Coordinated Control of a Mobile Manipulator

In this technical report, we investigate modeling, control, and coordination of mobile manipulators. A mobile manipulator in this study consists of a robotic manipulator and a mobile platform, with the manipulator being mounted atop the mobile platform. A mobile manipulator combines the dextrous manipulation capability offered by fixed-base manipulators and the mobility offered by mobile platforms. While mobile manipulators offer a tremendous potential for flexible material handling and other tasks, at the same time they bring about a number of challenging issues rather than simply increasing the structural complexity. First, combining a manipulator and a platform creates redundancy. Second, a wheeled mobile platform is subject to nonholonomic constraints. Third, there exists dynamic interaction between the manipulator and the mobile platform. Fourth, manipulators and mobile platforms have different bandwidths. Mobile platforms typically have slower dynamic response than manipulators. The objective of the thesis is to develop control algorithms that effectively coordinate manipulation and mobility of mobile manipulators. We begin with deriving the motion equations of mobile manipulators. The derivation presented here makes use of the existing motion equations of manipulators and mobile platforms, and simply introduces the velocity and acceleration dependent terms that account for the dynamic interaction between manipulators and mobile platforms. Since nonholonomic constraints play a critical role in control of mobile manipulators, we then study the control properties of nonholonomic dynamic systems, including feedback linearization and internal dynamics. Based on the newly proposed concept of preferred operating region, we develop a set of coordination algorithms for mobile manipulators. While the manipulator performs manipulation tasks, the mobile platform is controlled to always bring the configuration of the manipulator into a preferred operating region. The control algorithms for two types of tasks - dragging motion and following motion - are discussed in detail. The effects of dynamic interaction are also investigated. To verify the efficacy of the coordination algorithms, we conduct numerical simulations with representative task trajectories. Additionally, the control algorithms for the dragging motion and following motion have been implemented on an experimental mobile manipulator. The results from the simulation and experiment are presented to support the proposed control algorithms

Exact Dynamics of the SU(K) Haldane-Shastry Model

The dynamical structure factor $S(q,\omega)$ of the SU(K) (K=2,3,4) Haldane-Shastry model is derived exactly at zero temperature for arbitrary size of the system. The result is interpreted in terms of free quasi-particles which are generalization of spinons in the SU(2) case; the excited states relevant to $S(q,\omega)$ consist of K quasi-particles each of which is characterized by a set of K-1 quantum numbers. Near the boundaries of the region where $S(q,\omega)$ is nonzero, $S(q,\omega)$ shows the power-law singularity. It is found that the divergent singularity occurs only in the lowest edges starting from $(q,\omega) = (0,0)$ toward positive and negative q. The analytic result is checked numerically for finite systems via exact diagonalization and recursion methods.Comment: 35 pages, 3 figures, youngtab.sty (version 1.1

On Feedback Linearization of Mobile Robots

A wheeled mobile robot is subject to both holonomic and nonholonomic constraints. Representing the motion and constraint equations in the state space, this paper studies the feedback linearization of the dynamic system of a wheeled mobile robot. The main results of the paper are: (1) It is shown that the system is not input-state linearizable. (2) If the coordinates of a point on the wheel axis are taken as the output equation, the system is not input-output linearizable by using a static state feedback; (3) but is input-output linearizable by using a dynamic state feedback. (4) If the coordinates of a reference point in front of the mobile robot are chosen as the output equation, the system is input-output linearizable by using a static state feedback. (5) The internal motion of the mobile robot when the reference point moves forward is asymptotically stable whereas the internal motion when the reference point moves backward is unstable. A nonlinear feedback is derived for each case where the feedback linearization is possible

Coordinating Locomotion and Manipulation of a Mobile Manipulator

A mobile manipulator in this study is a manipulator mounted on a mobile platform. Assuming the end point of the manipulator is guided, e.g., by a human operator to follow an arbitrary trajectory, it is desirable that the mobile platform is able to move as to position the manipulator in certain preferred configurations. Since the motion of the manipulator is unknown a priori, the platform has to use the measured joint position information of the manipulator for motion planning. This paper presents a planning and control algorithm for the platform so that the manipulator is always positioned at the preferred configurations measured by its manipulability. Simulation results are presented to illustrate the efficacy of the algorithm. The use of the resulting algorithm in a number of applications is also discussed

Studies on the Mechanism of Bile Pigment Formation in Vivo. III. On the Transition of Biliverdin, and Bilirubin in the Bile of Rabbits.

