circuit that has increased the anode voltage so that it compensates for the luminance deterioration has been developed. This circuit can compensate not only the decrease in current but also the decrease in luminance at a constant current that CC driving cannot. However, increasing the anode voltage causes an increase in stress on the OLED element. The influence of stress on OLED lifetime was verified. As a result, it was confirmed that this circuit can extend the lifetime by 32% even if the anode voltage is increased, causing stress on the OLED structure.     

Three-dimensional medical image recognition of cancer of the liver by a revised radial basis function (RBF) neural network algorithm

In this study, we propose a revised radial basis function (RBF) neural network algorithm and apply this algorithm to computer-aided diagnosis (CAD) of the liver. First, the revised RBF neural network algorithm is applied to recognition of the liver regions, and the recognition results are compared with those obtained using the conventional RBF neural network and the conventional multilayered neural network trained using the back-propagation algorithm. It is shown that the revised RBF neural network is accurate, and is a useful method because the parameters are automatically determined. Then, the revised RBF neural network is applied to CAD of the liver cancer called hepatocellular carcinoma (HCC).     

Shadow Doppler technique for sizing particles of arbitrary shape

The output from a linear diode array is used in a modified laser Doppler velocimeter to measure the size and shape of irregular particles. The sizing accuracy for transparent and opaque particles between 30 and 140 μm is better than 10%. The inaccuracy caused by trajectories that lay at angles of less than 24° to the axis of the array was less than +5%, and a further inaccuracy of +5% was caused by defocusing of the particle from the center of the velocimeter measuring volume by up to ±500 μm. The advantages of the shadow Doppler technique over other techniques for sizing irregular particles, such as amplitude systems with pointer volumes, are that the shadow Doppler technique records shape, the optical arrangement is more robust, less precise alignment is required, and the equipment can be constructed at low cost.     

Optical signal inverter of erbium-doped yttrium aluminum garnet with red shift of laser diodes

An optical signal inverter was demonstrated in a simple structure that combined a laser diode with Er-doped YAG crystal. The optical signal inversion occurred at a response time of 7 ns and was caused by the decrease of transmission of Er:YAG against the red shift of the wavelength of the laser diode.     

Evaluation of vector magnetic property in a three-phase induction motor model core with visualization of streamline

In this paper, a streamline display method for magnetic flux density and magnetic field strength vectors in a three-phase induction motor model core is presented, and the relationship between streamlines and magnetic properties is investigated. It is possible to visualize the vector magnetic properties distribution by representing the magnetic flux density and the magnetic field strength vector with the streamlines. In addition, the time variation of the streamlines of the magnetic flux density and magnetic field strength vectors, and magnetic energy was compared. It was clear that the magnetic energy did not necessarily increase in the areas where the magnetic flux density and magnetic field strength increased because these vectors have the spatial phase difference.     

Data-driven dual-rate cascade control and application to pitch angle control of UAV

A data-driven design method for a cascade control system is proposed. The cascade control system consists of inner and outer loops, where the control interval of the outer loop is an integer multiple of the inner loop; hence, the system is a dual-rate system. In the proposed method, controllers in the inner and outer loops are designed based on one-shot data. In such a dual-rate cascade system, since the controllers are designed using different data-rate signals, the lifting technique is applied to align the dual-rate data. To show its effectiveness, the proposed method is compared with a conventional single-rate cascade control method, and numerical simulations and experiments are presented to examine servo and regulation performance.