著者
岡島 寛 金田 泰昌 田村 友規 松永 信智
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.55, no.4, pp.245-251, 2019 (Released:2019-04-16)
参考文献数
26
被引用文献数
1

A design method of state estimation observer under outliers and data-lost environment is proposed in this paper. In networked control systems, the data-lost is one of the most important topic for solving. When data-lost occurred, the output data for the control system is disappeared. The data-lost is significant problems if we want to use state feedback. To overcome negative impact by outliers and data-lost, we propose a method to disappear negative impact by outliers and data-lost using median information. The effectiveness of the proposed observer is evaluated by numerical examples.
著者
奥薗 智仁 岡島 寛 松永 信智
出版者
自動制御連合講演会
雑誌
自動制御連合講演会講演論文集 第59回自動制御連合講演会
巻号頁・発行日
pp.736-737, 2016 (Released:2017-02-01)

株式市場の内部メカニズム検討する手段に人工市場がある。従来の人工市場では投資家の意思決定や取引のルールを重要視したモデル化がされてない。実用的なルールを内包した人工市場を構築すると、公正な証券取引所の再設計にモデルを利用できる。そこで投資家モデル群と売買ルールに基づいた人工市場を設計し、その評価を行う。
著者
岡島 寛 橋爪 壮一郎 大石 凌史 宮原 智新
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.55, no.2, pp.135-143, 2019 (Released:2019-02-19)
参考文献数
23

At the sports and games for elementary and junior high school students, their parents often become personal photographer for the game. They see their child over the frame despite being in the playing field. In addition, problems such as trying to take a good place to compete may occur. We can solve these problems by the conference management side distributing the sports competition videos. So in this paper, we show a method to automatically reconstruct movies using competition movies taken by fixed point cameras and to present high quality movies to viewers.
著者
岡島 寛 浅井 徹 川路 茂保
出版者
The Society of Instrument and Control Engineers
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.44, no.7, pp.566-574, 2008-07-31 (Released:2013-02-25)
参考文献数
21
被引用文献数
4

Path following control problem has been treated in recent years. In past studies, the velocity of the plant is considered as constant value. However, the velocity of the plant must be controlled so as to reduce traveling time. In this paper, velocity control in path following problem is discussed by using optimal control. Since reaching time from the start point to the terminal point is used as a cost, we can obtain good acceleration and deceleration input. Since constraints of path following are included in the optimal control problem, we can achieve not only optimization of the cost but also path following. The effectiveness of the proposed method is examined by numerical examples with a path of non-constant curvature.
著者
岡島 寛 一政 豪 松永 信智
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.51, no.11, pp.794-801, 2015 (Released:2015-11-21)
参考文献数
22
被引用文献数
3 1

Model based control system design has been developed in many fields based on the dynamics of the accurate plant model. However, the desired control performance is not achieved if the modeling error is not small. To overcome this problem, we have proposed a compensator to minimize the gap between an actual plant and its nominal model. The proposed compensator is composed of its plant model and an error feedback component. It is difficult to apply the compensator for non-minimum phase plants because of its control structure. In this paper, a parallel feedforward compensator is used to overcome the non-minimum phase characteristics. The effectiveness is shown by numerical examples.
著者
松永 信智 岡島 寛 志田 裕紀 松野 大亮
出版者
一般社団法人 日本機械学会
雑誌
日本機械学会論文集 (ISSN:21879761)
巻号頁・発行日
vol.83, no.851, pp.16-00519, 2017 (Released:2017-07-25)
参考文献数
18

To analyze the driving behavior is important for designing a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It has been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the travel routes, driving situations and driver's characteristics. The PID gain of the steering model is assumed to be modified depending on driver's gazing distance. The facts are familiar, but the relationship between driver's steering gain and the gazing distance has not been clarified yet. If this relation becomes clear, it can be helpful for the comfortable driving assistance and/or automatic driving systems to provide for each driver. The aim of this study is to design a steering model estimated by Particle Swarm Optimization (PSO) depending on gazing distance . The feature of the model is on-line measurement of gazing distance incorporating the gazing distance explicitly into a model. The isolated driving and the following driving are evaluated using a Honda driving simulator. The effectiveness of the model is discussed individually.
著者
岡島 寛 松永 信智 川路 茂保
出版者
The Society of Instrument and Control Engineers
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.45, no.3, pp.153-159, 2009 (Released:2011-11-03)
参考文献数
16
被引用文献数
2 2

