著者

角田 祐輔 末岡 裕一郎 和田 光代 大須賀 公一

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.55, no.8, pp.507-515, 2019 (Released:2019-08-10)

参考文献数

18

被引用文献数

5

---

In this paper, we deal with the control problem to manipulate autonomous multiple agents (a flock of sheep) escaping from an agent (a sheepdog) according to nonlinear interaction. This work was motivated by so-called sheepdog system inspired by sheepdog shepherding: a flock of several thousands of sheep are controlled by only a few sheepdogs in the real world. It is an interesting control system because one or more sheepdogs, who act as a small number of controllers, can control many sheep that cannot be directly controlled, taking advantage of their own maneuverability. For this reason, there have been many studies about this system; however, these studies have been limited to building numerical models or performing simulation analyses. Therefore, we aim to clarify the control principle theoretically. For this purpose, we conduct theoretical analysis for a sheepdog-type navigation system which we design based on a flock control model proposed by Vaughan et.al. in the case that one sheep is controlled by a sheepdog. Moreover, we also demonstrate the results by using simulations to confirm the validity of the analysis.

著者

柏尾 知明 松木 剛志 出口 幹雄 白井 みゆき 占部 弘治 栗原 義武 今井 伸明

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.50, no.4, pp.383-385, 2014

---

This paper reports development of a real-time remote control system for robots using augmented reality (AR) technology. An operator can control a robot via the Internet or LAN in real-time by using the system, obtaining an image composed of a remote web camera image and 3D virtual objects. In the paper, a transmission method of the web camera image using UDP and an application method of AR are explained and application of the system to the treasure hunter robot exhibited in Akagane Industrial Expo 2012 is presented.

著者

関本 勝也 岡部 靖憲 緒方 純俊

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.12, pp.1524-1529, 1999-12-30 (Released:2009-03-27)

参考文献数

13

---

We have analyzed the interaction of the air pollution gases concentration between neighboring places in Kitakyushu area by KM2O-Langevin equations theorem, which provides the causality between different time series. From the analyses on SO2, NO2 and NO gases concentrations on 100 hours basis from 1980 to 1986, we have recognized a strong causality on SO2 in 1980 and 1986, but not noticiable in other cases. We have also recognized a moderate causality on NO2 in 1986.

著者

渡辺 亮 内田 健康 藤田 政之

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.7, pp.861-868, 1999-07-30 (Released:2009-03-27)

参考文献数

22

被引用文献数

3 4

---

The actual control systems possess some kind of restrictions on the control inputs like saturation, rate limit, and so on. It is known that these restrictions usually cause the large overshoot of the controlled variables for step reference signals. This overshoot phenomenon is called the windup phenomenon. Though the windup phenomenon crucially causes the undesirable performance of the actual control systems, formulation of the windup phenomenon from a control-theoretical point of view has not been proposed yet.In this paper, we characterize the windup phenomenon via output reachable sets and propose analysis technique for the windup based on reachable set analysis. Then we propose a new framework for anti-windup technique and characterize its anti-windup performance via output reachable sets. We also propose analysis technique for anti-windup performance based on reachable set analysis.

著者

山本 広樹 青島 伸治

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.39, no.11, pp.993-1001, 2003 (Released:2009-03-27)

参考文献数

12

---

In this paper, we propose evaluation indices for grasping the characteristics of measurement signals from three axis sensors. Those evaluation indices are based on signal representation of quaternion and spectral analysis on the form. And, those are led by linking the coefficients of such spectra and the concept of the periodic motion on elliptic orbit in quaternion space. To show the benefit of the method in future use, an model experiment processing the three axis acceleration measurement data, which were recorded by originally developed sensor ball, were carried out. Then, the indices were calculated with the acceleration data given in such manner. As the result, comparing to the complex spectra at each axis, our evaluation indices have some advantages at the point of quick observation and recognition of three dimensional dynamical characteristics. Although the data processing based on quaternion has been widely used among the field of computer graphics or attitude control system of artificial satellite, a few attention are paid to the application for the signal processing of three dimensional measurement signal. On the other hand, in the field of the diagnostics with vibration such as of rotating machine, the spectral analysis which can observe a phase relation between multiple axis may become to be in great demand. So that, our evaluation indices will be a useful mean under such situation.

