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Accepted: 2011-03-30, 資料番号: SA1003101000

We examined the feasibility of using gelatin hydrogels as carrier sheets for the transplantation of cultivated corneal endothelial cells. The mechanical properties, transparency, and permeability of gelatin hydrogel sheets were compared with those of atelocollagen sheets. Immunohistochemistry (ZO-1, Na(+)/K(+)-ATPase, and N-cadherin), hematoxylin and eosin staining, and scanning electron microscopy were performed to assess the integrity of corneal endothelial cells that were cultured on gelatin hydrogel sheets. The gelatin hydrogel sheets displayed greater transparency, elastic modulus, and albumin permeability compared to those of atelocollagen sheets. The corneal endothelial cells on gelatin hydrogel sheets showed normal expression levels of ZO-1, Na(+)/K(+)-ATPase, and N-cadherin. Hematoxylin and eosin staining revealed the formation of a continuous monolayer of cells attached to the gelatin hydrogel sheet. Scanning electron microscopy observations showed that the corneal endothelial cells were arranged in a regular, mosaic, and polygonal pattern with normal cilia. These results indicate that the gelatin hydrogel sheet is a promising material to transport corneal endothelial cells during transplantation.

Power assist devices have been introduced to reduce physical burden of workers in conveying and mounting work in industries. Most of them handle controlled objects as rigid bodies. This paper discusses an effective vibration control method for conveying flexible structures with power assist. In this study, the power assist is realized by an impedance control method. The impedance characteristics of the power assisted object correspond to the dynamic characteristics of the disturbance for the vibration control. Our previous paper discussed a disturbance accommodating LQ optimal control (DAOC) method for the vibration control problem and the effectiveness was verified by state feedback control simulations only. In this paper, the DAOC method is applied to the same cart with a 1-DOF vibration system as in the previous paper but having more flexible structure. The natural frequency of the controlled object is set to 1.0 Hz. The effectiveness of DAOC in this case is demonstrated through actual experiments on the basis of output feedback control implementation.

Industrial production lines combine both autonomous machinery such as industrial robots and operator-machine cooperative power-assist systems. There are a lot of flexible and large parts among assembly parts, because of the weight saving. In efficient switching among machine- and operator-oriented operation, vibration suppression is an important issue. This paper presents operator-based assist control for task from automated transfer to manual positioning of flexible parts. This involves a mode-switching compensator whose control input is continuous and an input-shaping compensator that suppresses flexible-parts vibration. The input-shaping compensator using a notch filter eliminates the vibration frequency component from the operating force signal. Filter gain is adjusted online based on operating properties. The effectiveness of our proposal is verified from (i) maneuverability based on time-response evaluation and task-achievement time, and (ii) operational feel subjectively evaluated based on questionnaires.

In the authors’ previous study, we proposed a novel shock vibration control method using the active momentum exchange impact damper (AMEID). By using this method, the shock vibration of the vibratory system is greatly reduced by transferring part of its momentum to the damper mass. This feature is effective for suppressing the first large peak value of the acceleration response due to a shock load. However, the validity of AMEID for actual implementations has not yet been investigated. In this paper, the active control of shock vibration using AMEID under real conditions is evaluated by simulation and experiment. A one-degree-of-freedom vibratory system is used as the controlled object. The controller is designed using the linear quadratic regulator optimal control theory. Reductions in the acceleration response and transmitted force to the base are investigated using simulations. Experiments are carried out to verify the simulation results.

The majority of alpha-synuclein (alphaS) deposited in Lewy bodies, the pathological hallmark of Parkinson's disease (PD), is phosphorylated at serine 129 (Ser129). Ser129 phosphorylation of alphaS has been demonstrated to enhance the alphaS toxicity to dopaminergic neurons in a Drosophila model of PD. Phosphorylation of alphaS at Ser129 seems to play a crucial role in the pathogenesis of PD. Here, we assessed the contribution of ubiquitously expressing members of the G-protein-coupled receptor kinase family (GRK2, GRK3, GRK5, and GRK6) to Ser129 phosphorylation of alphaS in HEK293 cells. To selectively reduce the endogenous expression of each member of the GRK family in cells, we used small interfering RNAs. Knockdown of GRK3 or GRK6 significantly decreased Ser129 phosphorylation of alphaS; however, knockdown of GRK2 or GRK5 did not decrease alphaS phosphorylation. The results indicate that endogenous GRK3 and GRK6, but not GRK2 or GRK5, contribute to Ser129 phosphorylation of alphaS in HEK293 cells.

