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.

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

稲村実

雑誌

計測自動制御学会論文集

巻号頁・発行日

vol.14, no.5, pp.598-603, 1978

被引用文献数

4