著者

河原 吉伸 矢入 健久 町田 和雄

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.23, no.2, pp.76-85, 2008 (Released:2008-01-29)

参考文献数

20

---

In this paper, we propose a class of algorithms for detecting the change-points in time-series data based on subspace identification, which is originaly a geometric approach for estimating linear state-space models generating time-series data. Our algorithms are derived from the principle that the subspace spanned by the columns of an observability matrix and the one spanned by the subsequences of time-series data are approximately equivalent. In this paper, we derive a batch-type algorithm applicable to ordinary time-series data, i.e., consisting of only output series, and then introduce the online version of the algorithm and the extension to be available with input-output time-series data. We illustrate the superior performance of our algorithms with comparative experiments using artificial and real datasets.

著者

乾 稔 矢入 健久 河原 吉伸 町田 和雄

出版者

一般社団法人 人工知能学会

雑誌

人工知能学会全国大会論文集 第23回 (2009)

巻号頁・発行日

pp.1B12, 2009 (Released:2018-07-30)

---

システム監視へのデータマイニングの適用は結果の解釈の困難さや,その後の異常診断へのつなげ難さという欠点があるが,それらを克服するアプローチとして,入力空間で結果を解釈することが出来る次元削減と再構成誤差を用いた異常検知法がある.本稿では,多くの次元削減法からタイプの異なる5つの次元削減法とk-means法について,ベンチマークデータと実際の人工衛星データを用いて異常検知の観点から比較検討を行った.

著者

町田 和雄 戸田 義継 森谷 正義 津田 直純 秋田 健三

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.18, no.3, pp.444-452, 2000-04-15

参考文献数

11

被引用文献数

5

---

This paper presents the space test of the ARH (Advanced Robotic Hand System), which is the world's first precise extravehicular robot aboard the satellite“Hikoboshi”. The telerobotic system has features of dexterity, autonomy and flexible operability, using a three-finger multisensory hand at a work site in space and a computer-graphics-based desktop interface at an operation site on the ground. The concept of sensor-fused telerobotics utilizing multisensory information is introduced, and the system is implemented to perform high precision tasks under the barrier of inter-satellite space communication. The robot system was launched into low earth orbit, and the capability of sensor-fused telerobotics was successfully demonstrated in precise in-orbit servicing.

著者

町田 和雄 三上 龍男 秋田 健三

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.17, no.4, pp.577-586, 1999-05-15 (Released:2010-08-25)

参考文献数

10

---

Space robots performing precise servicing tasks in unmanned facilities will be indispensable in space activity of the 21st century. This paper presents the development of a precise telerobotic system which is the world's first precise extravehicular robot aboard the satellite, ETS-VII. The robot has the features of skill and autonomy for handling various parts in space through a three-finger multisensory hand. Firstly, we discuss the requirements for in-orbit precise servicing by a robot and system constraints to integrate into the satellite, and present the total system design for space telerobotic experiment. Secondly, we describe the design of robot mechatronics adapt to space use. The launch lock mechanisms and reconfiguring method of the robot in orbit are also described. Thirdly, an architecture and design of the onboard control computer system to manage various tasks flexibly and safely are presented. Finally, the multisensory based control for precise task execution and development result of the flight model are presented. The system was launched, and initial checkout reveals the system works well in-orbit.