Proceedings THE SIXTH INTERNATIONAL CONFERENCE ON MOTION AND VIBRATION CONTROL

August 19-23, 2002

Urawa Royal Pines Hotel

Saitama, Japan

Edited by General Conference Chairperson Takeshi Mizuno University

Program Committee Chairperson Yoshihiro Suda The University of

TIB/UB Hannover 89 126 257 264 Contents Volume 1

KEYNOTE ADDRESSES

Recent Advances in Motion and vibration Control Technology Takeshi Mizuno (Saitama University, Japan) K-1 Unilateral Multibody Dynamics Friedrich Pfeiffer (Lehrstuhl fiir Angewandte Mechanik, TU-Munchen) K-9 Recent Advances in Contact-Free Levitation Research Hannes Bleuler (EPFL Swiss Federal Inst. of Technology Lausanne, Switzerland) K-16 Some Recent Results in Moving Load Problems with Application to Highway Bridges A.V. Pesterev (Russian Academy of Sciences, Russia), L.A. Bergman (University of Illinois, USA), C.A. Tan (Wayne State University, USA), T.-C. Tsao (University of California, USA), B. Yang (University of Southern California, USA) K-20

Structural Control and Vibration Isolation (1) Vibration Control for a Semi-Active Controlled Building Connected with Bridges Using a MR Damper Yuichi Iwasaki (Nihon University, Japan), Katsutoshi Noguchi, Kazuto Seto 1 Development of Active-Damping Bridges and Its Application to Triple High-Rise Buildings MitsuguAsano (Nikken Sekkei Ltd., Japan), Yuji Yamano, Keisuke Yoshie, Yuji Koike (Ishikawajima-Harima Heavy Industries Co., Ltd., Japan), Keizo Nakagawa, Tamotsu Murata 7 Semi-Active Seismic Isolation Control Based on MR Damper and Neural Networks Dalei Guo (Chinese Academy of Sciences, China), Jianqiang Yi 13 Damper Using MR Fluid and Its Application to Control Plate vibration Tjahjo Pranoto (Gunma University, Japan), Kosuke Nagaya, Atsushi Hosoda 19 Structural Control by a Variable Damper Using MR Fluid Toshihiko Shiraishi (Yokohama National University, Japan), Noriyuki Nakaya, Shin Morishita 24

Structural Control and Vibration Isolation (2) Active Vibration Isolation of a Stewart-Platform Using High Response Hydraulic Actuators Claus Abicht (Technical University of Munich, Germany), Heinz Ulbrich, Sandor Riebe 30 Multi-Mode Control for an Active Isolation System with an Elastic Table Takashi Shono (Nihon University, Japan), Naoshi Nagasaka, Masahiro Nishi, Yoko Takagi, Torn Watanabe, Kazuto Seto 36 Adaptive Control of Piezo-Actuated Flexible Structures with Temperature Dependent Material Properties Matthew Dunbabin (Queensland University of Technology, Australia), Andy C. C. Tan 42 Power Flow Transmission and Active Control of a FBRE System Excited by an Off-Center Force Kongjie Song (Shandong University, China), Bing Zhang, Yingfeng Xu 48 Realization of a Zero-Compliance System Using Negative Stiffness Takefumi Toumiya (Saitama University, Japan), Takeshi Mizuno 53 Power Flow Analysis for Floating Raft Isolation System tingling Sun (Shandong University, China), Kongjie Song, Bing Zhang 58

Structural Control and Vibration Isolation (3) Modal Analysis of Viaduct Road Vibrations Kemal Yuksek (Kultur University, Turkey), Nurkan Yagiz (Istanbul University, Turkey), Ismail Yuksek (Yildiz Technical University, Turkey), Yoshihiro Kikushima (AIST, MITI, Japan) 64 Active vibration Isolation Control for A Structure Taking Account of Actuator Constraints Seiji Shimodaira (Chiba University, Japan), Hidekazu Nishimura 70 Analysis of Real Size Container Crane with the Rocking Type of Vibration Isolation System Kenichi Murano (Keio University, Japan), Kazuo Yoshida 76 Vibration Suppression of Space-Frame Body Structure by Active Dynamic Damper and Adaptive Feed-Forward Control Scheme Masao Ishihama (Kanagawa Institute of Technology, Japan), Shingo lizuka (Honda Motor Co., Ltd., Japan) 82 Motion and Vibration Control of Three Dimensional Flexible Shaking Table Daijirou Fuji (Nihon University, Japan), Torn Watanabe, Kazuto Seto 88