Many power-assist systems for industrial uses possess simple power-assisting function only. The authors studied on the positioning method of a cart using a smooth switching from the servo access control for the conveyance function to the force sensorless impedance control (FSLIC) for the power-assisting function. The nonstationary optimal control method and the nonstationary impedance control law were applied. However, the optimal control method requires the offline calculations for generating time-varying feedback gains. For actual problems including parameter variations, this characteristic is inconvenient. From such a point of view, this study investigates the use of the adaptive nonstationary servo control (ANSSC) technique instead of the optimal control method. Therefore, this paper discusses the control method switching from ANSSC based access to FSLIC based power-assist. The effectiveness of this method is verified experimentally.

A new screening method was developed to detect bovine spongiform encephalopathy (BSE). This method is advantageous because it has a simpler and safer protocol than commercial kits. A new device was developed for this method; it was named the BioMasher, to homogenize brain tissue by passing it through a porous rigid polypropylene filter. In this system, a purification step was eliminated in the sample preparation. Thus, the time needed for sample pretreatment is substantially shortened, and the risk of infection during sample processing is effectively reduced. Monoclonal antibodies to prion protein were created and used to construct a sensitive sandwich enzyme-linked immunosorbent assay system. The sensitivity of this assay kit using frozen BSE-positive brain is comparable or more sensitive than commercial kits. Moreover, the detection sensitivity for deteriorated samples, which were kept at 37 degrees C for 1 day, is 10- to 30-fold more sensitive than a commercial kit.

This paper proposes an active control type of momentum exchange impact damper (AMEID) and its application to reducing shock vibration of the floor. The floor is modeled as a one-degree-of-freedom system. The active component of AMEID is realized by using a linear motor. The controller design of AMEID is based on the LQR optimal control theory. The simulation results show that the performance of AMEID is not affected by the mass ratio. In addition, the performance of AMEID is compared with the conventional passive momentum exchange impact damper (PMEID), the active mass damper (AMD) and the conventional active control method in reducing the floor shock vibration. It is shown that the shock reduction performance obtained by AMEID is larger than that obtained by PMEID. The power consumption and the stroke of the actuator for AMEID are lower than those of AMD. Furthermore, the transmitted force obtained by AMEID is smaller than that of the conventional active control.

One of the authors had previously proposed an adaptive nonstationary control (ANSC) method and described its applications for the positioning control of vibration systems. In that control method, the time-varying feedback gains were obtained by online computations of a time-varying Riccati equation taking the parameter variations of the controlled object into account. However, the previous paper discussed the state feedback control method. The improvement of this method to enable output feedback control is one of important issues for actual applications. Generally, the output feedback controller of the optimal control includes a Kalman filter as the observer. However, the use of the Kalman filter for the ANSC method implies a heavy computational load in actual implementations because the Kalman filter is designed by another time-varying Riccati equation. Therefore, this paper proposes a practical output feedback control method for ANSC that does not include Kalman filter. The proposed method corresponds to a two-degree-of-freedom control system; the system consists of an online simulator and a sliding mode controller. This structure enables us to reduce the computational load. The effectiveness of the method is verified theoretically as well as experimentally.

Power-assist system technology and its applications to manufacturing systems have attracted special interest recently. For example, automobile assembly processes utilizing power-assist systems have existed. Many power-assist systems for industrial uses possess simple power-assisting function only. Conveyance of controlled objects is generally processed by another system. Then, one of the authors has studied on the positioning method of a cart with motor by means of a smooth switching from the servo access control for the conveyance function to the impedance control for the power-assisting function. The nonstationary optimal control method and the nonstationary impedance control law are applied to obtain the smooth switching. However, this method requires a force sensor for detecting the operator's force. To improve the usefulness and safety of the system, a force sensorless control method for the system is studied in this paper. Instead of the force signal, this study utilizes the acceleration signal of the cart. The method shows its effectiveness by experiments.

The author has proposed a regulator-type adaptive nonstationary control (ANSC) method using time-varying Riccati equations (TVREs). ANSC method generates the solutions of TVREs and the responses of a controlled object simultaneously. The time-varying feedback gains are obtained by real-time computations in actual implementations. Therefore, ANSC method can realize some adaptive control based on varying parameters of a controlled object. The regulator-type controllers are applicable to Position-To-Position control problems. In mechanical structures such as information precision machinery, the switching from a velocity servo controller to a position servo controller is often utilized. ANSC method can not be applied to that case. Then, this study proposes an adaptive nonstationary servo control (ANSSC) method based on the idea of ANSC method. ANSSC method realizes a unified design of both the servo controllers and the smooth mode switching. Its effectiveness is verified theoretically and experimentally by applying the method to a positioning control problem for the system consisting of an X-Y table and a flexible structure on the table.

