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

5

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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 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

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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

中嶋 宏 森島 泰則 山田 亮太 Scott Brave Heidy Maldonado Clifford Nass 川路 茂保

出版者

一般社団法人 人工知能学会

雑誌

人工知能学会論文誌 (ISSN:13460714)

巻号頁・発行日

vol.19, no.3, pp.184-196, 2004 (Released:2004-04-06)

参考文献数

29

被引用文献数

4 15

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In this information society of today, it is often argued that it is necessary to create a new way of human-machine interaction. In this paper, an agent with social response capabilities has been developed to achieve this goal. There are two kinds of information that is exchanged by two entities: objective and functional information (e.g., facts, requests, states of matters, etc.) and subjective information (e.g., feelings, sense of relationship, etc.). Traditional interactive systems have been designed to handle the former kind of information. In contrast, in this study social agents handling the latter type of information are presented. The current study focuses on sociality of the agent from the view point of Media Equation theory. This article discusses the definition, importance, and benefits of social intelligence as agent technology and argues that social intelligence has a potential to enhance the user's perception of the system, which in turn can lead to improvements of the system's performance. In order to implement social intelligence in the agent, a mind model has been developed to render affective expressions and personality of the agent. The mind model has been implemented in a human-machine collaborative learning system. One differentiating feature of the collaborative learning system is that it has an agent that performs as a co-learner with which the user interacts during the learning session. The mind model controls the social behaviors of the agent, thus making it possible for the user to have more social interactions with the agent. The experiment with the system suggested that a greater degree of learning was achieved when the students worked with the co-learner agent and that the co-learner agent with the mind model that expressed emotions resulted in a more positive attitude toward the system.

著者

川路 茂保 汐月 哲夫

出版者

The Institute of Electrical Engineers of Japan

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.108, no.3, pp.167-173, 1988-03-20 (Released:2008-12-19)

参考文献数

12

著者

川路 茂保 小笠原 健一

出版者

The Institute of Electrical Engineers of Japan

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.116, no.4, pp.435-440, 1996-03-20 (Released:2008-12-19)

参考文献数

14

被引用文献数

1 2

---

Genetic Algorithms (GAs) are powerful and usable algorithms for the nonlinear optimization problem, and some studies of application of GA to the control problem were reported. The search process of GA depends on the fitness value which is assigned to each candidate solution by the fitness function. But as the control objective is more complicated, the design of the proper fitness function becomes more difficult.In this paper, we propose a new search method of GA which reduces the difficulties of the design of the fitness function. In our method, the control objective is divided into some intermediate objectives according to the control strategy, and the search process of GA proceeds with the fitness function for the intermediate objective. The search process is controlled by switching the fitness function based on the average fitness value of the current candidate solutions so that the optimum solution is found. Thus, the search space is structured by using the fitness function and the structure is changed by switching the fitness function based on the quality of the current candidate solutions. In order to confirm the availability of the proposed method, the swing-up control problem of a pendulum is used as an application example and the simulation results are given.

著者

川路 茂保 金 煥成

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 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.116, no.12, pp.1230-1237, 1996-11-20

参考文献数

17

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The loop transfer property (LTR) of a full state feedback control system can be recovered by an observer. But the disturbance attenuation property (DAPR), which is characterized by the closed loop transfer function from the disturbance to the controlled output, may not be recovered by the same observer. It is desirable in practical control systems that both properties should be able to be recovered simultaneously.<br>In this paper, we show that the simultaneous recovery is possible by a proportional integral (PI) observer. Two remarkable results are presented: First, a new design method of PI observer is presented by utilizing the relation between PI observer and another observer which is constructed for a new augmented system. Second, the condition for simultaneous recovery by PI observer is given, and a design method of PI observer for simultaneous recovery is derived based on modified LQG/LTR. Finally, an example demonstrates the effectiveness of the proposed design method.

