Yoshiyuki Nakano

Mobile robot with transformable crawler and intelligent guidance

Abstract Recently, great advances have been made in intelligent mobile robot technology, advances which will provide autonomous travelling ability to robots, allowing them to surmount stairs and other obstacles. In this paper, we present an active adaptive crawler mechanism and a visual navigating system, developed to achieve practical speed for industrial use of the mobile robot. By using a crawler-type mechanism, the active adaptive suspension mechanism maintains vehicle stability and achieves good climbing capability without increasing weight. Further, we have developed technology for an intelligent navigating mechanism, to guide the robot as it passes through a building. Once the robot is provided with an inner layout plan of the respective building, it can achieve practical mobile speed for industrial use.

Control System for Centrifugal Compressor Energy Saving

Abstract Centrifugal compressors are to be provided with adjustable inlet vanes and diffuser vanes at each stage to perform the energy saving operation in the whole range of flow rate. A new method to control the vanes is developed which is composed of Reference Method to achieve the desired flow rate exactly and Trial Search Method to achieve a higher efficiency in spite of changes and disturbances. The proposed method is implemented on a microcomputer-based control system. This system is proved to be effective by experiments with a full-scale compressor.

A3.2 : Digital Governor Using Microcomputers for Modern Steam Turbines

Abstract A new digital governor using microcomputers fulfilling the requirements for operation of steam turbines in modern thermal power stations has been developed. The dynamic characteristics of steam turbines are analyzed, and the results are taken into consideration for planning a control system. Particularly nonlinear characteristics of turbines during start-up are clarified and compensated by control algorithms. The features of the new governor are as follows: (1) Wide Coverage of control functions for steam turbine operation. (2) Coexistence of flexibility and standardization of control functions. (3) High reliability based on a redundant system. The governor is tested at a thermal power plant, and its functions and performances are confirmed to be satisfactory