Tetsuo Shiotsuki

Swinging up and stabilization control of double Furuta pendulums by safe manual control

In this paper, we propose a control method to swing up and stabilize a double Furuta pendulums (DFP).The DFP is a rotational type inverted pendulum system that has a base-link and two pendulums of different length at the both ends of the base-link. The proposed method consists of three controllers for the DFP, i.e., a swinging up controller for a long pendulum, a controller to keep a long pendulum at the upright position and to swing up a short pendulum simultaneously, and a stabilization controller for both pendulums at the upright position. Since the second controller has two objectives, we use safe manual control[3] proposed by Å ström and Å kesson. This paper proposes a novel application of the safe manual control. Swinging up and stabilization of the DFP was successfully achieved by appropriately switching three controllers. The effectiveness of the proposed method was verified by simulation and experiment.

Experiment of measurement and control using embedded system for undergraduate students

Abstract In the department of computer science and electrical engineering (CSEE), Kumamoto university, a series of student experiments are prepared for 2nd and 3rd graders. In the technical educations, experiments about the computer science and electrical engineering are important to study the engineering comprehensively. In experiment I, 2nd graders study the fundamental treatment of measurement equipments, behaviors of major devices and technical writing of engineering reports. In experiment II, 3rd graders study technical issues about computer science and electrical engineering in more detail. This paper concerns the experimental program entitled “measurement and control using embedded system” in experiment II for 3rd graders. The purpose of this experiment is to design a simple PID controller on the micro control units (Lenesas M16C/26 MCU). To implement the PID controller, students program the software functions step by step, e.g. PWM signal generation using interrupted handling, encoder counter using the event timer. The detail of experimental program using embedded system is explained in this paper.

Education for technology integrating engineers — Workshop in Tokyo Denki University —

Abstract This article introduces some training courses at the department of Robot & Mechatronics in Tokyo Denki University. They are designed for students to be technology integrating engineers with well balance between selves and society, by way of piling up elemental technologies systematically. Workshop, fundamental, system integration, advanced and project-based trainings are arranged.