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This paper describes two humanoid robots developed in the Humanoid Robotics Institute, Waseda University. Hadaly-2 is intended to realize information interaction with humans by integrating environmental recognition with vision, conversation capability (voice recognition, voice synthesis), and gesture behaviors. It also possesses physical interaction(More)
This paper proposes a novel method of suppressing inrush currents of squirrel-cage induction machines using matrix converters in wind power generation systems. In the proposed method, the output side of the matrix converter behaves as a resistor for the source current and the input side of the matrix converter compensates reactive power of the squirrel-cage(More)
This paper presents a novel vibration suppression method for a 3-inertia control system by a modified-IPD (integral plus proportional plus derivative) controller. In the IPD structure, the integral action integrates the error between the designed output and the plant output, and the proportional and derivative terms act on the plant output only. The(More)
This paper presents an estimation method of rotational direction and speed for free-running ac machines driven by an inverter without speed and voltage sensor. The method has four estimation modes, and it utilizes only the measured phase current of machines. The performance of the proposed method is verified through the experiments for both permanent-magnet(More)
Vibration caused by mechanical resonance and time delay caused by signal detection and transmission degrade the control performance of a servo controller for a multimass mechanical system. A precise numerical model that represents resonance characteristics and time delay is necessary to design a desired control system. This paper presents an identification(More)
In this paper, cascaded H-bridge multilevel inverter (CHBMLI) based distribution static compensator (DSTATCOM) has been proposed. Synchronous reference frame theory (SRFT) based indirect current control is employed to extract the reference current. The instantaneous error in between the reference current and output current is processed through multiband(More)
Abstract: Three-phase two-level voltage source converters are used for distribution static compensator (DSTATCOM) applications and can be replaced by a multilevel inverter. In this paper, an LCL filter interfaced cascaded H-bridge multilevel inverter-based (CHBMLI) DSTATCOM is simulated and its performance is analyzed considering the system parameters. The(More)
Abstract: This paper proposes proportional-integral/proportional gain controller parameter tuning in a two-degrees-of-freedom (2DOF) control system using the fictitious reference iterative tuning (FRIT) method for permanent magnet synchronous motor (PMSM) speed control using a field-programmable gate array (FPGA) for a high-frequency SiC MOSFET (metal oxide(More)
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