著者

東 俊一 田淵 絢子 杉江 俊治

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.12, pp.882-888, 2012 (Released:2013-01-23)

参考文献数

21

被引用文献数

2 5

---

This paper develops a mathematical model of a sheepdog control strategy, in order to clarify a principle for controlling autonomously (and randomly) moving multiple agents. First, by observing real behaviors of a sheepfold and a sheepdog, we extract their essential properties as a multi-agent system. Based on this, difference equations are constructed for the sheep and sheepdog. It is verified by numerical simulations that the proposed model captures their qualitative behaviors.

著者

藤岡 巧 岡島 寛 松永 信智

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.12, pp.861-868, 2014 (Released:2014-12-23)

参考文献数

13

被引用文献数

3 7

---

Robust control considering model uncertainty have been widely studied. The benchmark problem using three-inertia system was designed by SICE committee in order to correctly evaluate robust control methods. Traditional robust controller is designed to achieve desired performance for the worst case in a model set. Therefore, it is difficult to achieve high control performance by the traditional robust controller. To overcome this problem, we have proposed a robust control system for this benchmark problem using the model error compensator (MEC) and the frequency shaped final-state control (FFSC). MEC can minimize the gap between real plant and its nominal model. An input signal designed by FFSC can settle desired state variables in terminal period and achieve vibration suppression control. Since MEC is familiar with many other control systems, it is easy to combine FFSC and MEC. Simulation results for the benchmark problem are shown to confirm the effectiveness of proposed method.

著者

植田 聡史 伊藤 琢博 坂井 真一郎

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.58, no.3, pp.194-201, 2022 (Released:2022-04-07)

参考文献数

12

---

Space missions require “resilience” to flexibly complete the mission in response to changes in the environment and system characteristics. The present study proposes a method for autonomously planning a corrective control law for lunar landing trajectory control to cope with off-nominal conditions and reflecting it in resilience improvement measures by utilizing reinforcement learning. The proposed method employs a reinforcement learning problem in which an agent is additionally placed in the control loop and the corrective control input as an action output by the agent is added to the original closed-loop control input. The results and insights are summarized for the resultant agent's characteristics which autonomously detect off-nominal conditions and proactively implement recovery measures, while verifying the capability and effectiveness of the proposed design framework enabled by a reinforcement learning architecture in a realistic and specific lunar landing sequence.

著者

小林 尚登 増渕 英行

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.9, pp.1123-1125, 1994-09-30

参考文献数

5

被引用文献数

1

---

This paper investigates the possibility of detecting emergency voice. We adopt wavelet transformation for pre-processing the sounds, and we use a neural network for recognizing abnormalities.

著者

佐田 実季 田邉 将之 川脇 治 中村 優花 岡島 寛

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.56, no.6, pp.345-352, 2020 (Released:2020-06-12)

参考文献数

28

---

Paved roads are said to be able to use them for a long time with adequate maintenances on a regular basis. However, due to a shortage of manpower for repairs, sufficient maintenance have not been taken on some municipal roads in Japan, and the deterioration has progressed rapidly. Furthermore, around 2025, many asphalt pavements paved during the period of high economic growth in Japan are expected to deteriorate rapidly, hence, a more effective method than the current manual repairing method is required. In this research, we aim to realize a machine that automatically detects and repairs cracks. As a starting point, this paper studies crack detection, one of the important elemental technologies. Assuming actual use, it is necessary to be robust to disturbances such as different colors of paved roads and illumination change due to the weather. To solve this problem, we propose a robust crack detection using deep learning. Specifically, the crack detection was performed by classifying cracked and uncracked areas by semantic segmentation using U-Net. The learning process was performed with various images including lighting changes in the training data set. As a result, we achieved a robust segmentation of cracked areas with 92.5 percent accuracy of Intersection over Union.

著者

黒沢 良一

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.28, no.6, pp.680-689, 1992-06-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

3 4

---

The deadbeat control, also known as, finite time settling control is supposed to be effective exclusively in sampled data controls. In 1957, O. J. M. Smith proposed Posicast control to obtain the finite time settling response to a command input for continuous control systems. He mentioned in his paper the finite time settling response to a disturbance as well. His method is, however, impractical because inverse transfer functions of controlled objects would be required.The author has found out a new controller configuration with a delay element for continuous control systems, which has the finite time settling responses both to a step command input and to a step disturbance. This new method is named Continuous deadbeat Control (CdbC) and was published.This paper describes a design of CdbC. Conditions to realize controllers based on CdbC are shown, and the following is cleared. For a high order controlled object without unstable zeros, only one delay element is required in the controller independent of functions of a command and a disturbance.

