Hideyasu Sumiya

In-process diameter measurement of turned workpiece with curvatures by using sensor positioning

A modified triangular laser displacement sensor having a resolution of 1.0 μm was used to measure the diameter of a turned workpiece with curvatures. This sensor was attached to a specially designed stage mounted on a precision slide unit and operated by three drive motors. In the measurement, the laser sensor was controlled by a 0 motor depending on workpiece curvatures so that the illuminating laser beam is always normal to the part surface and can measure the workpiece diameter in an on-line fashion. This sensor positioning control was found to be effective for measuring the diameter of a curved workpiece with an accuracy of several micrometers.

Manipulator operation by using brain-wave signals

When we look at a comfortable scene or feel relaxed, our brain waves generally exhibit /spl alpha/-wave signals in the frequency band of approximately 8 to 13 Hz. These /spl alpha/ waves particularly exhibit a 1/f fluctuation in which the corresponding power is inversely proportional to frequency 1/f /spl alpha/-wave signals obtained from test subjects listening to relaxing music was inputted to a robot manipulator. To evaluate the resulting motions, test subjects were asked to complete questionnaires while they watched two types of manipulator motions: a 1/f motion and a white-noise-like motion. The results indicated that 90% of the subjects felt comfortable while watching the 1/f manipulator motions.

Active Damping Using N4SID Model Referenced Predictive Anti-Phase Pitch Driving Method

Vibration suppression control considering elastic part deformation is one of the indispensable issues in the precision engineering field and a high-density LSI circuit processing[1]. This study aims at suppressing the induced vibration at rapid positioning operation using the N4SID (Subspace State Space model Identification) Model Referenced predictive Anti-phase pitch Driving Active Damping (N4SID-MRAD) and improve the positioning performance limit generated by conventional PID feedback control with existing actuator, which has low dynamic characteristics with a time lag. This control method consists of reduced order model identification (model order reduction using N4SID concept: offline process) and predictive control using the counter pitch driving based on the model output (: on-line process). This method was applied to principal axis vibration suppression of three axes positioning machine driven by a ball screw feeding mechanism to control the probe tip end positioning in feeding rod axis. The result showed that amplitude of residual vibration at the probe tip end suppressed with conventional PI controlled and the 77% performance improvement under low stable conditions that Balanced Realization could not be applied.

Sensory operation of robot manipulator by using brain-wave signals

When we look at a comfortable scene or feel relaxed, our brain waves generally exhibit /spl alpha/-wave signals in the frequency band of approximately 8 to 13 Hz. These a waves particularly exhibit a 1/f fluctuation in which the corresponding power is inversely proportional to frequency f. 1/f /spl alpha/-wave signals obtained from test subjects listening to relaxing music were inputted to a robot manipulator. To evaluate the resulting motions, test subjects were asked to complete questionnaires while they watched two types of manipulator motions: a 1/f motion and a white-noise-like motion. The results indicated that 90% of the subjects felt comfortable while watching the 1/f manipulator motions.