Electric automobiles with four in-wheel moters have been developed in recent year. By using dynamic differential force between wheels, lateral motion of the automobile can be controlled with yaw moment. This framework is known as “Direct Yaw-moment Control (DYC)”. In many previous works of DYC methods, yaw-moment is used for increasing the stability. However, maneuverability has not been discussed. In this paper, a novel DYC controller is proposed that gives the neutral steering, where neutral steering is a good evaluation index of maneuverability of automobiles. The proposed controller is derived based on the output zeroing control. The effectiveness of proposed method is shown by numerical example.
著者
佐田 実季 田邉 将之 川脇 治 中村 優花 岡島 寛
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.56, no.6, pp.345-352, 2020 (Released:2020-06-12)
参考文献数
28

Paved roads are said to be able to use them for a long time with adequate maintenances on a regular basis. However, due to a shortage of manpower for repairs, sufficient maintenance have not been taken on some municipal roads in Japan, and the deterioration has progressed rapidly. Furthermore, around 2025, many asphalt pavements paved during the period of high economic growth in Japan are expected to deteriorate rapidly, hence, a more effective method than the current manual repairing method is required. In this research, we aim to realize a machine that automatically detects and repairs cracks. As a starting point, this paper studies crack detection, one of the important elemental technologies. Assuming actual use, it is necessary to be robust to disturbances such as different colors of paved roads and illumination change due to the weather. To solve this problem, we propose a robust crack detection using deep learning. Specifically, the crack detection was performed by classifying cracked and uncracked areas by semantic segmentation using U-Net. The learning process was performed with various images including lighting changes in the training data set. As a result, we achieved a robust segmentation of cracked areas with 92.5 percent accuracy of Intersection over Union.
著者
岡島 寛 細江 陽平 萩原 朋道
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.55, no.12, pp.792-799, 2019 (Released:2019-12-14)
参考文献数
32

A multi-rate state observer with a periodically time-varying gain is proposed in this paper. The proposed observer can be regarded as a periodically time-varying system. By using the cycling technique, the periodically time-varying system can be dealt with as a time-invariant system. This paper presents a method to design a multi-rate state observer using the cycling technique. Then, analysis about the l2-induced norm of the estimation error by the proposed observer is reduced to an LMI optimization problem. Then, the design problem of the time-varying gain is also described as an LMI optimization problem. The effectiveness of the multi-rate state observer is shown by numerical examples.
著者
岡島 寛 浅井 徹
出版者
The Society of Instrument and Control Engineers
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.43, no.9, pp.812-820, 2007-09-30 (Released:2013-02-25)
参考文献数
12
被引用文献数
1

This paper considers optimal tracking control problems. Our primary objective is to derive analytical solutions of fundamental limitations for a class of references in tracking control problem. It is well known that L2 norm of an error, which is defined by difference between an output and a reference, doesn't go to zero when we consider transient response for non-minimum phase systems. In the existing results, fundamental limitation is derived for each reference signal such as the step reference. In these results, we need consider whether the plant is easy to control or not in each reference. On the other hands, fundamental limitations are derived as functionals of references in this paper. In other words, we derive analytical performance limitation for a class of references. As a result, we can expect to separate contribution of references and that of plants in performance limitations.
著者
岡島 寛 奥村 洸祐 松永 信智
出版者
一般社団法人 電気学会
雑誌
電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)
巻号頁・発行日
vol.139, no.3, pp.219-226, 2019-03-01 (Released:2019-03-01)
参考文献数
26

It is well known that inverted pendulums are difficult to control because of its non-minimum phase and non-linear characteristics. Car robot type inverted pendulums are developed and it provides small spacing than four wheel mobile robot. Moreover, car robot type inverted pendulums have high acceleration performance. In previous study, how to obtain the reference value of the body angle for driving at desired acceleration is proposed using zero dynamics of the non-linear system. This method use the exact values of the model parameters to obtain desired acceleration signal. Therefore, the robot cannot achieve desired acceleration if the plant parameters are different from its model parameters. So, it is necessary to minimize the effect of the model error to achieve robust acceleration performance. In this paper, we propose a method to achieve robust acceleration performance based on the model error compensator. Also, the performance of the model error compensator is improved using the virtual output to satisfy minimum phase condition. The effectiveness of the proposed system is evaluated by the driving experiments of a car robot type inverted pendulum.
著者
岡島 寛 細江 陽平 萩原 朋道
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.54, no.11, pp.827-835, 2018 (Released:2018-11-22)
参考文献数
24
被引用文献数
1