著者

山田 学 富塚 誠義

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.99-104, 2009-02-28 (Released:2011-11-02)

参考文献数

22

被引用文献数

6 3

---

This paper considers the problem of controlling both the planar position and orientation of an underactuated airship with a reduced number of actuators. The airship is a nonholonomic system described by a set of nonlinear equations. A smooth and time-varying coordinate transformation is utilized to reduce the stabilization problem of the airship to that of a simple linear time-invariant system. A new feedback controller is presented for obtaining global exponential stabilization of both the position and orientation of an underactuated airship. The proposed design method is simple and straightforward. Some flight experiments are performed to validate the effectiveness of the proposed controller.

著者

広瀬 茂男 馬 書根

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.26, no.11, pp.1291-1298, 1990-11-30 (Released:2009-03-27)

参考文献数

17

被引用文献数

1 5

---

Mechanism and control of a newly developed coupled tendon-driven multi-joint manipulator, abbreviated as CT arm, are discussed. CT arm introduced here has the specific tendon traction force transmission mechanism, in which a pair of tendons to drive a joint are pulled from base actuators via pulleys mounted on the base-side joints. The mechanism makes the most of coupled drive function of the tendon traction forces and thus has the possibility to exhibit enormous payload capability. The manipulator also has the characteristics to be solidly structured and to be inexpensively manufactured because of its mechanical simplicity. Basic discussion is also made on the specific control of the CT arm. The control algorithm which minimizes the squared sum of the traction force of the tendons while satisfying given restrictions is introduced. The validity of the control method is shown by the computer simulations.

著者

金森 務 片寄 春弘 志村 哲 井口 征士

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.8, pp.735-742, 1997-08-31

被引用文献数

4 1

---

Recently a field called interactive art, where performers control multimedia interactively, has been established and new musical instruments called hyper instruments have been developed. Most of hyper instruments are focussed on western musical instruments which have been given much attention to standardization. The number of hyper instruments regarding traditional musical instruments is small due to difficulty in realizing measurement of motions or gestures which are closely related with musical expression. This paper describes Cyber-Shakuhachi, a hyper instrument for the shakuhachi. First, we sum up gesture and motion which affect expression of shakuhachi performance. Next, we describe implementation of sensors for the Cyber-Shakuhachi. We are examining the validity of the Cyber-Shakuhachi through the production of the works of computer music. The Cyber-Shakuhachi got evaluation that it contributes to the creativity through the interactive search of new expression.

著者

柴田 克成 上田 雅英 伊藤 宏司

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.39, no.5, pp.494-502, 2003-05-31 (Released:2009-03-27)

参考文献数

21

被引用文献数

3 7

---

In this paper, a concept of individuality and sociality is introduced as a method to avoid conflicts of individual interests in multi-agent systems. It is considered that each agent has its individuality when the conflicts are resolved by making its own mapping from the sensory input to the action output. On the other hand, each agent has sociality when the conflicts are avoided by some common input-output mapping, which is commonly called rules. A conflict avoidance task in which passengers are getting on and off a train are taken as an example, and the emergence processes of both behavioral characters are explained. Furthermore, it is shown that the differentiation of the agent into one of them is adaptively realized by reinforcement learning based on local rewards according to the asymmetry of environment, number of agents, identification of the other agents, or physical ability of agents.

著者

原 辰次 堀 豊 金 泰亨

出版者

The Society of Instrument and Control Engineers

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.45, no.3, pp.160-167, 2009-03-31

---

This paper studies a formation stability analysis scheme of a distributed cooperative control for target-enclosing operations by multiple homogeneous dynamic agents. To this end, we first present an on-line path generator design method based on a cyclic pursuit scheme. Then, we provide the stability condition which the developed path generator should satisfy. This condition is derived based on a simple stability analysis method for hierarchical large-scale linear systems with a generalized frequency variable. The formation control scheme combined with a cyclic pursuit based distributed on-line path generator satisfying the derived stability condition guarantees the required global convergence property with theoretical rigor. Further, in order to show its distinctive features clearly, we present how to analyze global formation stability for a class of multi-agent systems where each agent is modeled as a second-order system and is locally stabilized by the PID controller. A simulation example illustrates distinctive features of the proposed method and the achievement of a desired pursuit pattern.

