This paper presents a nonlinear controller design for optical disk drive systems to improve anti-shock performance. The nonlinear anti-shock controller is added parallel to the original linear servo control loop. In the previous work, a dead-zone nonlinear element is used for the nonlinear controller and a PID control method is used for the linear controller. Although this parallel structure of the controller improves anti-shock performance, it has a narrow stability bound. In this paper, the dead-zone with saturation nonlinear element is proposed for the nonlinear controller. Since this nonlinear element improves stability margin, we can use higher slope gain of dead-zone than that of nonlinear controller using dead-zone only. In the linear controller design, it is shown that the lead-lag control has an improved stability margin over PID control. Numerical simulation results and experimental results show that the proposed method can get better performance to the external shock than previously proposed methods.

This paper deals with the design problem of multivariable PID controllers guaranteeing the closed-loop system stability and a prescribed $H_\infty$ norm bound constraint. We reduce the problem to the static output feedback stabilization problem. We derive a necessary and sufficient condition f3r the existence of PID controllers and we give an explicit formula of PID controllers. We also give an existence condition of PID controllers guaranteeing a prescribed decay rate. Finally, we give an LMI-based design algorithm, together with a numerical design example.

This paper proposes an improved implementation algorithm for the continuous-time receding horizon control (RHC). The proposed algorithm has a feature that it has better control performance than the existing algorithm. Main idea of the proposed algorithm is that we can approximate the original RHC problem better by assuming the predicted input trajectory on the prediction horizon has a continuous form, which is constructed from linear interpolation of finite number of vectors. This, in turn, leads to improved control performance. We derive a predictor such that it takes linear interpolation into account and proposes the method by which we can express the cost exactly. Through simulation study fur an inverted pendulum, we illustrate that the proposed algorithm has the better control performance than the existing one.

There exists a structural limit of 2WS cars that drivers would not like simultaneously to follow the desired path and attenuate moments resulting from disturbances because lateral acceleration and yaw rate are coupled inherently. In order to overcome the limit, the 4WS cars that have rear wheel steering as an additional input have been introduced. But the 4WS cars have disadvantages that much cost is required due to structural alteration, it is difficult to be used to the driving circumstances and tire performances are not efficient in nonlinear or large lateral acceleration ranges. Therefore, it is proposed that, in this paper, a robust controller is easy to apply to 2WS cars by using direct yaw moment, decouples lateral acceleration from yaw motion and is robust against disturbances and uncertainties of system parameters, and thus the proposed control method has the advantages of 4WS cars which can be achieved in 2WS cars.

A new approach for human foot modelling and last design based on the cross sectional method is presented in this paper. The proposed last design method utilizes the dynamic trimmed parametric patches for the foot 3D data and last 3D data. The cross section a surface of 3D foot for the 3D last, design modeling of free form geometric last shapes. The proposed last design scheme wraps the 3D last data surrounding the measured 3D foot data with the effect of deforming the last design rule The last design rule of the FFD is constructed on the FFD lattice based on foot-last shape analysis. In addition, the control points of FFD lattice are constructed with cross sectional data interpolation methods from the a finite set of 3D foot data. The deformed 3D last result obtained from the proposed FFD is saved as a 3D dxf foot data. The experimental results demonstrate that the last designed with the proposed scheme has good performance.

For the accurate inspection of the resources and space in the ocean, the method of locating the measurement equipments in the seafloor and retrieving these equipments later after a certain period of time. is generally used. In this method, the reliability of retrieving measurement equipments is very important. In our proposed remotely-controlled acoustic release system, an underwater ultrasonic wave recognition algorithm by which we can recognize the sound signal without the influence of disturbances due to underwater environment changes is developed, and a battery is used for the reduction of electric power consumption. we show the effectiveness of our proposed system through experimental results.

This paper proposes an identification method using a self recurrent wavelet neural network (SRWNN) for dynamic systems. The architecture of the proposed SRWNN is a modified model of the wavelet neural network (WNN). But, unlike the WNN, since a mother wavelet layer of the SRWNN is composed of self-feedback neurons, the SRWNN has the ability to store the past information of the wavelet. Thus, in the proposed identification architecture, the SRWNN is used for identifying nonlinear dynamic systems. The gradient descent method with adaptive teaming rates (ALRs) is applied to 1.am the parameters of the SRWNN identifier (SRWNNI). The ALRs are derived from the discrete Lyapunov stability theorem, which are used to guarantee the convergence of an SRWNNI. Finally, through computer simulations, we demonstrate the effectiveness of the proposed SRWNNI.

This paper describes an algorithm for minimal turning complete coverage Path planning for cleaning robots. This algorithm divides the whole cleaning area by cellular decomposition, and then provides the path planning among the cells employing a flow network. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The minimal turning of the robots is directly related to the faster motion and energy saving. The proposed algorithm is compared with previous approaches in simulation and the result shows the validity of the algorithm.

This paper focuses on planning strategies for object interception by the robotic manipulator on a conveyor system in minimum time. The goal is that the robot is able to intercept object with minimum time on a conveyor line that moves at a given speed. The search algorithm for minimum time solution is given in detail for all possible cases for initial locations of robot. Simulations results show the validity of the given algorithm.

A hybrid genetic algorithm is proposed for the problem of generating laser torch paths to cut a stock plate nested with free-formed parts each having a set of sub-parts. In the problem, the total unproductive travel distance of the torch is minimized. The problem is shown to be formulated as a special case of the standard travelling salesman problem. The hybrid genetic algorithm for solving the problem is hierarchically structured: First, it uses a genetic algorithm to find the cutting path f3r the parts and then, based on the obtained cutting path, sequence of sub-parts and their piercing locations are optimally determined by using a combined genetic and heuristic algorithms. This process is repeated until any progress in the total unproductive travel distance is not achieved. Computational results are provided to illustrate the validity of the proposed algorithm.

As the pharmaceutical industry grows and becomes more competitive, the need of automation increases to establish effective mass production and to maintain consistent quality control. Accurate counting and packing of medicinal pills is one of the most essential processes that the automation can benefit. In conventional automated counting and packing processes, the performance of counting process varies with the size, the shape and the dispersion degree of pills. In this research, the authors developed a new pill-counting algorithm based on carefully analyzed characteristics of the pill-drop behavior. Also a new scheme for the packing of an exact number of pills has been implemented. A pill counting and packing machine with the new pill-counting algorithm and the new packing scheme has been constructed and put in an actual production line. To achieve precise and quick sensing of pills dropping at a high speed from the preceding processors, the machine uses non-contact photo sensors. Experimental results from the actual process using the machine are included to verify the effectiveness of the proposed algorithm and the machine.

The remote operation of $4\~5$ cranes for container loading/unloading at a port by one operator will dramatically improve loading/unloading efficiency through productivity increase, cost reduction, and so on. This study develops a remote crane control system for container loading/unloading yard cranes. First, a wireless video and audio system to transmit views and sounds of the working field is designed by using 3 web cameras and a microphone. Next, a RSVP-based multi-path reservation method is presented with a view to improving the quality of service in the communication network for remote control. Simulation results show that a RSVP-based multi-path reservation can enhance the reservation success rate in the TCP/IP network.