著者

大石 隆文 古田 一雄 近藤 駿介

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.33, no.3, pp.203-208, 1997-03-31 (Released:2009-03-27)

参考文献数

5

被引用文献数

2 3

---

This paper is to propose a new architecture of a self-creating and organizing neural network for workspace recognition and navigation of an autonomous mobile robot. The robot assumed in this study learns its workspace with sonar sensors but without dead reckoning. The network proposed is organized into a graph structure rather than a tree with forgetting old links so that few dead nodes and dead links are created; the space of input signal can be covered efficiently by unsupervised learning. Methods of path planning and navigation based on a topological map created by learning has been proposed as well. The proposed architecture was tested by simulation of an autonomous mobile robot with eight sonar sensors, and it was demonstrated that the architecture is useful for the purpose.

著者

高松 吉郎 ミシェル メンスレー 出口 欣高 屋代 春樹 川邊 武俊

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.8, pp.551-560, 2015 (Released:2015-08-19)

参考文献数

14

---

Reduction of noise in a car cabin due to road irregularities has been a subject of research for many years. For reducing such a noise, we propose the H2-based Active Structural Acoustic Control (ASAC) method that uses detailed acoustic models obtained by system identification, from the actuators and the shakers to the driver's ears sound pressure level. During experiments in a semi-anechoic room with a compact car, we verify the effectiveness of the proposed approach by obtaining overall noise reduction over the frequency range of 80∼400Hz at the driver's ears.

著者

清水 駿 渡辺 亮

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.763-768, 2015 (Released:2015-11-21)

参考文献数

12

被引用文献数

1

---

This paper proposes a novel steering operation model scheduled by vehicle velocity. The model is constructed via the H∞ loop shaping. In order to improve driving safety, driver assistance systems have been focused on recently. The analysis by using a driver model is indispensable to design efficiently driver assistance systems. The proposed model must be scheduled by vehicle velocity since the driver's operation characteristics vary according to vehicle velocity. The model shows excellent course following performances in single/double lane change simulations with velocity change.

著者

安部 原也 伊藤 誠 山村 智弘

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.48, no.11, pp.688-697, 2012 (Released:2012-11-29)

参考文献数

10

---

In order to clarify the effect of different time headways and lead car's decelerations on visual distraction and its impact on collision risk during car-following a driving simulator study was conducted. Moreover the experimental investigation considered system effectiveness of a forward collision warning system as for decreased collision risk. Results showed that compared to short time headway, long time headway induced long duration time of visual distraction during car-following. This effect was significant when a lead car decreased its speed mildly. Collision risk due to lead car's deceleration was low for long time headway during car-following compared to short time headway even thought visual distraction was induced. However there was a possibility that long time headway led to long duration time of visual distraction resulting in increased collision risk. In case of the alarm trigger logic used in this study, alarms effectiveness for decreasing collision risk was proven because early alarms were given for short time headway. It can be said that longer headway time does not always guarantee decreased collision risk.

著者

名倉 剛

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.46, no.12, pp.765-773, 2010 (Released:2011-12-19)

参考文献数

28

被引用文献数

1 1

---

In order to design tracking control systems for a class of systems with rapid or abrupt changes, it is effective in improving tracking performance to construct preview control systems considering future information of reference signals. In this paper we study the H∞ tracking problems with preview for a class of linear continuous-time Markovian jump systems by the game theoretic approach. The systems are described by the continuous-time switching systems with Markovian mode transition. The necessary and sufficient conditions for the solvability of the H∞ tracking problem by state feedback are given by coupled Riccati differential equations with terminal conditions. Correspondingly feedforward compensators introducing future information are given by coupled differential equations with terminal conditions. We consider three different tracking problems depending on the property of the reference signals. Finally we give numerical examples and verify the effectiveness of the design theory presented in this paper.

著者

江村 超 熊谷 正朗 野村 亮太

出版者

計測自動制御学会

雑誌

計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.38, no.2, pp.129-136, 2002-02-28

参考文献数

4

被引用文献数

2

著者

江村 超 熊谷 正朗 王 磊 郷古 倫央

出版者

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.35, no.1, pp.17-23, 1999-01

