著者

岡島 寛 浅井 徹

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.9, pp.812-820, 2007-09-30 (Released:2013-02-25)

参考文献数

12

被引用文献数

1

---

This paper considers optimal tracking control problems. Our primary objective is to derive analytical solutions of fundamental limitations for a class of references in tracking control problem. It is well known that L2 norm of an error, which is defined by difference between an output and a reference, doesn't go to zero when we consider transient response for non-minimum phase systems. In the existing results, fundamental limitation is derived for each reference signal such as the step reference. In these results, we need consider whether the plant is easy to control or not in each reference. On the other hands, fundamental limitations are derived as functionals of references in this paper. In other words, we derive analytical performance limitation for a class of references. As a result, we can expect to separate contribution of references and that of plants in performance limitations.

著者

久我 創紀 中村 文一 佐藤 康之

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.12, pp.865-871, 2018 (Released:2018-12-18)

参考文献数

19

被引用文献数

1

---

We propose a “static” C∞ differentiable control Lyapunov function (CLF) design method for differentially flat systems by dynamic extension and minimum projection method. For differentially flat systems, “dynamic” CLF with dynamic compensators are designed. Our proposed “static” CLF is obtained by the reduction of the “dynamic” CLF. Then we design a static state feedback controller with the obtained static CLF. Finally we show an example to show that our proposed static CLF based controller can stabilizes the origin of the system.

著者

藤本 健治 佐藤 彰記 福永 修一

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.48, no.2, pp.102-108, 2012 (Released:2012-03-02)

参考文献数

9

---

This paper proposes a parameter estimation method for state-space models based on the variational Bayes method. The proposed algorithm employs the prior and posterior distributions in the same form. This allows us to use it iteratively to obtain accurate estimation whereas the existing algorithms cannot be used iteratively. Furthermore a numerical example demonstrates the effectiveness of the proposed method.

著者

赤井 直紀 モラレス ルイス 洋一 平山 高嗣 村瀬 洋

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.11, pp.745-753, 2019 (Released:2019-11-20)

参考文献数

29

---

This paper presents a localization approach that simultaneously estimates a robot's pose and class of sensor observations, where “class” categorizes the sensor observations as those obtained from known and unknown objects on a given geometric map. The proposed approach is implemented using Rao-Blackwellized particle filtering algorithm. The robot's pose can be robustly estimated utilizing sensor observations obtained from the only known objects by the simultaneous estimation. The proposed approach is efficient in terms of computational complexity because its complexity is same as that of the likelihood field model. Performance of the proposed approach was shown through experiments using a 2D LiDAR simulator.

著者

川谷 亮治 土井 智晴 外川 一仁

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.11, pp.1408-1410, 1994-11-30 (Released:2009-03-27)

参考文献数

3

---

In this paper, we propose a synthesis approach of nonlinear state observer for inverted pendulum systems based on the quadratic stabilization problem and confirm its validity by simulations.

著者

梅谷 陽二 広瀬 茂男

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.8, no.6, pp.724-731, 1972-12-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

2

---

A biomechanical study on the serpentine locomotion of snakes is presented including both mechanical analysis and its experimental verification with respect to Elaphe quadrivirgata. The mechanical analysis is based on an active linear linkage model, and the theoretical relations of forces induced by antagonistic muscles in straight-forward undulatory movement are obtained. A peculiar mode of snake's movement, which the authors define as the “vertex-lifting locomotion” (as shown Fig. 1), is shown to be optimal for rapid movement. The zoological experiments show good agreement with the theoretical results as well as some assumptions. Thus the authors conclude that this paper will be the first from the biomechanical point of view on snake's locomotion.

著者

杉江 俊治 大須賀 公一 小野 敏郎

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.24, no.4, pp.350-356, 1988-04-30 (Released:2009-03-27)

参考文献数

12

被引用文献数

1

---

This paper presents a robust control law which achieves model following with prescribed accuracy for a class of nonlinear systems which contain bounded unknown disturbances and uncertain nonlinear terms. Our method consists of nonlinear compensation and linear compensation. The former ensures robustness for the plant, the latter achieves both desired model following response and desired initial error convergence. The distinguish feature of our method is that admissible control error bound, smoothness of input, reference model (or desired command response), and initial error response can be specified independently, and that the controller is designed based on the information of the “bounds” of uncertainty terms.

著者

金子 修 中村 岳男 池崎 太一

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.54, no.12, pp.857-864, 2018 (Released:2018-12-18)

参考文献数

15

被引用文献数

8 15

---

We propose a new approach to controller parameter tuning in the two-degree-of-freedom control architecture, what is called as Estimated Response Iterative Tuning (ERIT). The idea is very simple in the sense that the feed-forward controller is tuned so as to realize that the estimated response calculated in the off-line is equal to the desired response. This approach is very useful because the required material for the optimization are the obtained data and the available information like the feedback controller, the desired transfer function, and the initial feed-forward controller. Here, we analyze the cost function which appears in the ERIT. To show the validity of the proposed method, we give an illustrative example.

