著者

浜 克己 中村 尚彦 鈴木 学

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.57, no.1, pp.58-65, 2021 (Released:2021-01-21)

参考文献数

18

---

In Japan, the number of elderly households facing difficulties in snow removal work is increasing due to the rapid aging and depopulation. Moreover, because of the declining birthrate, human resources needed for the work are insufficient. Therefore the elderly are forced to do the snow removal work on their own, and as a consequence serious accidents may occur during the work. Currently, as a means for solving this problem, there are snow removal substitution services and construction of electric road heating. However, they are not definitive solutions since they are very expensive. The purpose of this study is to develop an autonomous robot system which can perform snow removing with low cost and simple construction. Through the experiments using the prototype, and the cost estimate that assumed practical use, the effectiveness of this system was confirmed.

著者

種本 雅 長谷川 峻 岡田 慧 稲葉 雅幸

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.6, pp.290-303, 2022 (Released:2022-06-21)

参考文献数

25

---

Housekeeping robot must grow as it lives with the user. To build a system that can serve as a foundation for this purpose, we need to discover what we need to research further through the realization of a housework support task by a robot, and need to solve these problems. In this paper, we tackle the task of bento-serving as a household chore support task, and describe new problems that we discovered through the implementation of it. As for the bento-serving, it has been assumed that the robot performs the task in a factory. In this paper, we reconsider the bento-serving task by a robot as a part of our household support and propose a system to make it happen. When a housework assistance robot does the bento-serving, he needs to recognize the prepared foods and environment, interact with the owner, and manipulate foods without destroying them. Through the realization of the bento-serving task, we found that the housekeeping robot has to deal with objects of the same type but with different shapes, plan movements with user preferences in mind, and perform the entire sequence of actions by himself. To achieve these goals, we propose a system consisting of five processes, recognition of the environment and food, acquisition of information through dialogue, storage of the information, devising a goal using the acquired information, and manipulation of the objects using tools.

著者

原田 孝一 川人 祥二 田所 嘉昭

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.33, no.1, pp.1-7, 1997-01-31 (Released:2009-03-27)

参考文献数

12

被引用文献数

7 4

---

It is pointed out that the chewing operation is strongly related to one's health and development of brain cells. But our chewing number is decreasing recently, especially for children. We are requested to make a counting system of the chewing number by a dentist.We consider three methods for counting the chewing number using small pressure sensors, i.e., metal strain gage and semiconductor pressure sensor. The first one is the chin-strap detection method in which the system detects the small expansion of the chin strap with strain gages when one chews food. The second is the ear-plug detection method using a strain gage or a semiconductor pressure sensor. In this method, the small strain of the ear-plug is detected by these sensors. The last one is the head detection method in which the system detects the small expansion of the temporal muscle using the head-band with a semiconductor pressure sensor. These systems also can detect the chewing power.Comparing these methods, it is made clear that the head-band detection method has the best performance and its system can be used easily when one chews food. Its miscount is about 1.3 to 3.1[%] depending on food, and the circuit of this system can be put inside user's pocket.

著者

小坂 学

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.4, pp.497-498, 2013 (Released:2013-04-26)

参考文献数

2

---

The proof of Nyquist's criterion for stability requires the assumption that frequency s goes along the closed contour enclosing the right-half complex plane in a clockwise direction. This paper presents a new proof that does not require the assumption.

著者

渡邊 崇士 渡辺 嘉二郎

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.38, no.7, pp.581-589, 2002-07-31 (Released:2009-03-27)

参考文献数

25

被引用文献数

11 14

---

This paper describes a method to judge the sleep stages given by the 6 categories i.e., wake, REM sleep, Non-REM sleep of 1st, 2nd, 3rd and 4th stages. The conventional Rechtschaffen & Kales method using an expensive and sophisticated polygraph is the international standard to judge the sleep stages, but it gives strong physical and mental stress. The proposed method estimates the stages from the heartbeats and body motions in the sleep, non-invasively measured by a simple sensor. From the knowledge that the heartbeats change is strongly correlated with the sleep stages, the sleep stages given by the 6 categories are determined by categorizing the change in the heartbeats and body motion occurring for each sleep stages. The estimated sleep stages for the clinical trials over 27 nights and for 8 samples show satisfactory results to be used at home.