著者

綱沢 駿 大山 真司

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.53, no.12, pp.644-653, 2017 (Released:2017-12-16)

参考文献数

15

被引用文献数

1

---

In this paper, multi-speaker localization methods using voice signal are proposed. Sound source localization systems consisting of many microphones have been widely researched. In our laboratory, we have researched sound source localization of persons based on TDOA (Time Difference of Arrival) between distributed microphones for the purpose of efficient use of air conditioner and lighting in the office . Localization systems based on sound such as footsteps or voice are superior to those based on image data in terms of privacy-consciousness and utility in the dark. As sound source localization methods, beamforming, subspace methods and TDOA-based methods are widely used. CSP (Cross-power Spectrum Phase) analysis is one of the most famous method to estimate TDOA. We have researched sound source localization methods using CSP analysis because it spends less calculation cost than beamforming or subspace methods. However, CSP analysis doesn't work well by itself in the real office environment because of sound lasting for a long time, reverberations, low SNR, and so on. The main cause of difficulty in sound source localization in such a case is the “weak correlation” between different sound signals. In this paper, it is shown that the bad effect of the “weak correlation” can be improved by our proposed methods, Wiener-filter-based CSP analysis and H-CSP (Histogram-CSP) analysis. H-CSP analysis is a statistics data analysis method for CSP coefficients which uses the histogram of CSP coefficients. In this research, the effectiveness of proposed methods are shown by sound source localization experiments in the case sound sources are stable and the case sound sources are moving.

著者

等々力 正文 近谷 英昭 菊池 孝 保川 忍 金子 力

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.8, no.2, pp.164-171, 1972-04-30 (Released:2009-03-27)

参考文献数

5

---

One of the most significant problems in automatic ticket examination is to check the validity of the route written on a ticket. This problem is due to the service regulation that a passenger with a season ticket can get on or off at any station en route as many times as he likes.The problem can be divided into three subproblems; (1) coding the railways network, (2) describing the route onto the ticket and (3) checking the validity of it. The item (1) and (2) are concerned with representing the route on the ticket with as little amount of information as possible, and the item (3) is concerned with realizing the judgement function of an apparatus as simply and as inexpensively as possible.We propose a method to examine the validity of the ticket by describing the route with line-sequence codes. Two kinds of tickets are treated with one mechanism. One is a season ticket and the other is an ordinary ticket for short distance passengers.Microprogramming technique is employed for the checking circuit of the apparatus. With the same algorithm, an automatic fare adjustment is possible.The distinctive features of the proposed method are(1) to cover the nationwide network, (2) to handle two kinds of tickets with one mechanism both in automatic ticket examination and in automatic fare adjustment, (3) to cope easily with alteration and(4) to be able to utilize the same machine at different stations.

著者

小山 健太郎 関口 和真 野中 謙一郎

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.10, pp.746-754, 2014 (Released:2014-10-18)

参考文献数

13

被引用文献数

5 6

---

In this paper, we propose a path-following control for front-steering vehicles based on time-state control form (TSCF) using travel distance as a virtual time-axis. The technique of TSCF can transform the nonlinear dynamics of front-steering vehicles into two linear subsystems. The proposed method uses a travel distance as a virtual time-axis based on geometric relationship between controlled vehicle and reference path. This method can realize path-following control independent of vehicle heading angle. In addition, we utilize the proposed method in model predictive parking control considering the constraints of vehicle steering angle, travel range and singular point. This method can realize parking control in the area larger than the conventional method. The performance of proposed method is verified through numerical simulations and experiments with a one-tenth scale model car.

著者

渡辺 嘉二郎 芹沢 一雅

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.208-215, 1994-02-28 (Released:2009-03-27)

参考文献数

10

被引用文献数

2 4

---

People sometimes recognize a system which is of a high grade by both the feel and/or sound of it's keyboard switches when pushed. A keyboard whose switches when pressed, have a feeling that is neither too nor too light, and which also convey a clear confirmation of switching makes a computer.We focus on the man-machine interface of the keyboard and investigate the human feelings of touch and push as the engineering matter in question in order to design switches comfortable to operate.First, the categories (words) that can quantitatively characterize the switch pushing feeling were selected. Next, the sensory tests by questionnaire using these categories were carried out to acquire sensory data that relate both the feeling and the switch's physical characteristic. Finally, the artificial neural networks to store the sensory data were trained. The pattern of the touching feeling degrees expressed by the categories is used as the input data for training the patterns given by physical characteristics of switches are used as the output data.The trained artificial neural networks have the potential to select the most preferable switch and provides the physical quantities necessary to design, just by grading each item in the switch selection sheet very similar to that used in the questionnaire.