著者

石川 正俊 下条 誠

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.24, no.7, pp.662-669, 1988-07-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

3 13

---

An imaging tactile sensor for the measurement of pressure distributions and a real-time tactile image processing system using the sensor are described.The sensor has a 64×64 array of sensitive sites using pressure-conductive rubber and electrodes on PC board. The scanning circuit of the sensor realizes precise and high speed scanning, 16.7ms per one frame, using a FET at every site for switching. As the output of this sensor is a video signal, pressure distributions can be visualized by a monitor TV and can be recorded by a video tape recorder.By connecting the sensor with a high speed image processor, tactile image processing has been realized. In this paper, showing some examples such as smoothing, contour, trace, and adaptation of tactile images, features of tactile image processing are definitely shown by comparing with visual image processing. This system is used as a developing system of tactile processing algorisms as well as for the measurement of pressure distributions of human body with beds or chairs in the field of human engineering.In this paper, the structure of the sensor and the architacture of the system are described and experimantal results are shown.

著者

川口 仁 中本 啓之 池添 明宏 佐藤 美帆 濱千代 貴大 長瀬 雅之

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.73-77, 2013

被引用文献数

3

---

RT Middleware is useful as a framework for a robot's productivity drive. However, in advancing spread and promotion, subjects occur. They are the difficulty of introduction of technological know-hows of RT Middleware, and the little of those who can develop corresponding software. Then, we thought that we would enable it to treat RT Middleware on the Android framework who has spread widely all over the world quickly. Therefore, we developed "RTM on Android", a RT-Middleware for the Android platform. By using our "RTM on Android", you are able to develop application-RT-Components for Android easily, now.

著者

橋本 悠希 小泉 直也

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.51, no.1, pp.64-71, 2015

被引用文献数

3

---

Japan (Japanese lacquer) has many kinds of interesting characteristics. Even among them, we focus on electric non-conductance and weakness of ultraviolet rays. From these features, it is assumed that an ultraviolet laser remove Japan locally, and several layers can be connected via removed point. This hypothesis means that it is possible to build a Japan-based multilayered electronic circuit. In this paper, we explain a development method of a Japan-based electronic circuit, and report three experiments to confirm feasibility of our hypothesis. In addition, we discuss application potentiality of Japan-based electronic circuit.

著者

原 正之 樋口 貴広 藪田 哲郎

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.39, no.12, pp.1162-1164, 2003-12-31 (Released:2009-03-27)

参考文献数

5

被引用文献数

1 3

---

Perceptual illusion that is apparent in real-world environment does not result from human-error but from brain's functions that support perception. The present study demonstrated the effectiveness of our haptic interface to produce haptic illusion in virtual environment.

著者

佐川 貢一 煤孫 光俊 大瀧 保明 猪岡 光

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.40, no.6, pp.635-641, 2004-06-30 (Released:2009-03-27)

参考文献数

8

被引用文献数

2 4

---

Non-restricted estimate of three-dimensional (3D) walk trajectory during indoor locomotion is discussed. The walk trajectory is derived by the integration of the 3D acceleration of subject's foot. A sensor system is composed of an 3D accelerometer, three gyroscops, and one geomagnetic sensor and is attached on the tiptoe. Integral errors of the acceleration and the angular velocity are modified to keep the continuity of the velocity and the posture of the sensor system between the swing phase and the stance phase. Six subjects performed walk experiments including level walk, ascending, and descending in an office building to verify the proposed method. The experimental results show that the estimation error of 3D location to the actual walk distance is less than 10 [%] and the application of the proposed method improves the precise measurement of 3D walk trajectory.

著者

根岸 直樹 相吉 英太郎 羽深 嘉宣

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.29, no.10, pp.1203-1212, 1993-10-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

2

---

There exist many learning algorithms for finding the synaptic weights of a layered neural network so as to minimize the output errors in response to the plural training data. The most well-known learning algorithms are the backpropagation procedures, in which there are two manners of minimizing the plural error functions in practice. One is minimizing the sum of all error functions totally, and the other is making a reduction of only one error function chosen temporarily and cyclically at each iteration. The former does not always keep the balance and the efficiency in reduction of the plural output errors, and the latter does not guarantee the convergence from the standpoint of numerical analysis.In this paper, we then adopt the learning manner of minimizing the maximum valued function among the all error functions in order to reduce the output errors based on all training data uniformly, and propose a learning algorithm using a non-differentiable optimization method with the generalized gradient in order to guarantee the convergence. An application to the simple recognition problem with plural training patterns and its simulation results show efficiency of our learning manner and algorithm.

