| Project/Area Number |
07555397
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
Dynamics/Control
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| Research Institution | Kanagawa Institute of Technology |
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Principal Investigator |
NISHIHARA Kazue Kanagawa Institute of Technology, Mechanical Systems Engineering, Professor, 工学部, 教授 (60257409)
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| Co-Investigator(Kenkyū-buntansha) |
TOYODA Minoru Yoshida Seiki Co., Executive Director, 専務(研究者)
WADA Mitsuo Hokkaido University, Division of Engineering, Professor, 工学部, 教授 (90271650)
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| Project Period (FY) |
1995 – 1997
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| Project Status |
Completed (Fiscal Year 1997)
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| Budget Amount *help |
¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1997: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1996: ¥700,000 (Direct Cost: ¥700,000)
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| Keywords | Angular acceleration sensor / angular velocity sensor / rotation sensor / neural network |
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| Research Abstract |
To measure three dimensional angular accelerations and to separate angular velocities from compound signals in a rigid body motion the following researches were promoted :
(1) Analysing 2-and 3-dimensional motions, a new type of 2-dimensional rotation exciter was developed and 2-dimensional experiments were done for angular sensors.
(2) To measure 3-dimensional angular accelerations 6 monolithic IC accelerometers were employed, getting two problems. First is the noise which was cleared by low-pass and high-pass filters. The second is the colioli's acceleration interfering one axis from others. It is found by the experiment and numerical simulation that the interference is negligible at smooth and slow motions of hand waving under frequency 2 Hz.
Putting, hand waving signals into a robot by using a 3-dimensional angular accelerometer, it was confirmed that the robot moves according to promised rules.
(3) To use angular velocity signals directly or to use as reference signals we formed a 3-d
… More
imensional angular velocity sensor by 3 pieces of poezoelectric gyro, experimented on 3-dimensional rotation test, repetitive and jerked hand waving tests. Though in a repetitive motion the gyro sensor gets good signals, it reveals a sag at the end of a signal in a jerked motion, which degrades the safety in a man-machine interface. So to improve the reliability of the motion control by hand waving we set two threshold levels to recognize whether an order signal or not, and a positive signal or negative. The effect of this method was confirmed by simultaneous control of 2 motors.
(4)To separate 3-dimensional angular accelerations and angular velocities from observed compound 3-axs signals, some simulations were taken of neural network algorithms. By the 3 layr BP (back propagation) algorithm could be met the purpose when noises do not intrude. Learning numbers more than 2000 will be better for randomly chopped inputs at 1024 points. As the generalization ability is degraded by noises, so it is better to learn the approximate signals without angular velocities. Less
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