著者

鈴木 脩平 田地 宏一

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.50, no.4, pp.348-355, 2014 (Released:2014-04-16)

参考文献数

15

---

In model predictive control (MPC), an optimal control problem is solved at each time steps to determine control input. To realize on-line control of MPC, reducing computational time is requisite. In this paper, we apply a semismooth Newton method for MPC with simple bounds. The semismooth Newton method is one of iterative methods and is used to solve a complementarity problem and a KKT system of optimization problems. The semismooth Newton method has an advantage over other QP solvers, such as interior point methods and so on, that the initial point can be chosen arbitrarily, and this enables hot start. We show that the proposed method is globally convergent. We also show the condition guaranteeing the nonsingularity of the generalized Jacobian at a solution, which is closely related to the quadratic convergence of the algorithm. This is the first result to clarify the reason why constraints on state variables make MPC computationally expensive from the algorithmic perspective. Some numerical examples show that the proposed method is practically efficient.

著者

大澤 修一 中村 文一 西谷 紘一

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.46, no.12, pp.733-736, 2010 (Released:2011-12-19)

参考文献数

4

被引用文献数

1

---

Self-localization is an important technique for vehicle automation. Extended Kalman Filtar (EKF) is a major sensor fusion technique for self-localization of mobile vehicles. To calculate Kalman gains, variance matrices are necessary. However, it is laborious to obtain variance matrices. In this paper, we compare the structure of the grid point observer with that of EKF, and propose a design method of decding variance matrices by using digital filter design method. In addition, effectiveness of the proposed method is confirmed by the experiments.

著者

安井 雅彦 M. Sakti Alvissalim 山本 裕紹 石川 正俊

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.52, no.3, pp.134-140, 2016 (Released:2016-03-25)

参考文献数

16

被引用文献数

1 3

---

Recently, the importance of 3D interaction is increasing. We realize immersive 3D environment based on eyeware-free 3D image and high-speed hand gesture interface. For the aerial image, we use a display technology called AIRR and the 3D high-speed handtracking and gesture recognition make it possible to manipulate the aerial image in high-speed. The system we integrated is called “AIRR Tablet” which recognizes hands or any other objects in high-speed beyond human perception. We achieved immersive input and output having a small delay. We can perform operations without any physical contact (Drag&Drop, Punch, Drawing, and Pinching).

著者

平岩 明 内田 典佳 下原 勝憲 曽根原 登

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.30, no.2, pp.216-224, 1994-02-28 (Released:2009-03-27)

参考文献数

19

被引用文献数

8 15

---

The cybernetic interface through which users can communicate with computers “as we may think” is the dream of human-computer interactions. Aiming at interfaces where machines adapt themselves to users' intention instead of users' adaptation to machines, we have been applying a neural network to realize electromyographic (EMG)-controlled slave hand. This paper proposes that EMG patterns can be analyzed and classified by a neural network. Through experiments and simulations, it is shown that recognition of finger movement and joint angles in dynamic finger movement can be successfully accomplished.A 3-layred back-propagation network is used for finger action recognition from 1 or 2ch surface EMG. In the case of static fingers' motions recognition, 5 categories were classified by the neural network and the recognition rate was 86%. In the case of joint angles estimation in continuous finger motion, the root mean square error was under 25 degrees for 5 fingers 10 joints angles' estimations.Cyber Finger with 5 fingers 10 joint angles was realized to be controlled by 2ch surface EMG. The slave hand was controlled smoothly and voluntarily by a neural network.

著者

浅田 春比古

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.19, no.6, pp.500-505, 1983-06-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

1 6

---

Robot manipulators and mechanical arms have complicated behavior including interactions among multiple joints, nonlinear effects such as Coriolis and centrifugal forces, and varying inertia depending on the arm configuration. In this paper, a new approach to the geometrical representation of manipulator dynamics is presented. The inertia ellipsoid, which is used to represent dynamic characteristics of a single rigid body, is extended to a series of rigid bodies in order to represent the manipulator dynamics. The geometrical representation of the generalized inertia ellipsoid (GIE) represents the characteristics of the manipulator as a whole. One can understand the complicated inertia effect and nonlinearity of multi-degree-of-freedom motion by simply investigating the GIE configuration. In the latter half of the paper, the presented method is applied to aid the design of a mechanical arm, in which dimensions of an arm structure and its mass distribution are optimized through the evaluation and graphical representation of the arm dynamics.