1. In the bile of rabbits, the metabolisms of biliverdin and bilirubin are in a solucible state, and which have a ratio of 2: 1 in normal animals. 2. In the production of biliverdin, the liver, especially the parenchyma of the liver has a very important role, while that of the reticulo-endothelial system is rather minor. However, in the case of glucose administration, the reduction of bilirubin from biliverdin is performed in the reticulo-endothelial system, thus conferring an important part of this system. 3. The production of bilirubin is performed primarily extrahepatically, and the participation of the extrahepatical reticuloendothelial system is of a conservative nature, thus denying us any willingness to agree to the theory of bilirubin production in the reticulo-endothelial system. 4. On administration of hemolysed blood, bile pigments in bile demonstrate a remarkable increase, while as compared when injected into the auricle veins in cases of administration through the portal vein a decline in the functions of the liver reticulo-endothelial system is seen, causing a decrease in biliverdin amount. In the former modus of administration, an occasional stimulation of the liver reticulo- endothelial system is seen, causing reduction of biliverdin to bilirubin. 5. Concluding from these facts, biliverdin in rabbit bile occupies the role of an intermediate product in the production and metabolism of bilirubin.</p

<原著>肝右葉切除における短肝静脈, 右肝静脈処理のための前方アプローチ

A simple procedure of right hepatic lobectomy for bulky liver tumors is proposed. The procedure is named "Anterior approach", which is characterized by transection of hepatic parenchyma without mobilization and rotation of the right hepatic lobe. The transection directly reaches the ventral surface of the retrohepatic inferior vena cava first at the portion of caudate process. The hepatic parenchymal transection proceeds from ventral to dorsal and from caudal to cranial. Several dorsal short hepatic veins are severed on the ventral surface of the IVC and the right hepatic vein is finally severed from inside. This method enables the minimization of operative stress and is especially useful for cases with a huge tumor in the right hepatic lobe which invades the diaphragm or thoraco-abdominal wall.巨大肝腫瘍に対する合理的な肝右葉切除法としての前方アプローチを紹介する. 肝右葉切除の標準手技として, 右葉の授動と脱転がある. これは肝の右側から, 肝部下大静脈に注ぐ短肝静脈や右肝静脈の剥離と切離を行う方法であるが, 後区域や右葉全体を占める巨大肝腫瘍の場合には, それらの手技は困難なことが多く, また腫瘍の破裂をきたす恐れもあり危険を伴う. 前方アプローチは, 右葉の脱転を行わずに直接肝実質を切離して, 肝部下大静脈腹側面に到達し, 尾状葉突起から頭側に向かつて肝実質の離断を進める方法である. 肝部下大静脈腹側面に注ぐ短肝静脈を, 順次肝離断面側から剥離処理し, 最後に右肝静脈の離断も同様に行う. 横隔膜浸潤, 胸壁, 腹壁浸潤がある場合には, 肝切離が終了してから合併切除として最後に行う. また本法は, 脱転による残存肝の阻血, 門脈血液鬱滞を回避出来る利点があり, 肝ミトコンドリアの酸化還元状態を反映する動脈血中ケトン体比(AKBR)の術中低下も軽微であることが判明しており, 手術侵襲の点からみても有用である前方アプローチの良い適応は, 1)後区域, 又は右葉全体を占拠するような巨大肝腫瘍の場合, 2)腫蕩が右横隔膜, 胸壁, 腹壁に浸潤している場合, 3)右葉の腫瘍の下大静脈への浸潤が疑われ, 下大静脈合併切除の要否を判定する場合, 4)肝障害のために右葉切除を行うには機能的予備力の点で不安がある場合, などである