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

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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

山内 仁 小島 篤博 小枝 正直

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.47, no.2, pp.134-139, 2011-02-28

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The Rescue Robot Contest is one of the robot contests concerning lifesaving in urban disasters. In this contest, loads of rescue dummies simulating disaster victims, and contest progression status are presented to audiences, and team members operating robots. This presentation is important for both robot activity evaluation and production effect. For these purposes, a game management system for Rescue Robot Contest is originally constructed and operated. In this system, a database system is employed as base system. And this system's role is for both recording all data and events, and real-time processing for the presentation. In this paper, design and implementation of the tables and built-in functions of the database which is foundation of this system are presented. For real-time processing, embedded functions and trigger functions are implemented. These functions generate unique latest records into specific tables which stores only latest data for quick access.

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

中島 利郎 仲嶋 一 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 = Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.45, no.6, pp.291-297, 2009-06-30

参考文献数

8

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This paper reports a sensor for the plant inspections to detect leaking vapor. Plants are usually inspected by patrolling inspectors. It requires high level skills to selectively detect abnormal phenomena occurring in various types of equipment under the complicated environments. In this research, we developed a remote detecting sensor for the vapor leaking from piping, which is one of the priority control items inside plants. The basic principle of the sensor is specifically to sense the scattered light when laser beam is illuminated on the vapor. It is also discovered in our basic experiments that there is big difference in the polarization property between the light scattered by vapor and surface structures inside plants. The sensor can discriminate the light scattered by vapor from other types of scattered light utilizing the difference of the polarization property, then detecting the light scattered by vapor only. A prototype model is fabricated for substantiating the basic property of leaking vapor detection. As a result, it is confirmed that the prototype model not only has sufficient detecting capability, but can selectively detect vapor only. In conclusion, it is confirmed that the developed sensor satisfies the requirements for the plant inspection sensors, and has sufficient capability for practical usage.

著者

山本 広樹 青島 伸治

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.39, no.11, pp.993-1001, 2003-11-30

被引用文献数

1 1

著者

渡邉 航 鈴木 翔太 加納 剛史 石黒 章夫

出版者

計測自動制御学会 ; [196-]-

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.49, no.1, pp.48-53, 2013-01-31

著者

巻口 誉宗 井上 純一

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.46, no.11, pp.666-675, 2010-11-30

被引用文献数

3

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In real flocks, it was revealed that the angular density of nearest neighbors shows a strong <i>anisotropic structure</i> of individuals by very recent extensive field studies [Ballerini <i>et al</i>, <i>Proceedings of the National Academy of Sciences USA</i>, <b>105</b>, pp. 1232-1237 (2008)]. In this paper, we show this structure of anisotropy also emerges in an artificial flock simulation, namely, <i>Boid simulation</i>. To quantify the anisotropy, we evaluate a useful statistics, that is to say, the so-called γ-value which is defined as an inner product between the vector in the direction of the lowest angular density of flocks and the vector in the direction of moving of the flock. Our results concerning the emergence of the anisotropy through the γ-value might enable us to judge whether an optimal flock simulation seems to be <i>realistic</i> or not.