著者

石川 裕一 浅野 裕俊 坂本 直樹 井出 英人

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.9, pp.586-588, 2010 (Released:2011-11-03)

参考文献数

4

---

In this paper, we proposed the evaluation method of the sleepiness by oxygenated hemoglobin. The sleepiness by diver's operation can be considered as the factor of accidents. Therefore, we needed to have evaluated the sleepiness while driving. Then, we gave the driving task to the subjects and researched the relation of oxygenated hemoglobin. As the result of the experiment, compared with facial expression, oxygenated hemoglobin tends to be decreased gradually. Possibility of driver's sleepiness evaluation could be shown.

著者

宮武 信春 猪口 孝

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.14, no.3, pp.236-241, 1978-06-30 (Released:2009-03-27)

参考文献数

22

---

It is commonly belived that a bilateral negotiation between two countries can reveal its whole content only after publication of the documents explained by the responsible officials, for it is difficult to procure data on a countory's internal motivation affecting the decision in the negotiation. Not denying this fact, however, we have attempted to show that a certain type of negotiation can be modeled on the basis of publicly available data. To get insight into the pattern of conflicts in this new era of oceanic territories, we have chosen the fishery negotiation between Japan and the Soviet Union. We have made the state space equation model in modern control theory based on the negotiation data 1957∼1976, and we have forecasted the result of negotiation 1977. The results shows that the model's predictive performance is remarkably good. We have identified the five majore structual components of the negotiation which characterize as the politics of decrementalism.

著者

久保 和良

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.42, no.8, pp.845-853, 2006-08-31 (Released:2009-03-27)

参考文献数

43

被引用文献数

2 2

---

New method for estimating instantaneous parameters of sinusoid from its differential domain samples is proposed. Assuming the signal under estimation as a sine-wave, the concrete algorithm for estimating parameters by algebraic operations is shown in this paper. Numerical experiments show that the algorithm enables us to perform high speed estimation, and has the desirable results as follows: (a) Comparing with the Fourier analysis and the time-frequency distributions such as the Wigner distribution, since the proposed method is not under constraints of the uncertainty principle, instantaneity in time domain and high resolution in frequency domain can be achieved, (b) Comparing with the method of calculating the original instantaneous frequency from pre-envelope of the signal via Hilbert transform, the proposed method can offer the true instantaneous frequency depending only on the instantaneous information of the signal, (c) Comparing with the Prony's method, this method gives more instantaneous parameters with higher resolution without dropping into ill condition. The proposed method gives estimates without trade-offs of choice of method options, without constraint of the sampling theorem, and with tolerance against quantization error in the differential domain samples. On the other hand, this method has defects of fragileness against sampling delays in the differential domain, and intolerance to the signals that are not sinusoids. For the proposed method introduces the differential domain sampling, and is based on the identification of sinusoid under original definition of frequency, the ultimate instantaneity in estimating parameters of sinusoid is achieved.

著者

孫 連明 三宅 泰弘 大森 浩充 佐野 昭

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.36, no.4, pp.348-355, 2000-04-30 (Released:2009-03-27)

参考文献数

16

被引用文献数

2 2

---

Closed-loop identification is essentially needed in control of an unstable plant stabilized by a feedback controller. A new direct closed-loop identification approach is proposed based on an output inter-sampling scheme, in which by taking faster sampling of the output than the input of the system the restrictive identifiability condition is removed. In a case of unstable system, since the noise model becomes non-minimum phase system, the prediction error method is not available. In order to solve these problems we clarify that the output inter-sampling gives the SIMO structure of the plant model and give a new identification method in which the denominator polynomial can be identified in an open-loop manner and the numerator polynomial can also be obtained by a modified instrumental variable method. The proposed algorithm is validated in an experimental study using a magnetic suspension system.

著者

保坂 良資

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.37, no.8, pp.704-712, 2001-08-31 (Released:2009-03-27)

参考文献数

17

被引用文献数

1 1

---

A new strolling control method for aged who are suffering from senile dementia and living in closed area of welfare institution is developed. It is using LF band RFID (Radio Frequency Identification) to control a partition door. Battery-less operation is available in the RFID marker. It is difficult to be carried the marker by the aged. However, it is easy to be carried it by the staff like as nurse. In this study, the marker is set on a nurse cap and so on. If the nurse with marker approach to the door, RFID sensor detects it. If the door is controlled by the detection information, the nurse is able to enter to the area and exit from the area. But, the aged without marker can not pass the door, since the RFID sensor can not detects the marker. By this method, strolling control of the aged realizes relatively. However, an identification distance of RFID is short. In this study, RFID sensor antenna and marker antennas are set to suitable condition. In the first step, two types of sensor antenna are produced. Those sizes are 1000mm by 1000mm and 1050mm by 150mm. Former is set to ceiling. Later is set to door top. In the second step, new type marker antenna is produced. Its size is 60mm in diameter. In experimental results, a combination of ceiling antenna and 60mm marker indicate over 880mm identification distance from the door. A combination of door top antenna and 60mm marker also indicates over 450mm identification distance form the door. It is enough distance to control the partition door. It was also evidenced by field experiment.