Structural Control and Vibration Isolation (4) Smart Energy Dissipation in Selsmlcally Excited Structures Using Active Control Kevin K.F. Wong (Nanyang Technological University, Singapore), Yi Wang 94 Active Control of viaduct Road Vibrations Using Sliding Modes Ismail Yuksek (Yildiz Technical University, Turkey), Nurkan Yagiz (Istanbul University, Turkey), Rahmi Guclu (Yildiz Technical University, Turkey), Yoshihiro Kikishuma (AIST, MITI, Japan), Nobuo Tanaka (Tokyo Metropolitan Institute of Technology, Japan) 100 Design and DSP Implementation of Active vibration Controller for Isolation Platform Jian-Da Wu (Da-Yeh University, Taiwan, China), Chih-Keng Chen, Fu-Cheng Su 105 Design and Adaptive Control of a Pneumatic Vibration Isolator Ming-Chang Shih (Nation Cheng Kung University, Taiwan, China), Teng-Yen Wang 111

II Bio-Mechatronics Potential Distribution Analysis around DNA as a Micro Bio Machine H. Hirayama (Asahikawa Medical College, Japan), Y. Okita (Shizuoka University, Japan), T. Sugiura 117 Three-Dimensional Musculoskeletal Model for Simulating Bipedal Walking Atsushi Nakayama (Nagoya University, Japan), Goro Obinata, Kazunori Hase (AIST, Japan) 123 A Study on the Propulsive Mechanism of a Double Jointed Fish Robot Utilizing Self-Excitation Control Norifumi Ohigishi (GE Yokogawa Medical Systems, Japan), Kyosuke Ono (Tokyo Institute of Technology, Japan), Motomu Nakashima 127 Application of H2 Control for Evaluating the Ion Channel Gating on Excitable Cellular Membranes H. Hirayama (Asahikawa Medical College, Japan), Y. Okita (Shizuoka University, Japan), T. Sugiura 135

Application of Neural Network, Fuzzy Logic and Genetic Algorithm (1) Acquisition of Human Operator's Skill from Time Series Data Using Fuzzy Inference: Identification of Individuality during Stabilizing Control of an Inverted Pendulum Yoshihiko Kawazoe (Saitama Institute of Technology, Japan), Jin Matsumoto 141 Trajectory Planning of CP Control Two-Link Flexible Robot Arm Using Genetic Algorithm Hiroyuki Kojima (Gunma University, Japan) 148 A Multilevel Hybrid Genetic Algorithm for Structural Control System Optimization D.K. Liu (University of Technology, Sydney, Australia), N. Zhang, T. Brown, C. M. Tarn (City University of Hong Kong, Hong Kong, China) 154 Minimization of Losses in Permanent Magnet Synchronous Motors Using Neural Networks Mona N. Eskander (Electronics Research Institute, Egypt) 160

Application of Neural Network, Fuzzy Logic and Genetic Algorithm (2) Performance of an Active Mass Driver System on a Five Storey Benchmark Model Bijan Samali (University of Technology, Sydney, Australia), Mohammed Al-Dawod, Jianchun LJ 166 Fuzzy Sliding Mode Control of a Five Storey Benchmark Model Equipped with Active Mass Driver (AMD) Jianchun LJ (University of Technology, Sydney, Australia), Bijan Samali, Guang Ha 172 Fault Diagnosis of Rotary Machine by Fuzzy Neural Networks Sheng Zhang (Fukui University, Japan), Toshiyuki Asakura, Xiaoli Xu (Beijing Institute of Machinery, China), Baojie Xu 178