参考文献数

7

被引用文献数

4

著者

江村 超 熊谷 正朗 王 磊 郷古 倫央

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.35, no.1, pp.17-23, 1999

被引用文献数

1

---

Dynamically walking robots require attitude sensors of high resolution and wide-band frequency response. If these characteristics are not good enough, it is difficult to control the robots stably. Rate gyros are widely used attitude sensors in walking robots, but the rate gyro which has both characteristics of sufficiently high resolution and wide-band frequency response is heavy and expensive. Therefore, the authors tried to get a small, light and low-cost rate gyro which has excellent characteristics both in resolution and response frequency by using multiple sensors and subtraction type of filters.<br>In this paper, first, a method to expand response frequency of rate gyros without reducing their resolution and an idea of subtraction type of filters which are useful for expanding frequency range are presented. The subtraction type of filter means the filter that has a transfer function obtained by subtracting another transfer function from 1 (unity). This filter provides flat response after composing two signals whose response frequency ranges are different each other. In this case, one is a signal obtained from a rate gyro whose resolution is high enough but response frequency is low, and the other is a signal obtained from a rate gyro whose resolution is low but response frequency is high enough.<br>If we use an inclinometer together with rate gyros, we can sufficiently decrease zero-drift of gyros, because the inclinometer senses angular displacement by referencing gravity direction and its zero stability is high enough. However, the inclinometer is influenced by horizontal acceleration. This means that we have to use a low-pass filter whose cutoff frequency is extremely low to eliminate signal component induced by horizontal acceleration. Attitude sensor using two rate gyros mentioned above and one inclinometer showed good characteristics concerning zero stability, resolution and response frequency range.

著者

段野 勝 林 庄司 朝倉 俊行

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.29, no.8, pp.973-975, 1993-08-31 (Released:2009-03-27)

参考文献数

2

---

Most efficient bicycle riding under similar tiredness was to get mutching between human and load impedance. This impedance was scarcely found the difference among individuals, and the optimum gear selection for the slop and speed of bicycle could be proved.

著者

松田 浩一 高井 幸秀 吉田 耕作 西村 勝 松山 峯雄 澤田 泰明

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.31, no.5, pp.544-552, 1995-05-31 (Released:2009-03-27)

参考文献数

6

被引用文献数

1 2

---

This paper describes about cutting stock scheduling system using simulated annealing method. The cutting stock problem is that of combinatorial optimization. The following functions are needed for the cutting stock scheduling system.1) Balance adjusting function for productivity, yield rate and delivery time.2) The results of scheduling have to satisfy constraint condition of coil cutting machine.3) There is time limitation for making cutting stock schedule. To overcome these problem, we realize new cutting stock scheduling system through following methods.1) Weights for each evaluated item are introduced and sum of these items are minimized by simulated annealing.2) The new neighborhood structure is developed for this problem which can satisfy constraint condition of coil cutting machine.3) The adjusting parameter for calculation time is newly introduced for Huang's annealing schedule, so that we can select best solution under the limit of calculation time.This cutting stock scheduling system is applied to plate plant and used as one of production planning system.

著者

稲垣 伸吉 丹羽 智哉 鈴木 達也

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.47, no.6, pp.282-290, 2011 (Released:2011-12-19)

参考文献数

12

被引用文献数

4 1

---

This paper proposes a novel locomotion control, called Follow-the-Contact-Point (FCP) gait control, for a centipede-like multi-legged robot. The centipede-like multi-legged robot is composed by connecting segments, which have a trunk and a pair of legs, via a passive joint. This control method is motivated from behavioral knowledge of a centipede that each leg always contacts on the point which the anterior leg contacted. The FCP gait control realizes the walking behavior of centipede via decentralized event-driven control structure. In addition, merely by planning and allocating the contact point of legs of a head segment adequately, the robot can change the moving direction and also climb over an obstacle. We clarify the feasibility of the FCP gait control by showing the result of physical simulation of a 20-legged robot.

著者

明石 一 熊本 博光

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.9, no.4, pp.378-386, 1973-08-30 (Released:2009-03-27)

参考文献数

8

---

This paper deals with the discrete least square approximation of multivariable functions whose values are given only at the lattice points.First, the solution is obtained as a linear combination of the values of the function at the lattice points, and it is shown that the deterministic method requires evaluation of the sum of an extremely large number of terms.Next, to overcome this difficulty, the problem is converted into that of evaluating the expected values of two probabilistic models. An algorithm based on simulating these models by means of choosing the lattice points at random is proposed for the evaluation of these expected values. The method of sampling the lattice points is also discussed.Moreover, the following points are shown.(i) The values of the parameters which are necessary to execute the algorithm can be obtained easily regardless of the number of independent variables.(ii) In two typical cases the proposed algorithm requires less computational labour than the deterministic method.(iii) The algorithm is effective in the following situations:(a) The situation when the values (data) of the function to be approximated can be measured only at the lattice points(b) The situation when the function is a composite functionA numerical example is also presented.

著者

西山 雄大 榎本 洸一郎 戸田 真志 森山 徹 郡司 ペギオ幸夫

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.49, no.1, pp.18-24, 2013 (Released:2013-02-08)

参考文献数

18

被引用文献数

1

---

Animal collective behaviours are regarded as emergent properties that result from local interaction between individuals in a swarm. Then we discern between individual movements and swarm behaviour. Dynamic swarm, however, might manage both of them in parallel. Swarm of soldier crabs seemed to change individual behavioural rules in water-crossing behaviours. We conducted experiments where the regular oscillations by soldier crabs resulted from collective movements triggered by cohesion. Then we focus on effects from a collective to individuals and vice versa. We demonstrate bidirectional characteristics that swarm of soldier crabs have.

