In this paper, the Takagi-Sugeno (TS) fuzzy state estimation scheme, which is suggested for a ste... more In this paper, the Takagi-Sugeno (TS) fuzzy state estimation scheme, which is suggested for a steady state estimator using standard Kalman filter theory with uncertainties. In that case, the steady state with uncertain can be represented by the TS fuzzy model structure, which is further rearranged to give a set of uncertain linear model using standard Kalman filter theory. And then the unknown uncertainty is regarded as an additive process noise. To optimize fuzzy system, we utilize the genetic algorithm. The steady state solutions can be found for proposed linear model then the linear combination is used to derive a global model. The proposed state estimator is demonstrated on a truck-trailer.
If an accident occurs in nuclear facilities and emergency work is required in a hazardous area wh... more If an accident occurs in nuclear facilities and emergency work is required in a hazardous area where human workers cannot access it, the use of robots can be a good alternative way to doing the work. However, in order to perform emergency operations quickly and successfully in the emergency situations, rapid mobility of the robot is very important. We visited nuclear power plants several times to investigate the situation in the areas that need to be accessed in order to perform emergency tasks in the event of accidents and built a test mockup with many obstacles for robots as depicted in Fig.1 and Table 1. It is believed that the passages to those areas do not allow fast access not only to wheels or track-type robots, but also to biped robots walking like humans [1,2]. In order to overcome large obstacles, the legs of a biped robot have a large workspace. It is also very important for bipedal walking robots to lighten their legs for fast walking, and it is advantageous that heavy a...
This paper introduces a specialized robotic system under development for radiosurgery using a sma... more This paper introduces a specialized robotic system under development for radiosurgery using a small-sized linear accelerator. The robotic system is a 5-DOF manipulator that can be installed above a patient to make an upper hemispherical workspace centered in a target point. In order to determine the optimal lengths of the link, we consider the requirements for the workspace of a linear accelerator for radiosurgery. A more suitable kinematic structure than conventional industrial manipulators is proposed, and the kinematic analysis is also provided. A graphic simulator is implemented and used for dynamic analysis. Based on those results, a prototype manipulator and its control system are under development.
In this paper, the Takagi-Sugeno (TS) fuzzy state estimation scheme, which is suggested for a ste... more In this paper, the Takagi-Sugeno (TS) fuzzy state estimation scheme, which is suggested for a steady state estimator using standard Kalman filter theory with uncertainties. In that case, the steady state with uncertain can be represented by the TS fuzzy model structure, which is further rearranged to give a set of uncertain linear model using standard Kalman filter theory. And then the unknown uncertainty is regarded as an additive process noise. To optimize fuzzy system, we utilize the genetic algorithm. The steady state solutions can be found for proposed linear model then the linear combination is used to derive a global model. The proposed state estimator is demonstrated on a truck-trailer.
If an accident occurs in nuclear facilities and emergency work is required in a hazardous area wh... more If an accident occurs in nuclear facilities and emergency work is required in a hazardous area where human workers cannot access it, the use of robots can be a good alternative way to doing the work. However, in order to perform emergency operations quickly and successfully in the emergency situations, rapid mobility of the robot is very important. We visited nuclear power plants several times to investigate the situation in the areas that need to be accessed in order to perform emergency tasks in the event of accidents and built a test mockup with many obstacles for robots as depicted in Fig.1 and Table 1. It is believed that the passages to those areas do not allow fast access not only to wheels or track-type robots, but also to biped robots walking like humans [1,2]. In order to overcome large obstacles, the legs of a biped robot have a large workspace. It is also very important for bipedal walking robots to lighten their legs for fast walking, and it is advantageous that heavy a...
This paper introduces a specialized robotic system under development for radiosurgery using a sma... more This paper introduces a specialized robotic system under development for radiosurgery using a small-sized linear accelerator. The robotic system is a 5-DOF manipulator that can be installed above a patient to make an upper hemispherical workspace centered in a target point. In order to determine the optimal lengths of the link, we consider the requirements for the workspace of a linear accelerator for radiosurgery. A more suitable kinematic structure than conventional industrial manipulators is proposed, and the kinematic analysis is also provided. A graphic simulator is implemented and used for dynamic analysis. Based on those results, a prototype manipulator and its control system are under development.
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