Power-assist system technology and its applications to manufacturing systems have attracted special interest recently. For example, an automobile assembly process utilizing a power-assist system has been proposed by Yamada, et al. Many power-assist systems for industrial uses possess simple power-assisting function only. Conveyance of controlled objects is generally processed by another system. Then, the author has studied on the positioning method of a cart with motor by means of a smooth switching from the servo access control for the conveyance function to the impedance control for the power-assisting function. The nonstationary optimal control method and the nonstationary impedance control law are applied to obtain the smooth switching. However, the optimal control method requires the offline calculations for generating time-varying feedback gains. If we take parameter variations in real problems into account, this characteristic is inconvenient. To realize adaptive control for the variations, this study introduces the adaptive nonstationary control (ANSC) technique proposed by the author instead of the optimal control method.

Recently, proceeding of the aging society has encouraged research and development of power assist systems. The authors' research group also studied on the control system of robust assist systems. It is mainly considered to be used in industries, such as production factories. However, if such a cart is applied to welfare purposes, the mass of the cart is so heavy to be used by aged people due to the uses of high specification computers and lithium-ion batteries installed on the cart. Therefore, this paper discusses a novel control system concept of the robust assist cart for welfare applications. Especially, as its first step, this paper mentions the downsizing and lightening of the cart to be put high specification computer out of the cart. In the novel concept, the high specification computers out of the cart and the computer on the cart are connected by a network control configuration using Wi-Fi. In addition, this paper reveals the stability of the proposed system by experiments with and without Wi-Fi and simulations.

The author’s previous study proposed an efficient design method of time-varying gain type controller using the solutions of time-varying Riccati equations (TVREs) and its application to positioning control of time-invariant vibration systems. The responses of this method become similar to the responses of conventional nonstationary optimal regulators (NORs) which are effective controllers for positioning of vibration systems. This method generates the solutions of a TVRE and the responses of a controlled object simultaneously. The time-varying gains are obtained by real-time computations in actual implementations. This feature is convenient for the realization of some adaptive control. However, such a control method has not been fully addressed yet. This study proposes an adaptive nonstationary control (ANSC) method based on the feature of the previous study. We choose a cart with a time-varying vibration system whose natural frequency is time-varying as a controlled object example. The positioning and residual vibration reduction of the object are discussed in this paper. The effectiveness of the ANSC method is verified by simulations and experiments.

A free-standing polypyrrole (PPy) film actuator, prepared electrochemically from a methyl benzoate solution of 1,2-dimethyl-3-propylimidazolium tris(trifluoromethylsulfonyl)methide (DMPIMe), exhibited up to 36.7% electrochemical strain in a propylene carbonate (PC)/water solution of lithium bis(nonafluorobutylsulfonyl)imide, Li(C 4 F 9 SO 2 ) 2 N (LiNFSI). The maximum electrochemical strain of Me-doped PPy film depended on the electrolyte used for driving the Me-doped PPy actuator. When a PC/water mixed solution of lithium bis(trifluoromethylsulfonyl)imide (LiTFSI) was used as the driving electrolyte, the maximum electrochemical strain, measured by cycling between −0.9 and +0.7 V versus Ag/Ag + at 2 mV s −1 , was 24.2%, smaller than that (30.0%) driven with LiNFSI. When a PC/water suspension of DMPIMe was used as the driving electrolyte, the maximum electrochemical strain was 31.9%. However, the response speed of Me-doped PPy actuator driven with DMPIMe was slower than those driven with Li(C n F 2 n +1 SO 2 ) 2 N, due presumably to the size and shape of the anions. The addition of CF 3 COOH in electrolytic solutions for electropolymerization increased the maximum electrochemical strains (36.7% and 36.6%) of Me-doped PPy actuator driven by using a PC/water solution of LiNFSI and a PC solution of DMPIMe, respectively.