著者

浅川 貴史 西原 主計 吉留 忠史

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.2, pp.132-134, 2009-02-01 (Released:2011-11-02)

参考文献数

10

---

We propose a method of analyzing a finger pulse by standard deviation using moving average for measuring mental load. Frequency analysis, Lorentz plot and Lyapnov exponent have been carried out to present measurement. However, this technique is analyzable in a shorter time than the existing technique.

著者

鈴木 文泰 堀 洋一

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.38, no.1, pp.67-72, 2002-01-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

2 1

---

In this paper, the general structure of anti-windup control system based on left coprime factorization is proposed. First, the command responses of anti-windup control system are investigated using transfer function description, and the condition for avoiding windup phenomena is derived. The responses can be formulated easily by handling the input saturation as its equivalent input disturbance. Next, the conditions are explained using state space description. This analysis shows that the proposed system has very simple structure. For feedback controller designed by Youla parameterization, the proposed method can obtain the proper estimated value by state observer. For feedforward controller designed by right coprime factorization, the proposed anti-windup controller has the limitation model in the state feedback loop.The effectiveness of the proposed method is shown by some simulation and experimental results.

著者

井上 学 小林 史典 渡邊 実

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.2, pp.145-152, 2007-02-28 (Released:2013-02-25)

参考文献数

7

---

A time-domain SRC, sampling rate converter, using Fourier interpolation to achieve less gate count than in frequency domain is proposed. The new SRC is implemented in 1/150 of the circuit size of conventional SRC with moderate performance using filters. It can also be used as back-end for filter-type SRC to achieve high performance efficiently.

著者

市川 学 出口 弘

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.49, no.11, pp.1012-1019, 2013 (Released:2013-11-27)

参考文献数

11

---

This paper describes specific points of simulation models in the urban simulation domain. Most of the agent-based models in this domain are made with using the cellular automaton methodology, but lack of considering life spaces, such as houses, offices, schools and so on. In this paper, we make two similar infection models. One is based on the cellular automaton and the geographic information system without considering life spaces, while the other is with life spaces considered. From simulation results, we find that simulation results become significantly different due to the differences between ways of model construction, and realize that life spaces are very important for some social phenomena that focus on interactions between human and human, and human and spaces, such as a spreading infection phenomenon.

著者

中村 あゆみ 古屋 晋一 合田 竜志 巳波 弘佳 長田 典子

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.49, no.9, pp.840-845, 2013 (Released:2013-10-16)

参考文献数

11

---

The purpose of the present study was to assess effects of daily piano practice on speed and accuracy. When they were asked to play the trained tone sequence as fast and accurately as possible, the maximum rate of keystrokes increased after the practice, indicating enhancement of finger movement speed. This was also the case when playing an untrained tone sequence with the left hand and untrained right hand as fast as possible. A retention test, being performed two months after the final practice session, revealed no apparent deterioration of the hand motor functions, suggesting robustness of motor memory acquired through the piano practice. Finally, provision of visual feedback regarding rhythmic accuracy of keystrokes facilitated the movement accuracy, which implicates a potential of the augmented feedback for improving piano performance.

著者

西尾 和記 加嶋 健司 井村 順一

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.9, pp.459-468, 2009 (Released:2011-11-03)

参考文献数

15

---

In this paper, we investigate the state preparation problem of quantum noiselsss subsystems for the quantum Markovian systems via quantum feedback control. The controlled dynamics we consider are given by the so-called stochastic master equation including the coupling terms with the environment. We formulate the problem as a stochastic stabilization problem of an invariant set. This formulation allows us to utilize the stochastic Lyapunov technique and derive a globally stabilizing controller. The effectiveness of this method is evaluated by applying it to the 3-qubit systems subject to the collective noise.

著者

久保田 直行 福田 敏男

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.34, no.5, pp.408-414, 1998-05-31 (Released:2009-03-27)

参考文献数

20

被引用文献数

2 2

---

This paper deals with virus evolutionary genetic algorithm. The genetic algorithms (GAs) have been demonstrated its effectiveness in optimization problems in these days. In general, the GAs simulate the survival of fittest by natural selection and the heredity of the Darwin's theory of evolution. However, some types of evolutionary hypotheses such as neutral theory of molecular evolution, Imanishi's evolutionary theory, serial symbiosis theory, and virus theory of evolution, have been proposed in addition to the Darwinism. Virus theory of evolution is based on the view that the virus transduction is a key mechanism for transporting segments of DNA across species. This paper proposes genetic algorithm based on the virus theory of evolution (VE-GA), which has two types of populations: host population and virus population. The VE-GA is composed of genetic operators and virus operators such as reverse transcription and incorporation. The reverse transcription operator transcribes virus genes on the chromosome of host individual and the incorporation operator creates new genotype of virus from host individual. These operators by virus population make it possible to transmit segment of DNA between individuals in the host population. Therefore, the VE-GA realizes not only vertical but also horizontal propagation of genetic information. Further, the VE-GA is applied to the traveling salesman problem in order to show the effectiveness.