III Application of Control Theory and Control Techniques (1) Design of Integral Sliding Mode Control Using Output Feedback Only Jeang-LJn Chang (Oriental Institute of Technology, Taiwan, China) 184 Output Sliding Control for a Nonlinear Time-Varying Robotic Manipulator Ying J. Huang (Yuan Ze University, Taiwan, China), Tzu C. Kuo 189 A Design Method of Sliding Mode Controller for Servo-Systems Subject to Actuator Saturation Makoto Yokoyama (Niigata University, Japan), Yuzuru Tohta, Kiyoshige Saitoh 194 A Design Method for Sliding Mode Control with Backstepping Hyperplane Donghao Tang (Chiba University, Japan), Kenzo Nonami 200

Application of Control Theory and Control Techniques (2) The Control of the Powder Body Particles Applied Volgt Model Satoshi Takezawa (Hokkaido Institute of Technology, Japan), Yusuke Kunii 206 Using Grey System to Design the State Estimation in Discrete Systems Keh-Tsong LJ (National Chiao-Tung University, Taiwan, China), Jeang-LJn Chang (Oriental Institute of Technology, Taiwan, China), Yon-Ping Chen (National Chiao-Tung University, Taiwan, China) 212 Implementation of a Robust n -Synthesis Controller for Position Control Christian Ehmann (Darmstadt University of Technology, Germany), Ulrich Schoenhoff, Rainer Nordmann 217 A Study on Practical Controllers for Rejecting the Periodic Rotation Unevenness of a Motor Manabu Kosaka (Kin-Ki University, Japan), Hiroshi Uda 223 Optimal Control Using a State Observer Considering Disturbances of a Golf Swing Robot Yohei Hoshino (Hokkaido University, Japan), Yukinori Kobayashi, Gen Yamada 229 Modeling and Vibration Control of Aerial Vehicles for Robotized Live-Line Maintenance Work Lin Lan (Tokushima University, Japan), Katsunobu Konishi, Masaharu Kimura 235

Application of Control Theory and Control Techniques (3) Design Method of Gain-Scheduled Control System Considering Actuator Saturation (Experimental Verification for Cart and Inverted Pendulum System) Noriaki Itagaki (Chiba University, Japan), Hidekazu Nishimura, Kiyoshi Takagi 241 Nonlinear Adaptive Output Feedback Control Design with Unknown Parameter Selim Sivrioglu (Chiba University, Japan), Kenzo Nonami 247 Application of Two-Degree-of-Freedom Control to Multi-Axis Electro-Dynamic Shaking System Using it -Synthesis and Adaptive Filter Yasuhiro Uchiyama (Kanazawa University, IMV Corporation, Japan), Masayuki Fujita (Kanazawa University, Japan) 253

IV Adaptive Integral Control with Satisfactory Transients for Uncertain Time-Delay Systems Qifu Fan (Shanghai Jiaotong University, China), Songjiao Shi, Kenzo Nonami (Chiba University, Japan) 259 Intelligent Failure-Proof Control Using Cubic Neural Network - Application of Swinging up and Stabilizing Double Pendulum - Masaki Takahashi (Keio University, Japan), Kazuo Yoshida 265 Damping Enhancement of Liquid Column Vibration Absorbers by Use of Orifice Plates Bijan Samali (University of Technology, Sydney, Australia), Euginio Mayol, Kenny Kwok (The University of Sydney, Australia), Peter Hitchcock (Hong Kong University of Science and Technology, Hong Kong, China), Graeme Wood (The University of Sydney, Australia) 271

Application of Control Theory and Control Techniques (4) Self-Organizing Fuzzy Controller for Multi-Objective Problem by Using Orthogonal Array and Its Applications Choo-Ho Kim (KAIST, Korea), Chong-Won Lee 277 Transverse Vibration and Control of Rubber Crawler Koetsu Takano (National Defense Academy, Japan), Hiroyuki Fujiwara, Osami Matsushita, Keiji Watanabe 283 Regular Trajectory Generation for Axisymmetric Underactuated Spacecraft Yasunobu Hitaka ( University, Japan), Masahiro Yokomichi, Michio Kono 289 A Discrete Output Sliding Control Design with Application to a High-Speed Rail System Ying J. Huang (Yuan Ze University, Taiwan, China), Tzu C. Kuo 295 Hardware and Software Implementation of Sliding Mode Controller for Induction Motors Haider A. F. Mohamed (University of Malaya, Malaysia), Hew Wooi Ping, Nasrudin Abd Rahim 300 Variable Capacity Control of Compressor for Automotive Air-Condltloning System Using Reference Model Following Based Sliding Mode Control Akira Shimada (Polytechnic University, Japan), Kenzo Nonami (Chiba University, Japan), Isamu Kai, Yongwei Shi (Seiko Instruments Inc., Japan), Makoto Ijiri, Seiichi Suzuki 306