Power-assist system technology and its applications to manufacturing systems have attracted special interest recently. However, many power-assist systems for industrial uses possess simple power-assisting function only. This study takes account of the case that a positioning pattern appears repeatedly. We discuss the combination of an automatic positioning motion and a manual delicate adjustment for the case. This technical paper treats a positioning control method by means of a switching from an automatic traveling mode (ATM) to a semi-automatic settling mode (SASM). SASM provides the nominal motion (NM) based on past operation trajectories of an operator and realizes the power-assist for the manual delicate adjustment of NM. Therefore, the operator can make objective trajectories easily by repeating the operation. Finally, the objective trajectories can be produced as an automatic motion. To obtain a smooth switching, this method utilizes a two-degree-of-freedom control system structure. The effectiveness of the method is verified experimentally.

The author's previous study proposed an efficient design method of time-varying gain type controller using the solutions of time-varying Riccati equations (TVREs) and its application to positioning control of vibration systems. This method generates the solutions of a TVRE and the responses of a controlled object simultaneously. The time-varying gains are obtained by real-time computations in actual implementations. This feature is convenient for the realization of some adaptive control. However, such a control method has not been fully addressed yet. This study discusses an adaptive nonstationary control (ANSC) method based on the feature of the previous study. We select a flexible structure installed on an X-Y table as a controlled object example. Its positioning and residual vibration reduction are the purposes of the application in this paper. The effectiveness of the ANSC method is verified by numerical calculations and experiments.

Power-assist system (PAS) technology and its applications to manufacturing systems have attracted special interest recently. In such a man-machine system as PAS, the abnormality detection of the controlled mechanical part of the system, e.g., the collision detection of mechanical part, is extremely important. Some conventional studies have already proposed the collision detection methods for robots or PASs. In this study, we assume that DC servomotors are utilized as actuators. Then, this study proposes a novel power-assist controller design method. This method includes a software-based abnormality detection based on the current dynamics of motor. The controller design utilizes a two-degree-of-freedom control system structure which consists of an on-line linear simulator taking account of the current dynamics, an impedance controller and an LQI servo controller. The abnormality detection is realized by detecting the difference between the simulator's current and the real current of motor. The effectiveness of the method is verified experimentally.

In mechanical structures such as information precision machinery, the switching from a Velocity Servo controller to a Position Servo controller is often utilized. The author has already proposed a unified design method for both the servo controllers on the basis of a single time-varying criterion function. Its effectiveness has been verified by numerical calculations. This letter demonstrates the effectiveness of the method experimentally. © 2006 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

One of the authors has proposed an efficient design method of time-varying gain type controller using the solutions of time-varying Riccati equations (TVREs) and its application to a positioning control problem of a time-invariant vibration system. The responses of this method become similar to the responses of conventional nonstationary optimal regulators (NORs) which are effective controllers for positioning of vibration systems. This method generates the solutions of a TVRE and the responses of a controlled object simultaneously. The time-varying gains are obtained by real-time computations in actual implementations. This feature is convenient for the realization of some adaptive control. This study applies an adaptive nonstationary control method based on the feature of the previous study to the positioning control of a time-varying vibration system whose natural frequency is time-varying. The effectiveness of the method is verified theoretically and experimentally.

Free-standing polypyrrole (PPy) film actuators, prepared electrochemically from aromatic ester solutions of lithium bis(perfluoroalkylsulfonyl)imide (Li(CnF2n+1SO2)2N) (n = 1?4) or tetra-n-butylammonium bis(perfluoroalkylsulfonyl)imide (TBA(CnF2n+1SO2)2N) (n = 1?2), exhibited extremely large electrochemical strains up to 40% when driven in aqueous or propylene carbonate (PC) solution of the corresponding Li(CnF2n+1SO2)2N. PPy doped with (CnF2n+1SO2)2N? swelled in some organic solvents such as acetone and PC, and had a spongy macroporous morphology such that large (CnF2n+1SO2)2N? anions could go in and out of the film as dopant, resulting in the extremely large strain induced electrochemically. When smaller anions were used for the electrochemical stretching of PPy-(CnF2n+1SO2)2N? actuators, an ineffective volume change of PPy was observed, whereas when larger anions were employed, the electrochemical strain was very small as if the PPy actuators showed a 'template' effect. PPy films doped with (CF3SO2)2N? actuated quickly in H2O/PC mixed solution of Li(CF3SO2)2N, exhibiting a maximum strain rate of 13.8%?s?1, and a maximum strain of 33.5%.

Polypyrrole films prepared from aromatic ester solutions of tetrabutylammonium tetrafluoroborate (TBABF4), tetrabutylammonium hexafluorophosphate (TBAPF6), tetrabutylammonium trifluoromethanesulfon...