著者

守末 利弥

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.22, no.4, pp.473-475, 1986-04-30 (Released:2009-03-27)

参考文献数

6

著者

星 貴之 早田 滋

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.10, pp.518-523, 2016 (Released:2016-10-25)

参考文献数

9

被引用文献数

2

---

Bonding machines suffer from a problem that a wavering disturbance of air occurs due to heaters and decreases the accuracy of vision sensing for tool positioning. Previous solutions use airflow to clear out heated air from the light path or physical/airflow walls to separate heated air from background air. Although these previous solutions have been in practical use, they have some drawbacks. Airflows reduce the bondability on the chip surface and have negative effects on the generation of FAB (free air ball) at the tip of wires. Physical walls convey heat to cameras and cause their thermal expansion, and the structure of the physical walls may vibrate due to the rapid motion of the other machine components. In order to avoid these drawbacks, we propose a new method that keeps the light path calm using ultrasonic standing wave. The incident ultrasonic wave travels vertical to the light path, and is reflected by a reflection wall. These incident and reflected ultrasonic waves make a standing wave which has a periodic structure of nodes and antinodes. The fluctuation of air is suppressed in this stable structure. To evaluate the performance of the proposed method, experiments were conducted. We took two parameters in the experiments. One was the distance between the light path (observation point) and the reflection wall. The other was the ultrasonic output. The experimental results showed that an antinode of sound pressure of the ultrasonic standing wave was the best part to suppress the fluctuation of the air and moderate ultrasound output was more effective.

著者

浜松 正典 加賀谷 博昭 河野 行伸

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.44, no.8, pp.685-691, 2008-08-31 (Released:2013-02-25)

参考文献数

7

被引用文献数

6 6

---

Recently, maritime works, such as ocean observation or cable laying works, become efficient with the dynamic positioning control of the vessels. The conventional PID control is still useful but the performance is not enough for precise positioning or multiple waypoints tracking. In this paper, we present the application of real-time nonlinear Receding Horizon control for route tracking problem and control allocation problem for vessels equipped with azimuth thrusters. The performance and usefulness of the proposed method is verified with the actual cable laying works.

著者

仲田 勇人 Peter Martin Anuradha Wijesinghe 白井 隼人 松永 彰生 冨永 浩之

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.2, pp.175-181, 2018 (Released:2018-02-20)

参考文献数

14

被引用文献数

3

---

This paper considers an application of a C/GMRES-based model predictive control (MPC) method to a diesel engine air path system. The plant model is derived based on the physical first principle to explicitly take account of plant nonlinearities. Since the plant has unmeasurable states, we employ an extended Kalman filter to estimate them. Then we design a C/GMRES-MPC algorithm and apply it to a real engine. We demonstrate the effectiveness of the present method by showing experimental results using a real vehicle.

著者

李 哲榮 寺野 寿郎

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.16, no.4, pp.579-584, 1980-08-30 (Released:2009-03-27)

参考文献数

10

---

The story formation defined here means a process of connecting the given sentences, which are logically independent of one another, and creating a new story of which the plot is reasonable. Such a work will be very essential near future to automatic writing of scenario of abstract, but it is not easy because creation is an innate ability of a man. The method suggested here is as follows: (1) a man first makes a fuzzy graph where the verteces are the given short sentences, (2) next he finds the fuzzy labels of verteces and the fuzzy relations among the verteces, (3) according to a given strategy, the computer searches its subgraphs of which the plots are semantically reasonable.These subgraphs corresponds to the backgrounds and episodes of the candidate stories. A new fuzzy graph is mode of these episodes and backgrounds, and the same procedures are repeated until they are converged. As the result some candidate stories are induced. Though the final selection of the candidate stories is done by the computer, the man can easily intervene in it, because a fuzzy integral is adopted here as the criterion function and its fuzzy measures are difined subjectively.Some numerical examples show us the validity of this method.