著者

阿部 善右衛門 田中 邦雄 堀田 正生

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.10, no.3, pp.290-297, 1974-06-30 (Released:2009-03-27)

参考文献数

29

被引用文献数

1

---

The possibilities for the measurements of the blood flow and water contents in the human body by NMR techniques have been analyzed during the last four years. A new technique for this purpose is proposed as one of the new approaches.This paper will deal with the following four topics connected with our past studies for noninvasive testing of biological materials.(1) Proposal of magnetic focusing techniques and generation of the focusing field.(2) Deterioration of the signal level originating frcm the loose coupling between the measuring target and the detector, and minimum limit for measurements of the stationary body fluid utilizing steady NMR.(3) Improvement on the blood flowmeter utilizing pulse NMR.(4) Measurement of the stationary body fluid utilizing pulse NMR.For non-invasive measurements of the nuclear magnetic substances distributed in the human body, a new approach is proposed by utilizing the magnetic focusing technique on the measuring target. And several methods for generating this magnetic focus are discussed theoretically. Moreover, the degree of inevitable deterioration of the signal from the focus induced by a loose coupling between the target in the body and the detector on its surface is calculated theoretically.Theoretical estimations of a new blood flowmeter are shown by taking advantages of the tag effect by radio frequency pulse on the blood flow.For this improvement of the blood flowmeter, the techniques are explained to estimate the pseudo-signal intensity originating from the neighbouring tissues around the blood vessel. A method similar to blood flowmetry can also be applicable to detect the stationary body fluids with some modifications.And some simple assumptions of the minimum limit of detectability are summarized from the view point of bio-medical applications.In conclusion, the authors are able to explain a few considerations and theoretical prospects on these applications of NMR.

著者

原田 博之 西山 英治 柏木 濶

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.34, no.1, pp.9-12, 1998-01-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

2 3

---

Many classes of non-linear systems can be represented by Volterra kernels. In order to obtain the Volterra kernels, one of the authors has proposed a new method by use of M-sequences and correlation function.In this paper, the authors propose a new method for polynomial approximation of non-linear system using the Volterra kernels measured by the M-sequence method. The non-linear system can be approximated as a combination of a linear system and its squared portion. The parameters, which represent the relative magnitude of the squared part, is calculated by use of the Volterra kernels.The proposed method is applied to a non-linear chemical process. From the results of simulations, it is shown that the output signals of the non-linear system calculated by the proposed method agree well with the theoretical outputs.

著者

倉橋 節也 南 潮 寺野 隆雄

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.11, pp.1454-1461, 1999-11-30 (Released:2009-03-27)

参考文献数

24

被引用文献数

3 8

---

This paper proposes a new method: Inverse Simulation for analyzing emergent behaviors of agents in artificial societies, which model social interactions in the electronic mediated communication. Inverse Simulation utilizes Genetic Algorithms with tabu search to optimize a global evaluation function. The method is implemented in a simulator TRURL, which evolves artificial worlds of multi-agents to socially interact with each other. The micro-level agent activities are determined by both predetermined and acquired parameters. The former pa-rameters have constant values during one simulation cycle, however, the latter parameters change during the interactions. Unlike conventional artificial society models, TRURL evolves the societies by changing the predetermined parameters to optimize macro-level socio-metric measures, which can be observed in such real societies as e-mail oriented organizations and electronic commerce markets. Thus, using TRURL, we automatically tune the parameters up and observe both micro- and macro-level phenomena grounded in the activities of real worlds.

著者

齊藤 里奈 鈴木 誠 前野 隆司 眞山 博幸 野々村 美宗

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.1, pp.2-8, 2014 (Released:2014-02-05)

参考文献数

36

被引用文献数

5

---

The tactile texture of water is not necessarily favourable. When 20 subjects applied 0.1mL of water and five thickener solutions to artificial skin, the favourability score for water was the lowest among the six liquids. This unfavorability is caused by non-smooth and stick-slip feel, which reflect the increase of friction coefficient and their drastic changes on wet skin. The Stribeck plots show that the rupture of a fluid film on human skin can induce the stick-slip feel during application. These findings could potentially be applied for the design of cosmetic products and cleansing products.