Motion Control (1) Vibration Servo Control Design for Actuator's Mechanical Resonant Modes In Hard Disk Drives Takenori Atsumi (Hitachi, Ltd., Japan), Toshihiro Arisaka, Toshihiko Shimizu, Takashi Yamaguchi 312 Shock-Response-Spectrum Analysis for Acoustic Noise of a Seeking Control System In a Hard Disk Drive Atsushi Okuyama (Hitachi, Ltd., Japan), Tetsuya Hamaguchi, Keiko Watanabe, Takao Horiguchi, Kazuhisa Shishida, Yuji Nishimura 320 Disturbance Measurement of Optical Disc and Servo Loop Design Related to Its Result Jin-Young Choi (Yonsei University, Korea), Hong-Gul Jun (LG Electronics, Korea), Chan-Ho Chun (Yonsei University, Korea), Moon-Noh Lee (Dongeui University, Korea), Hyun-Seok Yang (Yonsei University, Korea), Young-Pil Park 326 LQR Controller for Toroidal Continuously Variable Transmission in Reverse Motion Michel Mensler (Nissan Motor Co., Ltd., Japan), Taketoshi Kawabe, Shinichiro Joe 333

Motion Control (2) Control System Design of a Traveling Crane Using H* Control Theory Nariyuki Kodani (Tokai University, Japan), Shigeto Ouchi, Yuji Todaka (Fuji Electric Co., Ltd., Japan) 339 Modified Input Shaping Control of a Planar Gantry Crane with Load Hoisting Youn-Sik Park (KAIST, Korea), Ki-Seong Lee (Tong Yang Magic Corporation, Korea) 343 Sway Control of Rotary Crane Based on Dlscretizlng Method Ryou Kondo (Ibaraki University, Japan), Tetsuhiro Itoh, Ryo Suzuki 349 Reorientatlon Maneuver of a Spacecraft Composed of Two Rigid Bodies Takateru Urakubo (Kobe University, Japan), Kazuo Tsuchiya (Kyoto University, Japan), Yukio Tada (Kobe University, Japan) 355 Adaptive Impact Shot Control by Pendulum-Uke Juggling System Satoshi Suzuki (Tokyo Denki University, Japan), Katsuhisa Furuta, Takeshi Hayakawa 361

Motion Control (3) A Gain Scheduled Non-Linear Servo Controller for a Toroidal Continuously Variable Transmission Taketoshi Kawabe (Nissan Motor Co., Ltd., Japan), Shinichiro Joe, Michel Mensler 367 Suppression of Transient Vibration for Geared Mechanical System with Backlash Using Model-Based Control Masahiko Itoh (Miyagi National College of Technology, Japan) 373 Mobile Antenna Tracking System Atsushi Nakajima (National Aerospace Laboratory of Japan, Japan), Shoichi Yoshihara, Toshifumi Yanagisawa, Takao Kumagai 379

Robot Dynamics and Control (1) Transition and Trot Gait of Horse-Type Quadruped Robot Sinobu Makita (Osaka University, Japan), Masashi Hisano, Takashi Kodera, Yuhei Yamaguti, Junji Furusho 385 Attitude Control of Six-Legged Robot Using Optimal Control Theory Hiroaki Uchida (Kisarazu National College of Technology, Japan), Kenzo Nonami (Chiba University, Japan) 391

