Study on Nonstationary Motion Control Methods Realizing High Performance and Safety of Human Related Mechanical Systems

• Project/Area Number: 19760157
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Dynamics/Control
• Research Institution: Nagoya University (2008-2009); Toyota Technological Institute (2007)
• Principal Investigator: SUSUMU Hara Nagoya University, 大学院・工学研究科, 講師 (40329850)
• Project Period (FY): 2007 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥3,780,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥480,000); Fiscal Year 2009: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2008: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2007: ¥1,700,000 (Direct Cost: ¥1,700,000)
• Keywords: 制御工学 / 運動制御 / 人間-機械系 / 非定常制御 / 機能安全 / 振動制御 / モード切り換え / パワーアシスト / 柔軟構造物 / 最適制御 / 隠れマルコフモデル / リーチモニタリング / 衝突ハザード予測

Research Abstract

For human related mechanical systems, this study aims to propose nonstationary motion control methods realizing high performance and safety based on control conditions and/or environments and apply these methods to man-machine systems or general mechanical structures. As a main result, this study proposed a control method switching from automatic transfer to manual motion with power assist and realized safety-preservation oriented reaching monitoring before the mode switching.

Research Products

• [Journal Article] Positioning Control Experiment Switching from Adaptive Nonstationary Servo Control to Force Sensorless Nonstationary Impedance Control (2009)
  • Author(s): Susumu HARA, Yoji YAMADA, Suwoong LEE
  • Journal Title: IEEJ Transactions on Electrical and Electronic Engineering Vol.4 Pages: 303-305
  • NAID: 10025774352
  • Peer Reviewed
• [Journal Article] Positioning Control Experiment Switching from Adaptive Nonstationary Servo Control to Force Sensorless Nonstationary Impedance Control (2009)
  • Author(s): Susumu HARA, Yoji YAMADA and Suwoong LEE
  • Journal Title: IEEJ Transactions on Electrical and Electronic Engineering 4 Pages: 303-305
  • NAID: 10025774352
  • Peer Reviewed
• [Journal Article] A Safety Measure for Control Mode Switching of Skill-Assist for Effective Automotive Manufacturing
  • Author(s): Suwoong LEE, Susumu HARA, Yoji YAMADA
  • Journal Title: IEEE Transactions on Automation Science and Engineering
  • Peer Reviewed
• [Journal Article] A Safety Measure for Control Mode Switching of Skill-Assist for Effective Automotive Manufacturing
  • Author(s): Suwoong LEE, Susumu HARA, Yoji YAMADA
  • Journal Title: IEEE Transactions on Automation Science and Engineering (掲載決定)
  • Peer Reviewed
• [Presentation] Safety-Preservation Oriented Reaching Monitoring for Smooth Control Mode Switching of Skill-Assist (2008)
  • Author(s): Suwoong LEE, Susumu HARA, Yoji YAMADA
  • Organizer: 2008 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2008)
  • Place of Presentation: Suntec Singapore International Convention and Exhibition Centre
• [Presentation] Safety-Preservation Oriented Reaching Monitoring for Smooth Control Mode Switching of Skill-Assist (2008)
  • Author(s): Suwoong LEE, Susumu HARA and Yoji YAMADA
  • Organizer: 2008 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2008)
  • Place of Presentation: Suntec Singapore International Convention Exhibition Centre
• [Patent(Industrial Property Rights)] 操作インタフェースを含む部分が操作者に対して移動可能な装置を制御するための技術 (2008)
  • Inventor(s): 李秀雄, 山田陽滋, 原進
  • Industrial Property Rights Holder: 独)産業技術総合研究所, トヨタ自動車(株), 豊田工業大学
  • Industrial Property Number: 2008-140430
  • Filing Date: 2008-05-29