Electrochemomechanical characteristics of polypyrrole (PPy) films, electrodeposited from tetra- n -butylammonium trifluoromethane-sulfonate dissolved in methyl benzoate (PPyFMS), have been investigated using a simultaneous measurement of electrochemomechanical deformation (ECMD) with cyclic voltammetry (CV) by comparing with PPy films deposited from p -phenol sulfonate in aqueous media (PPyPPS). The ECMD magnitude of PPyFMS film was reached around 9% at 1st cycle and was decreased to be about 3.2% at 20th cycle with electrochemical cycling in 1 M NaPF 6 . While in 1 M NaCl solution, the ECMD magnitude was 1.9% at 20th cycle in CV measurement. In the case for the PPyPPS film, ECMD magnitude at 20th cycle was around 0.8% and 1.1% in 1 M NaPF 6 and 1 M NaCl solutions, respectively. The results indicate that the combination of electrolytes employed in both the electrodeposition and the device actuation plays the very important role for achieving the enhancement of ECMD magnitudes. In the case of ECMD behaviors, it was found that the electrolyte used in the film actuation determines the ECMD characteristics.

In the industrial world, not only autonomous machinery as industrial robots but also man-machine cooperative systems as power-assist systems have attracted special interest recently. Kondo, et al. proposed the scheme of Man-Machine Collaborated Systems (MMCSs) and its application to some assembling work. In MMCSs, efficient mode switching from human-oriented task to machine-oriented task is important. However, its issue has not been fully addressed yet. This study discusses a mode switching control method for MMCSs. Especially, we treat the switching from a power-assist mode (PAM) to an automatic positioning mode (APM) for a simple robotic system. To obtain a smooth switching, this study utilizes a two-degree-of-freedom control system structure which consists of an on-line impedance control simulator and an LQI servo controller. Some smooth reference generation for APM is also introduced. No input saturation and stopping appear at the switching in this method. The effectiveness of the method is verified experimentally.

Power assist system technology and its applications to manufacturing systems have attracted special interest recently. However, many power assist systems for industrial uses possess simple power assisting function only. This study takes account of the case that a positioning pattern appears repeatedly. We discuss the combination of an automatic access motion and a manual delicate adjustment for the case. This paper proposes a positioning control method by means of a switching from an automatic traveling mode (ATM) to a semi automatic settling mode (SASM). SASM provides the nominal motion (NM) based on an optimal control method and realizes the power-assist for the manual adjustment of NM. To obtain a smooth switching, this method utilizes a two-degree-of-freedom control system structure which consists of two parts. The first part is the on-line simulator including the nominal motion generator and a nonstationary impedance controller. The other one is an LQI servo controller. The effectiveness of the method is verified experimentally.

A polypyrrole (PPy) deposited electrochemically on W micro-coil with the diameter of 0.25 mm from methyl benzoate solution of TBABF4 showed 11.6% apparent strain induced electrochemically in aqueous NaBF4 solution. This strain was slightly smaller than that (12.1%) of a free-standing PPy film prepared similarly on W electrode. However, taking the configuration of PPy–W coil (gap:wire diameter = 1:1) into account, the effective strain of PPy at the gap of coil wires should be 23.2%. The enhanced contact area between W coil and PPy reduced voltage drop of the PPy, resulting in exhibiting the large strain. Electrochemically generated displacement and force can be easily tailored by adjusting the length and the number of PPy–coil composite, respectively. The tailor-made actuator should be applicable to a variety of mechanisms, particularly to ‘push’ devices such as a plunger.

Conducting polymer actuators have been attracting researchers and engineers who need powerful and light actuators because of their electrically induced stress (3–5 MPa), 10 times larger than that (0.35 MPa) of vertebrate muscle fibres. The moderate electrically generated strain (1–3 %) has however been restricting their applications to robots, for instance, and therefore relatively huge and heavy electric motors have been inevitably used in the robotic industry. A polypyrrole (PPy) film, which was prepared electrochemically from methyl benzoate solution of tetra-n-butylammonium tetrafluoroborate (TBABF4) on Ti electrode, exhibited 12.4 % strain and 22 MPa stress generated electrochemically in NaPF6 aqueous solution. The large electrochemical strain and stress of BF4−-doped PPy should meet applications of artificial muscles particularly where strong force is required. These novel conducting polymer actuators could dramatically alter any technologies concerning movements. Besides fundamental properties of the PPy actuators, some newly-devised configurations of the actuators for practical use are important. In order to fabricate actuator devices particularly where multiple layers of PPy films were required to increase force, flexible and tough CF3SO3−-doped PPy films were more suitable than BF4−-doped PPy.