VI Power Grasping Stability and Elasticity Adjustability of Tendon-Driven Finger Hand Mechanism Hirokazu Noborisaka (Kanagawa Institute of Technology, Japan), Hiroaki Kobayashi (Meiji University, Japan) 397 Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Task - Human-Robot Cooperative Calligraphic Task - Torn Tsumugiwa (Doshisha University, Japan), Ryuichi Yokogawa, Kei Hara 403 Analysis of a Hopping Robot with Impulsive Actuator Ryou Kondo (Ibaraki University, Japan), Kohei Uno, Minoru Ohmori 410

Robot Dynamics and Control (2) Study on Suppression of Low and High Periodic Transfer Variation of Servo System Using Timing Belt Drives Hyung Lee (Osaka University, Japan), Naoyuki Takesue, Junji Furusho 414 Response Characteristics of Elastic Joint Robots Driven by Various Types of Controllers against External Disturbances Ryuta Ozawa (Meiji University, Japan), Hiroaki Kobayashi 420 Robust Control In Bending and Torslonal Vibrations of a Flexible Robot Arm with Uncertainty In Payload Kohei Takamura (Nihon University, Japan), Kousuke Yamamoto, Torn Watanabe, Kazuto Seto 426 Adaptive Force Control for Unknown Environment Using Sliding Mode Controller with Variable Hyperplane Masahiro Iwasaki (Doshisha University, Japan), Nobutaka Tsujiuchi, Takayuki Koizumi 432 Comparison of Two-Inertia Systems with Torque/Acceleration Feedbacks Naoyuki Takesue (Osaka University, Japan), Junji Furusho 438 Motion and vibration Control of a Flexible Robot Arm Using a New Modeling Approach Kohei Tsuchidate (Nihon University, Japan), Shinken Yamamoto, Hiroshi Tajima (Komatsu Ltd., Japan), Kazuto Seto (Nihon University, Japan) 443

Robot Dynamics and Control (3) Development of Mine Detection Robot COMET-II and COMET-HI Kenzo Nonami (Chiba University, Japan), Qingjiu Huang, Daisuke Komizo, Yoichiro Fukao, Yoshitomo Asai, Yoshinori Shiraishi, Masaki Fujimoto, Yosuke Ikedo 449 Dexterous Hand and Manipulator for a Demlning Robot Tytus Wojtara (Chiba University, Japan), Kenzo Nonami 455 The Fuzzy Control of the Unknown Obstacles Avoidance for the Mobile Robots Chih-Keng Chen (Da-Yeh University, Taiwan, China), Jian-Da Wu, Chen-Yu Wang 461 Air Gap Control at Sensor Head of Mobile Manipulator on Mine Detection Robot Yoshitomo Asai (Chiba University, Japan), Kenzo Nonami 467

VII Dynamics and Control of Multibody Systems (1) Nonholonomic Dynamics and Jourdaln's Principle Chia-Ou Chang (National Taiwan University, Taiwan, China) 473 Target Capture via Slidlng-Mode Control Incorporating Manipulator Singularity Avoidance Hirohisa Kojima (Tokyo Metropolitan Institute of Technology, Japan), Takuyuki Mukai, Mari Tanaka, HironoriA. Fujii 478 An Adaptation of the Newmark Scheme for the Integrated Simulation of Mechatronic Systems Olivier Briils (University of Liege, Belgium), Pierre Duysinx, Jean-Claude Golinval 484 Dynamic Response of a Tethered System under Attitude Control of End Body Shoichiro Takehara (Sophia University, Japan), Masahiro Nohmi (Kagawa University, Japan), Yoshiaki Terumichi (Sophia University, Japan), Kiyoshi Sogabe 490 Multlscale Dynamics for Impact Processes in Multibody Systems Robert Seifried (University of Stuttgart, Germany), Werner Schiehlen 496