著者

細川 繁 升本 喜就 竹沢 進 羽地 和彦

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.2, pp.123-128, 2006-02-28 (Released:2009-03-27)

参考文献数

7

---

A Whale Ecology Observation Satellite (WEOS) was successfully launched on Dec. 14th 2002 as one of the piggyback payloads of H-IIA-4 launch vehicle. The functions of the attitude control system for the WEOS are detumbling and libration control by single axis magnetic torquer, and the earth pointing control by utilizing of gravity gradient torque.According to the resources limitation, the WEOS adopted the gravity gradient attitude stabilization system instead of the three axis attitude control system, as the first trial in Japan. The gravity gradient attitude stabilization system is working well as planned. This paper describes the attitude control system of WEOS and its control results.

著者

松野 文俊 茂木 一貴

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.12, pp.1108-1116, 2000-12-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

4 7

---

In this paper, we derive a kinematic model and a control law for snake robots which have wheeled link mechanism. First, we define the redundancy controllable system and derive a condition and a control law for the snake robot that the system becomes redundancy controllable. We find that introduction of links without wheels and of shape controllable points in the snake robot's body makes the system redundancy controllable. Using redundancy, it becomes possible to accomplish both main objective of controlling the position and the posture of the snake robot head, and sub-objectives of the singular configuration avoidance, the obstacle avoidance and other tasks. Next, by introducing the concept of an unit for the system, we find the relation of the numbers of actuators, redundancy and shape controllable points, and propose the system design method of the snake robot. Finally, in order to demonstrate the validity of the proposed controller, simulations have be carried out. From simulation results we find that the crawling motion of the snake robot is natural.

著者

佐藤 博毅 田中 基康 松野 文俊

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.42, no.6, pp.651-658, 2006-06-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

4 4

---

In this paper, we derive a dynamic model and a trajectory tracking control law for snake robots, which have passive wheels and active joints. We remove passive wheels of some links, and introduce shape controllable points in the snake robot's body. For a trajectory tracking control of snake robots, it is one of the important problem to avoid the singular configuration like a straight line. Using input-ouput linearization for only the head position of snake robots based on dynamic model, we can control the head position by PD feedback, but the robot will converge to the singular configuration. In order to solve this problem, we propose a control law for shape controllable points, based on an index related to the singular configuration. Using the proposed control law, the robot can accomplish trajectory tracking of the head position without converging to the singular configuration. Simulation results show the effectiveness of the proposed control law.

著者

山中 一雄 内田 健康 示村 悦二郎

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.13, no.4, pp.318-323, 1977-08-30 (Released:2009-03-27)

参考文献数

7

---

In a stochastic linear composite system, which is composed of several subsystems, it may be desired to obtain an estimate of the state of only one particular subsystem. A usual approach to this problem will be to construct a Kalman-Bucy filter for the total system, and to obtain the required partial state estimate as a part of the total one. That is, a dynamical filter of the same dimension as that of the total system is necessary for only the partial state estimation. From the computational view point, it is preferable to obtain a partial estimate by a suitable dynamical filter, which is not necessarily optimal, of the dimension of that subsystem. In this paper, we consider a class of composite systems in which two subsystems are coupled and their time responses are widely different. And we propose a method to synthesize an approximate filter for the “slower” subsystem. It is also shown that the approximation error vanishes as the ratio of the maximum eigenvalue of the “slower” subsystem to the minimum eigenvalue of the “faster” subsystem approaches to zero.

著者

山田 和明 高野 慧

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.39-47, 2013 (Released:2013-02-08)

参考文献数

18

被引用文献数

1 1

---

This paper proposes a new reinforcement learning approach for acquiring conflict avoidance behaviors in multi-agent systems. Multi-agent systems are able to establish orderly systems autonomously through interaction with autonomous agents. We expect to be able to construct flexible and robust systems for the environmental changes by using multi-agent system approaches. However, it is difficult for designers to preliminarily embed appropriate behaviors to avoid conflict because complex dynamics emerges by interaction between many agents. We apply the proposed method to the narrow road problem that many agents go by each other in a narrow road, and verify the effectivity of the proposed method. In the narrow road problem, it is the optimal strategy that an agent selects going forward and another agent selects giving way. However, it is difficult for agents to decide which strategy to select because they cannot predict other agents' behaviors beforehand. The proposed method can differentiate into agents preferring to go forward and agents preferring to give way, by using Q-learning that can adjust discount rates. We solve conflict problems in multi-agent systems through autonomous functional differentiation of many learning agents. Through experimental results, we showed that agents differentiated into two type of agents, and acquired stable conflict avoidance behaviors with high probability than a conventional Q-learning.