Power-assist system technology and its applications to manufacturing systems, rehabilitation and welfare services have attracted special interest recently. In the field of manufacturing systems, automobile assembly processes utilizing power-assist systems exist. Many power-assist systems for industrial uses possess simple power-assisting function only. Conveyance of controlled objects is generally processed by another system. However, it seems that the progress of such actuators as linear motors produces single actuator which realizes both the functions. Taking the above expectation into account, this fundamental study proposes a positioning method of a cart with motor by means of a smooth switching from the servo access control for the conveyance function to the impedance control for the power-assisting function. We apply the idea of the nonstationary optimal control method to obtaining the smooth switching. The controller is formulated as a state feedback style utilizing time-varying feedback gains. The effectiveness of the method is verified by experiments.

Power-assist system technology and its applications to manufacturing systems, constructing systems, rehabilitation and welfare services have attracted special interest recently. For example, automobile assembly processes utilizing power-assist systems exist. However, the effect of such uncertainties as Coulomb friction on the power-assist systems has not been fully addressed. This study proposes a controller design method for the robustness improvement of power-assist control. Especially, we pay attention to the influence of uncertain Coulomb friction and design the servo control system consisting of two parts. The first part is an on-line impedance control simulator which works as the reference generator. The other one is a sliding mode controller to suppress the errors between the references and corresponding responses. By applying the method to the positioning problem of a cart, the effectiveness of the method is verified by experiments.

Nonstationary optimal regulator (NOR) is one of the effective methods for positioning control of vibration systems. NOR corresponds to an LQ regulator utilizing time-varying weighting functions and produces positioning trajectories taking the vibration characteristic of a controlled object into account. Generally, many positioning or tracking mechanisms such as information equipments, machine tools and robots adopt dual-stage actuator systems (DSASs). DSASs consist of coarse and fine actuators and realize efficient and high performance responses. However, the control method for DSASs with mechanical flexibility has not been fully addressed. This study utilizes the NOR technique for positioning control of DSASs taking spring and damping elements of controlled objects into account. We use a proper combination of time-varying weights for this problem. The effectiveness of this method is verified by numerical calculations and experiments.

Servo control is one of the most important control techniques for motion control of mechanical structures. In order to suppress the stationary error between a reference trajectory and a servo system response, servo controllers often include the integral characteristic. For example, linear quadratic integral (LQI) optimal control is one of the standard selections for designing servo control systems. Nonstationary optimal regulator (NOR) is another motion control method, which produces superior vibrationless trajectories for the positioning control problems of vibration systems. This study discusses a unified design method of the time-varying gain type access control similar to NOR and the integral type servo control similar to LQI control by means of a frequency-shaped time-varying criterion function. This method realizes two high performance control modes and the smooth switching of the modes by the optimization of the single criterion function. The effectiveness of this method is verified by numerical calculations and experiments.

Servo control is one of the most important control techniques for motion control of mechanical structures. Generally, the servo control consists of reference trajectories and a feedback controller. Many recent studies in the control engineering field have treated recent design methods of feedback controllers taking account of several control specifications. However, generally, the ability of an actual feedback controller is strictly limited due to its cost or difficulties of realization. Different from the above approaches, this study proposes a novel framework for the motion control of mechanical structures. It means a combination of a high performance reference generation and a simple feedback controller. References are generated by an offline simulator taking several specifications into account. As an example, we discuss a positioning control of a vibration system and utilize a nonstationary optimal control simulator and a sliding mode feedback controller. The effectiveness of the method is verified by numerical calculations and experiments.

This study discusses the positioning and vibration control of time-varying vibration systems whose parameters are time-varying. We assume that the time-varying parameter of a vibration system is detected by an on-line measurement or Wavelet analysis. This paper treats two control methods using nonstationary optimal regulators (NOR) for this problem. The first method is a gainscheduling of NORs. An actual controller is obtained by the interpolation of plural NORs designed a priori. The other one is an NOR design based on Wavelet analysis of the vibration system. In the second case, single NOR derived from the analysis result is applied. This study shows the effectiveness of these methods by numerical calculations and experiments. From the comparison of these methods, this paper suggests suitable applications of NOR according to the characteristics of each control problem.