JRM Vol.21 No.5 pp. 628-634
doi: 10.20965/jrm.2009.p0628


Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Times

Motoki Nakano*, Takayuki Tanaka*, Shun'ichi Kaneko*, Koichi Yamano**, and Yoichiro Tsutsui**

*Hokkaido University, Sapporo, Hokkaido, Japan

**Morita Corporation, Iga, Mie, Japan

May 18, 2009
August 20, 2009
October 20, 2009
man-machine system, power-assisted valve, torque inclination prediction, self-impedance matching, real-time prediction with dynamics
In this paper, we report the development of a power-assisted valve for fire engines. In Japan, the number of firefighters is decreasing year by year; therefore, it is important to reduce the amount of labor involved in firefighting. Although the development of an automatic system is possible in strictly technical terms, firefighting regulations in Japan require that the valve be operated by hand. In this study, we aim to develop a power-assisted system that can be controlled in accordance with the intent of the operator. First, we confirm a relationship between the impedance parameters and valve opening time. From this relationship, we propose a method for predicting the valve opening time based on the initial value of the operation torque. Evaluating this method, we found that the average operation torque and average tracking error are improved by a factor of two. Second, we reduce prediction error by using a real-time prediction method. While a prediction method based on initial torque can adjust parameters only once, the proposed real-time prediction method can update parameters continuously. As a result, the evaluation score of the method improved from 0.46 to 0.29, and average prediction error was improved from 172 ms to 105 ms.
Cite this article as:
M. Nakano, T. Tanaka, S. Kaneko, K. Yamano, and Y. Tsutsui, “Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Times,” J. Robot. Mechatron., Vol.21 No.5, pp. 628-634, 2009.
Data files:
  1. [1] T. Tsumugiwa, et al., “Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Task (Human-Robot Cooperative Calligraphic task),” The Japan Society of Mechanical Engineers, No.024-1, pp. 29-30, 2002.
  2. [2] R. Ikeura, et al., “Optimal impedance control for a robot cooperation with human,” The Japan Society of Mechanical Engineers, No.013-1, pp. 71-72, 2001.
  3. [3] R.Kurazume, et al., “Impedance matching for serial link manipulators,” The Robotics Society of Japan, Vol.23, No.2, pp. 1-9, 2005.
  4. [4] S. Morishita, et al., “Improvement of Maneuverability of the Man-Machine System for Wearable Nursing Robots,” J. of Robotics and Mechatronics, Vol.11, No.6, pp. 461-467, 1999.
  5. [5] T. Frash and N. Hogan, “The Coordination of Arm Movements: An Experimentally Confirmed Mathematical Model,” The J. of Neuroscience, Vol.5, No.7, pp. 1688-1703, 1985.
  6. [6] T. Emaru, et al., “Application of Nonlinear Filter ESDS to Quantized Sensor Data,” Proc. of the 2009 JSME Conf. on Robotics and Mechatronics, No.09-4, Fukuoka, Japan, May 24-26, 2009.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 23, 2024