著者

米良 亮平 岡島 寛 松永 信智 川路 茂保

出版者

一般社団法人 日本人間工学会

雑誌

人間工学 (ISSN:05494974)

巻号頁・発行日

vol.48, no.4, pp.187-195, 2012-08-15 (Released:2012-10-31)

参考文献数

21

---

上肢6筋モデルは筋活動と関節角度の変化より関節トルクや手先剛性を推定できるため,腕の姿勢が変化する動作の解析に適用できる.このような解析を行うためにはモデルの剛性パラメータを推定する必要がある.しかし,筋肉付け位置,長さ,断面積などの生体パラメータを多く含むため,動作範囲が広い場合は筋の長さや断面積の変化が筋のばね定数に大きく影響し,剛性パラメータの推定は困難になる.これに対し本論文では,広い動作範囲を持つクランクタスクを用いて,上肢6筋モデルにおける筋の剛性パラメータの推定手法を提案する.まず,すべての筋を均質な弾性体と考え,それぞれの筋の弾性係数を共通した縦弾性係数を用いて表し,最小二乗法に筋の縦弾性係数に関する勾配法を併用して筋パラメータを推定する.さらに,提案手法によって得た筋パラメータに対する剛性分析により,求まった筋パラメータの有効性を検証する.

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

嶋田 泰幸 大塚 弘文 山本 芳一 松本 勉 川路 茂保

出版者

公益社団法人 日本工学教育協会

雑誌

工学教育 (ISSN:13412167)

巻号頁・発行日

vol.55, no.3, pp.3_99-3_104, 2007 (Released:2007-06-13)

参考文献数

8

被引用文献数

3 4

---

There have been literatures that have focused limited topics of teaching material, educational robots etc. There have been also literatures to teach control engineering in the robotics. It seems to be no reports that have discussed the framework, curriculum for system control engineering education. The present paper describes the design of curriculum for system control engineering of technical college in Japan. The feature of the curriculum is line tracer oriented. In the proposed curriculum, basic line tracers are developed to high technology tracers as grade in college advanced. Basic tracers are developed with simple logic devices. High technology tracers are controlled by microcomputers, such as H8. Students can develop line tracers based on the course programme, and it is expected that students will be more aggressive in learning technology. The paper introduces basic concept of a line tracer oriented curriculum and shows educational perspective for embedded technology. The proposed idea in the paper can be applied to other education sectors.

著者

中嶋 宏 森島 泰則 山田 亮太 Scott Brave Heidy Maldonado Clifford Nass 川路 茂保

出版者

The Japanese Society for Artificial Intelligence

雑誌

人工知能学会論文誌 = Transactions of the Japanese Society for Artificial Intelligence : AI (ISSN:13460714)

巻号頁・発行日

vol.19, pp.184-196, 2004-11-01

被引用文献数

1 15

---

In this information society of today, it is often argued that it is necessary to create a new way of human-machine interaction. In this paper, an agent with social response capabilities has been developed to achieve this goal. There are two kinds of information that is exchanged by two entities: objective and functional information (e.g., facts, requests, states of matters, etc.) and subjective information (e.g., feelings, sense of relationship, etc.). Traditional interactive systems have been designed to handle the former kind of information. In contrast, in this study social agents handling the latter type of information are presented. The current study focuses on sociality of the agent from the view point of Media Equation theory. This article discusses the definition, importance, and benefits of social intelligence as agent technology and argues that social intelligence has a potential to enhance the user's perception of the system, which in turn can lead to improvements of the system's performance. In order to implement social intelligence in the agent, a mind model has been developed to render affective expressions and personality of the agent. The mind model has been implemented in a human-machine collaborative learning system. One differentiating feature of the collaborative learning system is that it has an agent that performs as a co-learner with which the user interacts during the learning session. The mind model controls the social behaviors of the agent, thus making it possible for the user to have more social interactions with the agent. The experiment with the system suggested that a greater degree of learning was achieved when the students worked with the co-learner agent and that the co-learner agent with the mind model that expressed emotions resulted in a more positive attitude toward the system.