著者

北野 寛 高橋 千晴 稲松 照子

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.23, no.12, pp.1246-1253, 1987-12-30 (Released:2009-03-27)

参考文献数

9

被引用文献数

3 6

---

Water vapor pressure of a saturated salt solution is inherently constant at a given temperature and utilized for calibration of hygrometers as a humidity fixed point. In this paper, the humidity fixed points were realized respectively in a glass desiccator and in a box with an air stirrer and examined experimentally.The state of saturated solution and the change of ambient temperature are important and effective for realizing the humidity fixed point. It is suitable for a rapid attainment of humidity equilibrium that the saturated solution is in a state of slushy mixture with water and salt. Although the equilibrium relative humidity of the saturated solution does not change much with temperature, a transient change of the relative humidity is observed following a sudden change of ambient temperature. The transient change amounted to -1.5%RH/°C at the maximum.The equilibrium relative humidities by respective saturated solutions of magnesium chloride, sodium bromide, sodium chloride and potassium chloride were accurately measured in a glass desiccator with use of a humidity sensor calibrated against the humidity standard of the National Research Laboratory of Metrology. The humidity values measured agree with those of the salt-humidity table in the literature and accordingly the reliability of the table was confirmed. The humidity fixed point by saturated salt solutions can be realized in a desiccator with the precision of 1%RH, if temperature is well controlled.To improve utility for practical use, the humidity characteristics of the fixed point realized in a cubic box were also studied under various conditions, such as stirring in the box and changing surface area of saturated solutions. It becomes clear that the stirring is important for uniform distribution and for quick attainment of equilibrium of the humidity, and the time required for the humidity equilibration is decreased to about 30min under stirring condition.

著者

畑山 誉 中村 文一

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.11, pp.811-820, 2014 (Released:2014-11-20)

参考文献数

15

被引用文献数

2

---

An attitude of a rigid body is defined on SO(3); the fact leads to problems on attitude control of a rigid body. We propose a new discontinuous control law for globally asymptotic stabilization of the attitude of the rigid body by minimum projection method. We prove that the system always has Carathéodory solutions under our control method. Moreover, we show an advantage of the proposed method over quaternion-based hybrid feedback.

著者

大坊 真洋 田山 典男 長谷川 辰雄 南幅 留男

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.12, pp.1937-1944, 1998-12-31 (Released:2009-03-27)

参考文献数

25

---

This paper describes a new approach to the X-ray computed tomography in order to find defects of the products in manufacturing industry. Our approach which is Fast Model Reconstruction Computed Tomography (FMR-CT), involves two key ideas: 1) for forward problem, integration two dimensional sinc functions along the X-ray on the sampled two-dimentional planee model and 2) for inverse problem, solving the liner inverse problem using a truncated singular value decomposition (SVD) method.Our algorithm is favorable fast computation capability because image vector can be obtained simple formula such as pseudo-inverse matrix (constant) multiplied by projection data vector, and is also compatible with multiprocessor implementations. The combination of sampling theorem and the SVD allows smooth reconstruction image with even smaller numbers of projections, because each techniques contribute interpolation and least-squares optimization, respectively.We demonstrate the cross section image which is reconstructed real projection data sets acquired by using the micro-focused X-ray TV. Further, we discuss practical determination of truncation rank with the visualization of decomposed v-singular vector and the distribution of singular values.

著者

関 宏也 大山 敏 小河 守正

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.61-66, 2002-01-31 (Released:2009-03-27)

参考文献数

15

被引用文献数

1 2

---

A nonlinear model predictive control based on successive linearization approach is developed. A nonlinear process model is linearized along its trajectory and an infinite-time horizon linear optimal regulator with integrator is implemented in a receding horizon fashion. Simulation examples for highly nonlinear chemical reactors which exhibit static input or output multiplicities are given to demonstrate the capability of the controller. The developed control algorithm has been successfully applied to a grade transition operation in an industrial polymerization reactor.