著者

湯浅 秀男 伊藤 正美

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.35, no.11, pp.1447-1453, 1999-11-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

3 4

---

Some kinds of spatiotemporal pattern generator systems are expressed by evolution equations. Such evolution equations are composed of many dynamic units which behave from only its local information. This is one example to coordinate many subsystems which observe the system from inside and to generate a global order. This paper shows how to treat these evolution equations and how to apply it to network systems. First, a continuous media system which is expressed by a gradient system in function space is considered. One of the simplest potential functional derives a reaction diffusion equation which decreases the value of potential functional monotonously. The similar result is found in graph space. That is, a reaction diffusion equation on a graph decreases the value of a potential functional monotonously. This means that a network of dynamic units which observe only their connecting units' states can generate a global order in the same way of continuous media. This theory can treat some internal dynamic network system which should coordinate without some kinds of central controllers.

著者

吉川 恒夫

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.21, no.9, pp.970-975, 1985-09-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

7 36

---

The concept of dynamic manipulability of robot arms is proposed as a quantitative measure of their manipulating ability in positioning and orienting the end-effectors, which takes the arm dynamics into consideration. It is shown that this measure corresponds to the volume of the dynamic manipulability ellipsoid, which is formed by the set of all realizable acceleration of the endeffector under certain constraint on the magnitude of joint driving force. A two-joint link mechanism is analyzed and its best posture is obtained under certain condition from the viewpoint of this measure. A numerical example is also given to illustrate the applicability of this concept to the design of robot manipulators.

著者

岩月 正見 川又 政征 樋口 龍雄

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.23, no.2, pp.149-154, 1987-02-28 (Released:2009-03-27)

参考文献数

10

被引用文献数

1 1

---

This paper proposes performance indeces of robot arms from a new viewpoint of the degrees of controllability and observability. The definitions of the controllability, observability and output-controllability Gramians of linear systems are given to show these degrees, and the physical meanings of these Gramians are explained. Using the products of the eigenvalues of these Gramians, the controllability, observability and output-controllability gains are proposed as the measures of performance evaluation of robot arms. Furthermore, it is shown that manipulability and dynamic manipulability can be obtained as the degrees of observability and output-controllability. As a numerical example, a two link arm is evaluated using the controllability, observability and output-controllability measures.

著者

中島 利郎 仲嶋 一 鷲見 和彦 的場 修

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.746-753, 2010 (Released:2011-12-19)

参考文献数

10

被引用文献数

3 2

---

We have developed a road surface condition detection system using near-infrared light, which enables remote measurement. The developed system can detect the difference of road surface conditions as dry, water, ice, and snow.In this case, we focused on the light-absorption characteristics of water. To remove the affect of the thickness of the water layer, we have proposed a measured metrics as absorption ratio at two wavelengths. The absorption spectra were measured by using a water layer of 1mm thickness. The experimental results showed that the absorption peak shifts to longer wavelength when the water state changes into ice state. A ratio of absorption coefficients at 1300nm and 1410nm is constant even when the layer thickness changes from 0.2mm to 0.8mm. This result indicates that the proposed absorption ratio can be used as a criterion to detect the water state or the ice state.We have also proposed a reflected-light separation method by using polarization characteristics of light. There are two reflected light components. One is the reflected light from the water surface and the other is one from the road surface. The reflected light from the water surface keeps the polarization state of the input. However, the polarization state from the road surface becomes random state because of the rough surface. To remove the surface reflection of the water layer, orthogonal polarization detection of input and output pair is effective. This is confirmed by the experiment.We made a prototype of the above-described detection principle and it was tested by the experiment. As a result, the feasibility of determining road surface conditions such as dry, water and ice is confirmed by simultaneous measurement of light-absorption characteristics and reflection characteristics.

