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We studied vibration power generation using piezoelectric elements in order to determine effective rectification methods to increase harvested energy from vibration power generation systems. First, we experimentally clarified the output characteristics of two kinds of passive rectification methods for vibration power generation systems. Then, an appropriate rectification method for various kinds of loads was studied. In order to increase the harvested power from an integrated vibration power generation system with multiple piezoelectric elements, we considered an appropriate circuit structure for connecting multiple piezoelectric elements. The effectiveness was verified experimentally.

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This paper presents an expression of system connection considering transmission delay. In a research field of decentralized system or information system, the expression method of the system connection is a very important issue. Therefore, several expression methods of system connection have been proposed so far. However, those expressions are mainly based on binary operations without consideration for the transmission delays on connection paths although the concept of time is very important for expression of system connection. In this paper, expression methods of system connection considering transmission delays on the paths are proposed. Those expressions are based on exponential-type expression and can express both connections and transmission delays. Furthermore, the expression that can express connections, transmission delays, and past subsystems is also proposed. As one example of the application of proposed expressions, application for path selection of the design of network-based control system is described. (C) 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 170(1): 45-54, 2010; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20839

With recent popularization of the Internet, bilateral control systems which are robust to fluctuant and unpredictable time delay are desirable. In such a situation, communication disturbance observer (CDOB) has been proposed as a control method for fluctuant and unpredictable time delay in bilateral teleoperation. It compensates time delay using disturbance observer by considering the effect of communication delay on the system as acceleration dimensional disturbance. Since this method cannot separate network disturbance from contact force exerted on a slave, force response of the slave transmitted to the master side is not precise. This paper presents a method for separating network disturbance from the contact force exerted on the slave. By producing the compensation value using separated network disturbance the force response value of the slave is transmitted to the master side more precisely. The validity of the proposed method is verified by experimental results. © 2009 Wiley Periodicals, Inc.

Robots and intelligent machines in the future should adapt themselves autonomously to the open environment in order to realize physical support for human activities. In addition, the physical support by them must be based on the individual's "action" and "sensation" in order that the physical support becomes really human-friendly. Then, the robots must actively recognize the unknown environment according to the individual's action. They also have to transmit the environmental information obtained to the individual in harmony with their sensations. Since haptic information is so important, as well as visual information and auditory information, the development of realworld haptics is one of the important key issues for the purpose. Haptic information is inherently bilateral, since an action is always accompanied by a reaction. That means that bilateral control with high transparency is necessary to transmit real-world haptic information artificially. A acceleration-based bilateral controller is one of the solutions for realizing high transparency. There remain many issues to solve for the application of haptics to the physical support of actual human activities. A haptic system with high transparency should obtain flexibility in order to extend its function. This article presents flexible actuation techniques that have high force transferability and flexibility in actuators' arrangements. Furthermore, in order to support human activities in remote environments, bilateral telehaptics over a network is also described. Finally, this article introduces the fundamental techniques in haptics, including several examples of medical applications, since they are the first target of real-world haptics. © International Symposium on Artificial Life and Robotics (ISAROB). 2009.

触力覚の双方向伝送における課題の1つとして,通信遅延が変動するネットワーク上での安定制御があげられる.そこで,我々は通信外乱オブザーバとジッタバッファを用いた新しい制御手法を提案する.本制御手法を用いることで,大きな通信遅延とジッタが存在するモバイル環境において触力覚の双方向伝送が行えることを確認した.技術展示では,HSDPAを用いた,1自由度のマスタスレーブロボットのバイラテラル制御技術を実際に体験して頂くデモンストレーションを展示する.