Dynamics and Control of Multibody Systems (2) Efficient Inverse Dynamics Control of Multibody Systems Nils Guse (University of Stuttgart, Germany), Werner Schiehlen 502 Motion and vibration of the Uft Mechanism of a Ladder Truck Katsuhisa Fujita (Osaka Prefecture University, Japan), Katsutoshi Koike, Takuro Koseki (Morita Corporation, Japan) 508 A Finite Element Method for Dynamic Analysis of Automatic Transmission Gear Shifting Ashley R. Crowther (University of Technology, Sydney, Australia), Nong Zhang, Dikai Liu, Jeku Jeyakumaran (BTR Automotive Drivetrain Systems, Australia) 514 Expression of Angular Rotation of a Multibody System -Application to a Rotational Expression of a Flexible Body - Kohichi Miura (Nihon University, Japan), Takayuki Yamada (HONDA R&D, Japan), Kayo Kawamura (Nihon University, Japan), Tetsu Nishimura 520 Investigation on the Behavior of the Body In Response to Vertical Vibration Maryam Hoviattalab (Sharif University of Technology, Iran), Mohammad S. Varziri 526

Fluid/Structure Interaction Control A Study on Countermeasures against Wind-Induced Cable Vibrations in a Cable-Stayed Bridge by Changing Vibration Modes (Design Method and Application to an Actual Cable) Ryuji Nakano (Kajima Corporation, Japan), Shigehiko Kaneko (The University of Tokyo, Japan), Yoshinori Matsunaga (Kajima Corporation, Japan), Ryuta Katamura 531 Control of Fluid-Structure-Sound Interaction Mechanisms by means of Synthetic Jets SamirZiada (McMaster University, Canada) 537 Simulation of Dynamic Processes in Mechanical Drive with Coupling with GAS Marijonas Bogdevicius (Vilnius Gediminas Technical University, Lithuania) 543

VIII Virtual System and Simulation (1) Electrostatic Tactile Display Using Thin Film Slider Toshiki Ishii (The University of Tokyo, Japan), Nobutaka Hida, Akio Yamamoto, Toshiro Higuchi 547 A Surface Acoustic Wave Tactile Display On a PC Mouse Masaya Takasaki (Saitama University, Japan), Takaaki Nara, Takeshi Mizuno 553 Characteristics of Tactile Sensation under Vibratory Pin Stimulation Yasushi Ikei (Tokyo Metropolitan Institute of Technology, Japan), Kazuo Dobashi 559 Development of an Audio and Haptlc Rendering Method Based on a Physical Model Hiroaki Yano (University of , Japan), Hiromi Igawa, Hiroo Iwata 564 An Implementation of Wearable Auditory Interface Koichi Hirota (The University of Tokyo, Japan), Michitaka Hirose 570 Study of the Dynamic Response of a Sintered Material to a Seismic Excitation for Knowledge Enhancement In an Expert System for Rapid Prototyping Stefano Filippi (University of Udine, Italy), Alessandro Gasparetto, Fabio Miani 576

Virtual System and Simulation (2) Interactive Sound Field Simulation in a Multi-Screen Immersive Projection Display Tetsuro Ogi (TAO, Japan), Takuro Kayahara, Masafumi Kato (The University of Tokyo, Japan), Hiroshi Asayama (Real Wave Research Japan, Japan), Michitaka Hirose (The University of Tokyo, Japan) 581 A New Motion Cue Algorithm for Improving Longitudinal Sensation In Driving Simulator Hidehisa Yoshida (Tokyo University of Agriculture and Technology, Japan), Masashi Igarashi, Masao Nagai 587 Proposal of Virtual Proving Ground with Driving Simulator Taichi Shiiba (Tokyo University of Science, Japan), Yoshihiro Suda (The University of Tokyo, Japan), Masaaki Onuki (Mitsubishi Precision Co., LTD, Japan) 593 Development of a Motorcycle Simulator Using Parallel Manipulator and Head Mounted Display Shingo Chiyoda (Tokyo University, Japan), Kenichi Yoshimoto (National Defense Academy, Japan), Daisuke Kawasaki (Tokyo University, Japan), Yoshifumi Murakami, Takayuki Sugimoto 599 Rider's Reaction Force Estimation Using Control Force of Motion System for Bicycle Simulator Jae-Cheol Shin (KAIST, Korea), Chong-Won Lee 603 Real-Time Rigid Body Simulation for Polyhedral Object Based on Accurate Penalty Method Shoichi Hasegawa (Tokyo Institute of Technology, Japan), Nobuaki Fujii Yasuharu Koike, Makoto Sato 609

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