著者

高杉 將司 吉田 祥平 沖津 健吾 横山 正典 山本 知仁 三宅 美博

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.46, no.1, pp.72-81, 2010 (Released:2011-11-03)

参考文献数

42

被引用文献数

4 5

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The purpose of this study is to clarify the influence from timing of utterance and body motion in dialogue between human and robot. We controlled pause duration and nod response timing in robot-side, and analyzed impression of communication in human-side by using Scheffe's Paired Comparison method. The results revealed that the impression of communication significantly modified by changing the pause duration and nod response timing. And, timing pattern of the impression altered diversely in elderly people than in younger, indicating that elderly generation uses various timing control mechanisms. From these results, it was suggested that timing control and impression of communication are mutually influenced, and this mechanism is thought to be useful to realize human-robot communication system for elderly generation.

著者

藤原 幸一 加納 学 長谷部 伸治 大野 弘

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.42, no.10, pp.1143-1149, 2006-10-30

著者

梶田 秀司 小林 彬

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.23, no.3, pp.281-287, 1987-03-30 (Released:2009-03-27)

参考文献数

3

被引用文献数

8 22

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In a study of the dynamic walk of a biped robot, it is required to extract the dominant dynamics of the walking machine by reducing the dimension of the motion equation in some way.As the dominant dynamics, the following properties are shown about inverted pendulum with expandable leg when an input force is provided to balance its vertical component with its own weight.1. The center of gravity moves horizontally.2. The horizontal movement of the center of gravity can be expressed by linear differential equation.It is confirmed that the same phenomenon is shown both at the inverted pendulum with torso both at the inverted pendulum made by 5 links. The orbit on which the center of gravity moves is named, the “Potential Energy Conserving Orbit.”Based on these properties, control laws were formulated for walk initiation, walk continuation, and walk termination. The walking speed is controlled through the leg exchanging condition. The possibility of dynamic walk of a biped robot has been confirmed by computer simulation. The manufactured walking machine has 4 DC motors in its torso, and has ostrichlike legs which have parallel link structure.Using this machine, we realized 5 stepsof dynamic walk, including walk initiation.

著者

吉田 武史 深尾 隆則

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.149-157, 2013 (Released:2013-02-08)

参考文献数

13

被引用文献数

1

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This paper proposes a method to construct a three-dimensional (3D) model of an outdoor scene containing a large amount of information by combining local stereo images which are acquired from multiway. It is difficult to reconstruct outdoor scenes accurately using a single view of a stereo camera because the distance to a target is very far compared with the stereo camera's baseline length. Therefore the proposed method makes the 3D model accurately by reducing the uncertainties of a 3D point from various angles to the region which includes the correct point. Multi-view stereo images are captured using a rotational stereo camera that swings back and forth and can capture not only the upper surface of an object but also the side surface of the object. As an experiment, a blimp robot with a rotational stereo camera is used to capture aerial stereo images of the ground. The proposed method achieves the dense and accurate reconstruction of the outdoor 3D model.

著者

寺脇 充 曽 智 平野 旭 辻 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.47, no.2, pp.119-125, 2011 (Released:2011-12-19)

参考文献数

18

被引用文献数

2 2

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Although the quality of tap water is generally examined using chemical assay, this method cannot be used for examination in real time. Against such a background, the technique of fish bioassay has attracted attention as an approach that enables constant monitoring of aquatic contamination. The respiratory rhythms of fish are considered an efficient indicator for the ongoing assessment of water quality, since they are sensitive to chemicals and can be indirectly measured from bioelectric signals generated by breathing. In order to judge aquatic contamination accurately, it is necessary to measure bioelectric signals from fish swimming freely as well as to stably discriminate measured signals, which vary between individuals. However, no bioassay system meeting the above requirements has yet been established. This paper proposes a bioassay system using bioelectric signals generated from small fish in free-swimming conditions. The system records signals using multiple electrodes to cover the extensive measurement range required in a free-swimming environment, and automatically discriminates changes in water quality from signal frequency components. This discrimination is achieved through an ensemble classification method using probability neural networks to solve the problem of differences between individual fish. The paper also reports on the results of related validation experiments, which showed that the proposed system was able to stably discriminate between water conditions before and after bleach exposure.

著者

山下 泰央 上瀧 弘晃 高橋 大志

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.48, no.11, pp.773-780, 2012 (Released:2012-11-29)

参考文献数

17

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This research analyzed the relationship between headline news and bond market in Japan through text mining technology. As a result of intensive analyses, we found the significant relationship between interest rate changes and the negative (or positive) news classified by keywords. At the same time, we also found that a measure of constructing keyword list has a significant impact on performance of classification.

著者

平岡 敏洋 増井 惇也 西川 聖明

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.46, no.11, pp.692-699, 2010 (Released:2011-12-01)

参考文献数

12

被引用文献数

1 1

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Advanced driver assistance systems (ADAS) such as a forward obstacle collision warning system (FOCWS) and a night vision enhancement system (NVES) aim to decrease driver's mental workload and enhance vehicle safety by provision of useful information to support driver's perception process and judgment process. On the other hand, the risk homeostasis theory (RHT) cautions that an enhanced safety and a reduced risk would cause a risk compensation behavior such as increasing the vehicle velocity. Therefore, the present paper performed the driving simulator experiments to discuss dependence on the NVES and emergence of the risk compensation behavior. Moreover, we verified the side-effects of spontaneous behavioral adaptation derived from the presentation of the fuel-consumption meter on the risk compensation behavior.

著者

山田 陽滋 森田 裕之 梅谷 陽二

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.36, no.6, pp.473-480, 2000-06-30

参考文献数

11

被引用文献数

2

著者

関 宏也 天野 壮一 江本 源一

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.47, no.9, pp.374-379, 2011 (Released:2012-01-21)

参考文献数

8

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An initial design of an advanced control system for an industrial crystallizer train is addressed. The target process is a part of para-xylene production process, and it consists of five scraped surface crystallizers, two centrifugal separators, and two hydrocyclones. An operation policy is derived by solving a constrained nonlinear optimization problem on the basis of a nonlinear process model. Multiloop and multivariable control systems are designed to realize the derived operation policy and their performances are compared through simulation studies. The process is found to be highly interacting and constraint switching is likely to occur under operation condition changes, so that application of constrained multivariable model predictive control may be well justified. The procedures demonstrated in this study will help perform a feasible study for unconventional applications of advanced control technology.

著者

久保田 直行 福田 敏男

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.34, no.5, pp.408-414, 1998-05-31

被引用文献数

10

著者

南 裕樹 東 俊一 杉江 俊治

出版者

計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.44, no.1, pp.52-60, 2008-01-31

被引用文献数

1

著者

新妻 実保子 橋本 洋志 橋本 秀紀

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.42, no.4, pp.367-375, 2006-04-30

被引用文献数

1