著者

小林 宏 原 文雄

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.29, no.1, pp.112-118, 1993-01-31 (Released:2009-03-27)

参考文献数

15

被引用文献数

6 16

---

We propose the concept of Active Human Interface (AHI) that makes the machine (computer and/or robot) respond to human being more actively and for establishing the new paradigm to realize the AHI, as the first step of this study, we investigate the method of machine recognition of human emotions.This paper deals with the neural network method of human emotion recognition from facial expressions. Facial expressions were categorized into 6 groups (Surprise, Fear, Disgust, Anger, Happiness and Sadness), and obtained CCD camera-acquired data with respect to facial characteristic points relating to 3 components of face (Eyebrows, Eyes and Mouth). Then we generated the position information and shape information about the 6 basic facial expressions for 30 clients. These information were input into the Input units of the 4-layered neural network and network learning was carried out by back propagation algorithm. The neural network recognition system of facial expressions showed a high recognition rate up to 80% to 6 basic facial expressions for both the position and shape information and particularly the system showed a smaller rate of mis-recognition between some of 6 basic expressions.

著者

吉田 智章 入江 清 小柳 栄次 友納 正裕

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.10, pp.493-500, 2011 (Released:2012-01-21)

参考文献数

14

被引用文献数

2 7

---

This paper proposes a light-weight navigation platform that consists of gyro-assisted odometry, a 3D laser scanner and map-based localization for human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. The map-based localization is robust and computationally inexpensive by utilizing a particle filter on a 2D grid map generated by projecting 3D points on to the ground. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor navigation experiments were conducted at the Tsukuba Challenge held in 2009 and 2010, which is an open proving ground for human-scale robots. Our robot successfully navigated the assigned 1-km courses in a fully autonomous mode multiple times.

著者

石原 弘二 大村 佑貴 堀内 匡

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.3, pp.408-410, 2013 (Released:2013-03-26)

参考文献数

7

被引用文献数

1

---

In this research, model-based reinforcement learning was applied to the six-legged robot. The objective for this robot was to acquire efficient walk movement by model-based reinforcement learning. By setting several constraint conditions on motors of this robot, we considered the reinforcement learning problem with three-dimensional state and action space. Through experiments, the effectiveness of our method using value iteration was revealed in comparison with Q-learning.

著者

和田 正義 亀田 藤雄 斎藤 征道

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.4, pp.417-424, 2013 (Released:2013-04-26)

参考文献数

15

被引用文献数

2

---

This paper presents a study on steering control algorithm for a joystick car drive system. The joystick drive system allows a handicapped person to drive a car by using a joystick with small force and short stroke. However, a wrong joystick operation, such as a sudden and wide steering, when a vehicle running in a very high speed results in a car accident quite easily. The other hand, quite sensitive steering control is required around the center of steering angle when a car runs along a straight line. When parking a car, a large steering angle provides easier parking maneuvering to a driver. To realize these requirements and solve some problems, we propose a steering control method with variable steering sensitivity and steering limitation based on a vehicle velocity. First, a dynamic model of a car running with rotation to define a risk for rollover of a car. From the dynamic model, we get limitation of steering angles as a function of the vehicle velocity. The limitation function is verified by the drive test taken by the real van running on the public road including highway and parking lot. The control method is successfully implemented on a microcomputer based controller for the joystick car drive system.

著者

後藤 裕介

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.56, no.10, pp.463-474, 2020 (Released:2020-10-10)

参考文献数

23

被引用文献数

2

---

The simulations of complex social systems involving diverse stakeholders can be evaluated from multiple analytical interests. In this paper, we propose a method to classify social simulation logs hierarchically along with multiple analytical interests and visualize them based on the frequency of classification results. The proposed method introduces the concept of cladistic phylogeny and classifies social simulation logs hierarchically, in such a way as to classify species. In the proposed method, analysts make a hierarchical classification diagram of social simulation logs called a possibility cladogram and understand the frequency of possible results from the viewpoint of analytical interests intuitively. We applied the proposed method to Schelling's segregation model. We confirmed that the proposed method helps intuitively understand the frequency of possible results from the viewpoint of analytical interests and also give assistance to run efficient microdynamics analysis by referring to the classification result of simulation logs on the possibility cladogram. We evaluated the proposed method from two perspectives: realization of visualization benefits corresponding to usefulness and validity as a visualization method.