著者

室井 貴史 長屋 征悟 木竜 徹 村山 敏夫

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.50, no.8, pp.608-615, 2014 (Released:2014-08-15)

参考文献数

23

---

In recent years, the applications of an idea on muscle synergies have been increasing in terms of a coordinated muscle activities for motions. However, a few studies have discussed the relationship between muscle synergies and dynamic motions. We examined the relationship for squatting, pedaling, and ski turning that have the different reproducibility. Furthermore, we discussed the influence of muscle fatigue on muscle synergies. As a result, the robustness of muscle synergies are different depending on the degree of reproducibility of motions and the synergy profiles and weights are effective to identify the small number of muscles that should be measured. Nevertheless, muscle synergies should be further studied regarding the assessment of muscle fatigue with the ling-term trend and fatigue-related changes in muscle coordination.

著者

坂元 浩樹 堀江 雄二 吉田 宏 宮崎 智行

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.30, no.5, pp.597-599, 1994-05-31 (Released:2009-03-27)

参考文献数

7

---

An inverted pendulum system mounting a gyroscope was reported. The slanted pendulum was brought to be vertical by applying a control force of a gyroscopic moment. The state-space equations were derived to confirm that the system was controllable. The optimal regulator was designed and the region of its optimal poles was determined by simulation. In experiments with state feedback control obtained from those poles, the gyro-pendulum was kept upright more than an hour and half.

著者

大倉 裕貴 藤本 健治 斎藤 暁生 池田 英俊

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.54, no.11, pp.812-820, 2018 (Released:2018-11-22)

参考文献数

21

---

This paper describes a procedure to design potential functions for path following control of port-Hamiltonian systems. The conventional path following control method needs to find a time invariant potential function which takes its minimum on the desired path. It is difficult to find such a function for a complex path, since it has to satisfy additional several constraints. Inspired by the results of the existing trajectory tracking control method of port-Hamiltonian systems, we propose an improved path following control method in which a potential function for path following control is acquired by solving simple partial differential equations.

著者

半田 久志 片井 修 馬場 則夫 椹木 哲夫 小西 忠孝 馬場 充

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.35, no.11, pp.1438-1446, 1999-11-30 (Released:2009-03-27)

参考文献数

15

被引用文献数

1

---

In this paper, we propose a new Genetic Algorithm involving a mechanism of Co-evolution. Our Coevolutionary Genetic Algorithm consists of two Genetic Algorithms (GAs): a traditional GA which searches for the optimal solutions for given problems, and another GA to search for effective schemata in the former GA. Also, we adopt binary coding, partial spaces in genetic space, and rotated partial spaces as the coding method for the individuals in the latter GA, namely, schemata for the former GA. Moreover, we discuss on the effectiveness of coding and fitness evaluation for our Coevolutionary Genetic Algorithm. Several computational results on function optimization problems confirm the effectiveness of our approach.

著者

田中 秀幸 太田 快人 沖村 祐亮

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.253-261, 2011 (Released:2011-12-19)

参考文献数

24

---

This paper studies linear-time-invariant (LTI) modeling of a twin-rotor MIMO system based on the dynamical models derived from the first principles and identification experiments, motivated by building LPV (Linear Parameter Varying) models. The present method proposes using the states of the first-principle-model and the identification-model. Continuous-time local LTI models with a consistent state are obtained in the frequency domain. It is also shown that an LPV model is computed from the local models.

著者

滝内 基弘 橋本 康

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.13, no.5, pp.482-488, 1977-10-30 (Released:2009-03-27)

参考文献数

12

被引用文献数

2 1

---

The leaf temperature was measured by means of an infrared thermometer, which utilized PbTiO3 pyroelectric infrared detector, in connection with plant physiological information.The infrared thermometer was operated with a band pass filter of 9μm to 12μm, in which region the spectral reflectance of leaf is relatively low (less than 1% for tobacco leaf) and the averaged emissibity of leaf estimated by using Weber's method is nearly 1.0. The stability of the infrared thermometer proved to be better than 0.3K in terms of zero drift in a series of continuous operation and its best resolution of temperature was 0.1K. A high sensitive impedance meter was used simultaneously as for the measurement of water content in plants.The leaf temperature response of tobacco plant to light inputs and humidity inputs in various condition was measured in a controlled growth cabinet. The water content in stem, the transpiration and the gas concentration were measured simultaneously. As the result;(1) When the leaf was irradiated, oscillating changes in the leaf temperature in connection with changes in the water content of stem and in the transpiration were clearly observed.(2) The leaf temperature changed more rapidly at a higher air temperature.(3) The amplitude of leaf temperature change was greater at a lower air humidity.(4) A comparison between the results of temperature measurement obtained by thermocouple and those by infrared thermometer showed that the effect of the adhesive that was used for thermal contact of thermocouple on the leaf was not negligible.The results as a whole shows that the information obtained through the measurement of leaf temperature by means of infrared thermometer can present a key to make clear the phenomena in plant growth.