著者

住友 宣仁 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.57, no.8, pp.349-357, 2021 (Released:2021-08-20)

参考文献数

39

被引用文献数

1

---

In this study, we propose a path-following control method based on the state feedback law. In recent years, automated driving which attracts attention requires various element technologies, and among them, path following control to follow the target path is one of the most important elemental technologies. In previous study, a method was proposed that gave a constraint that makes the following error asymptotically zero. However, if the target path has a road width, the tracking error does not have to be zero. In this paper, a reference value for the tracking error is designed as a function of the vehicle state and other factors. The effectiveness of the proposed method was validated by numerical simulations and showed better performance than previous studies.

著者

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.55, no.12, pp.823-829, 2019 (Released:2019-12-14)

参考文献数

23

被引用文献数

1 3

---

This paper dealt with a design method of MCV observer using robust invariant set analysis method. In our previous research, a design method of state observer for output signal with outliers was proposed. In some control systems, adverse effect by outliers is one of the most important topics for solving. To overcome the adverse effect by outliers, we proposed a method to disappear the effect of outliers using median and candidates of estimated state. In this paper, we give an evaluation signal, and analyze the maximum absolute value of the evaluation signal using a robust invariant set. We propose the design method of observer gains to minify the maximum absolute value of the evaluation signal based on LMIs with some variables. It is easy to design the observer gains by our method. The effectiveness of the proposed design method of observer gains is evaluated by numerical simulation.

著者

岡島 寛 細江 陽平 萩原 朋道

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.54, no.11, pp.827-835, 2018 (Released:2018-11-22)

参考文献数

24

被引用文献数

1

---

This study proposes a design method of dynamic quantizer with communication rate constraints. Dynamic quantizers are well known as an effective method for the signal quantization in the meaning of the noise shaping. The noise shaping characteristics of the dynamic quantizers are determined by the matrices A, B and C. In the previous studies, A, B and C are given as time-invariant matrices. In this paper, we propose a dynamic quantizer form including periodically time-varying matrices for improving the control performance under the communication rate constraints. Analysis method of periodically time-varying dynamic quantizer is reduced to that of dynamic quantizers using time invariant matrices by using lifting technique. The effectiveness of the designed periodically time-varying dynamic quantizer is assessed via numerical examples.

著者

岡島 寛 南 裕樹 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.52, no.7, pp.393-400, 2016 (Released:2016-09-29)

参考文献数

24

---

Networked control has been studied by many researchers in recent years. This paper proposes a new system structure of the networked control systems. The evaluation system is presented to find the performance degradation caused by the communication channels. The proposed system has high degree of freedom for design and is not cumbersome structure. The effectiveness of the proposed structure is illustrated by numerical simulations.

著者

岡島 寛 上瀧 剛 松永 信智 内村 圭一

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.51, no.9, pp.645-654, 2015 (Released:2015-10-08)

参考文献数

19

被引用文献数

1

---

A digital halftoning method for DLP projector system is proposed in this paper. PWM type 2-value images have been rapidly switched to achieve high resolution image in DLP projector systems. To achieve high frame rate image projection with high image quality, it is required to reduce the number of 2-value images with small degradation of the image quality. We propose a framework for optimizing color quantization and luminance for DLP projector system with a few number of the 2-value images. The optimal light intense is designed based on a particle swarm optimization algorithm. We illustrate the effectiveness of the proposed method by numerical examples.

著者

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.55, no.10, pp.648-654, 2019 (Released:2019-10-18)

参考文献数

33

被引用文献数

1

---

Tracking performance of non-minimum phase systems under the continuous deadbeat condition is handled in this paper. It is well known that tracking performance is constrained and is difficult to achieve good transient response for the plant with unstable zeros. It seems that the deadbeat time and minimum undershoot by controller has some relation. In this paper, we derive analytical solution of a minimum undershoot for plants with one unstable zero when we want to achieve tracking control for the step reference. The effectiveness is illustrated using numerical simulations.