This study proposes a design method of dynamic quantizer with communication rate constraints. Dynamic quantizers are well known as an effective method for the signal quantization in the meaning of the noise shaping. The noise shaping characteristics of the dynamic quantizers are determined by the matrices A, B and C. In the previous studies, A, B and C are given as time-invariant matrices. In this paper, we propose a dynamic quantizer form including periodically time-varying matrices for improving the control performance under the communication rate constraints. Analysis method of periodically time-varying dynamic quantizer is reduced to that of dynamic quantizers using time invariant matrices by using lifting technique. The effectiveness of the designed periodically time-varying dynamic quantizer is assessed via numerical examples.
著者
松永 信智 坂本 将一 田中 友樹 岡島 寛
出版者
一般社団法人 日本機械学会
雑誌
日本機械学会論文集 (ISSN:21879761)
巻号頁・発行日
vol.84, no.858, pp.17-00349-17-00349, 2018 (Released:2018-02-25)
参考文献数
19

Recently, electrical welfare vehicles driven by two motors employing free casters are widely used by patients and elders. However, as the user is not able to drive the vehicle well on the uneven rough roads, it is necessary to apply a new mechanism to drive on the rough road in order to expand driving area. The skid steer vehicle (SSV) has been used because of its high traveling ability on the rough road. However, the SSV has disadvantage that is, the driving assistance is required because its steering is highly affected by the road condition. The aim of this study is to design a driving assistance system of SSV for patients and elders by using Model Error Compensator (MEC) that suppresses the modeling error. The proposed controller consists of MEC, Extended Kalman Filter (EKF) that reduces sensor noise and system noise, and estimator of on-line cornering power of SSV. The effectiveness of the proposed system using on-line cornering power estimator is confirmed by the outdoor driving experiments. And the improvement of the driving assistance is evaluated by the correlation of the joystick manipulation comparing the paved and the dirt roads.
著者
岡島 寛 中林 佑多 松永 信智
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.54, no.1, pp.146-152, 2018 (Released:2018-02-23)
参考文献数
12
被引用文献数
1

In this paper, we propose a filter to satisfy velocity and acceleration limits for arbitrary input signals. The shapes of input signals are sometimes converted into trapezoidal wave in order to prevent an overload on the robot in FA field. Generally, physical protection of equipments, safety and ride quality are achieved with limitations for input signals about some properties. For achieving such limitation, the filters which limit some signal properties are widely used. A filter structure to satisfy velocity and acceleration limits was designed only simple feedback control with the saturation function. However, this structure had a problem that time-lag between the input signal and modified signal is occurred. To solve this problem, we propose a filter structure which is based on the model error compensator. Modified signal which is generated by the proposed filter satisfies the desired signal constraints for any input signals. By the proposed structure, time-lag can be smaller than the signals obtained by the previous method. The effectiveness of the proposed filter is shown by the numerical examples.
著者
松永 信智 仲野 征彦 岡島 寛 川路 茂保
出版者
一般社団法人 電気学会
雑誌
電気学会論文誌D(産業応用部門誌) (ISSN:09136339)
巻号頁・発行日
vol.130, no.10, pp.1175-1181, 2010-10-01 (Released:2010-10-01)
参考文献数
20
被引用文献数
1

In manufacturing processes, inappropriate thermal distribution, which is observed in both steady and transient states of the thermal plant, leads to inferior quality. For a plant with strong thermal interaction, decoupling control is effective in precisely tuning the control system. We proposed the decoupling controller based on the temperature-difference feedback model. However, no parameter-identification method of thermal interaction has been presented so far. Traditionally, iterative tuning by trial and error has been used to tune the controller parameters. In the case of an industrial plant, the tuning time would be long because of the large time constants of the plant. Recently, the virtual reference feedback tuning (VRFT) method, which can be used for off-line tuning of the controller parameters using a set of I/O data, has been studied to examine the possibility of shortening the tuning time. In this paper, a VRFT method for the feedback decoupling controller is proposed for a two-dimensional heat plate by taking consideration the thermal interaction property. The effectiveness of this VRFT method is evaluated by performing an experimental simulation.
著者
岡島 寛 澤田 賢治 松永 信智 南 裕樹
出版者
一般社団法人 電気学会
雑誌
電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)
巻号頁・発行日
vol.131, no.10, pp.1767-1774, 2011-10-01 (Released:2011-10-01)
参考文献数
21
被引用文献数
1

This paper proposes a design method of dynamic quantizers for MIMO networked control systems. It is well known that feedback type dynamic quantizers are effective for quantization of the data series in the meaning of noise shaping. The dynamic quantizers include a set of a dynamic filter and a static quantizer. When it is required to use the quantizer under the network communication, the data size of signal should be minimized appropriately by the quantizers. The authors have proposed a design method of the dynamic quantizers for SISO systems based on the communication rate constraint. In this paper, the design method is extended to MIMO systems. By this extension, we can handle the communication rate constraint for a kind of concentrated systems. In the setting of the quantizer for MIMO system, bit assignment is important matter for appropriate design of information flow. The effectiveness of proposed design method is shown by numerical examples.