著者

立本 健司 辻 和也 岩城 敏 池田 徹志

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.53, no.11, pp.583-589, 2017 (Released:2017-11-16)

参考文献数

18

---

In this paper we propose a method to improve projection quality of projection robots that work in our daily environments. In previous work we have proposed a robot CAMPRO-RIS which can project from arbitrary place to a specified position and size without distortion. However, there is a problem that projection quality deteriorates as the distance from the robot to the position becomes larger or the angle becomes steeper. To overcome the problem we propose a planning method that considers the projection quality according to the specification of the projector and simultaneously avoids obstacles. By making use of the redundant degree of freedom of the CAMPRO-RIS, our method computes a potential function that navigates the robot to appropriate areas to project while keeping projection to the specified position. We have confirmed the validity of the proposed method based on the simulated experiments and real robot navigation and projection experiments.

著者

平野 旭 辻 敏夫 滝口 昇 大竹 久夫

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.41, no.4, pp.351-357, 2005-04-30 (Released:2009-03-27)

参考文献数

21

被引用文献数

2 4

---

This paper proposes a new model of the membrane potential change of Paramecium for environmental stimuli. The proposed model calculates not only the membrane potential based on the Hodgkin-Huxley equation, but also the internal Ca2+ concentration in cilia that cannot be measured with the actual organism. This will be helpful to reproduce the behavior of Paramecium based on the mechanism of the actual organism. Simulation experiments demonstrate that the proposed computer model can reproduce the characteristics of the actual organism.

著者

下井 信浩

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.6, pp.577-583, 2001-06-30 (Released:2009-03-27)

参考文献数

14

被引用文献数

3 2

---

This paper is about humanitarian demining activities on anti-personnel mines, such as the problems face during mines detecting and the difficulties of conducting such activities. In present time, there are about 80 million of unmanaged ant-ipersonnel mines left in conflict ended countries throughout in the world. As result, many noncombatants die during peacetime due to the mines and a great amount of moneys is spent on mines management. Through this paper, we suggest some technical solutions on this problem.

著者

安藤 博昭 青柳 多慶夫 村山 栄治 荒井 邦晴

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.12, pp.872-877, 2018 (Released:2018-12-18)

参考文献数

10

---

Performances of main components such as an engine, hydraulic pump, cylinder, valve and so on for a hydraulic excavator have been improved year by year. The system also related with a controller to assist operations have been complex more and more. An excavator is a general construction machine for a civil engineering and performs a various of applications such as a digging, truck loading, lifting and leveling. A powerful digging force and fast motions are required. Besides, very sensitive and accurate operations are needed. There is a response delay of the hydraulic system from an operator input command to a hydraulic cylinder motion as an actuator. When an assist controller to manipulate the bucket is developed, the delay should be considered in order to improve the accuracy. In this paper, we investigate to utilize Smith Predictor for a leveling operation which is required high accuracy as a system with time delay. It's confirmed that Smith Predictor is better than a conventional PID controller to quantitatively compare the following trajectories of the bucket tip to a target.

著者

宮武 信春 森 正三 古田 勝久

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.4, pp.385-392, 1978-08-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

1 1

---

We developed the method which recursively identify the multi-attribute utility function based on the observation data which consist of the paired comparison questions and answers. In this method, the weights (w1, w2, …, wn) of additive utility function U(a)=∑ni=1wi·ui(ai) are regarded as random variables and the gaussian sum approximation method is used to estimate the posteriori probability density function of the weights conditioned by the data of comparative judgements. In order to test the applicability of this method, we applied it to the following two examples, (1) estimation of the value of time, (2) evaluation of the psychological burden of trip route.

著者

三宮 信夫 島田 亮 中峯 浩

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.29, no.2, pp.211-219, 1993-02-28 (Released:2009-03-27)

参考文献数

10

被引用文献数

13 9

---

The autonomous decentralized system is a system whose functional order is generated only by cooperative interactions among its subsystems. In other words, the system does not have any supervisor for the entire system. Instead, each subsystem has the autonomy to control each part of the system. But, that system has not been realized yet as an artificial. Fortunately, there are many examples of the autonomous decentralized system in the biological and ecological world. In this paper, we consider a fish school as an autonomous decentralized system. The schooling mechanism of a fish behavior is studied by using modeling and simulation techniques.A water tank experiment was carried out to obtain an observation data for fish behavior and to know a special feature of a school. The unknown parameters included in the model were estimated by using a water tank experiment data. The relationship between the information obtained by each individual and the state of school was investigated.

著者

花房 秀郎 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.12, no.5, pp.536-542, 1976-10-30 (Released:2009-03-27)

参考文献数

4

被引用文献数

1 2

---

It is desired that artificial fingers can grip various objects with a gripping suitable to their shapes. In this paper, we discuss the matching between the structure of artificial fingers and the shapes of objects. The gripping by a robot is regarded as the restriction of the objects by the fingers. The forces acting on the objects should be balanced for the gripping.First the finger forces depending on the structure of the artificial fingers and the shape of an object are analyzed. Second by introducing the potential function the stability of a gripping form is discussed. When the potential is relative minimum at a certain gripping form, the resultant of all the finger forces acts so as to keep the gripping for all of small deviations. The defined potential can be applied to decide the optimal gripping form and the design of an universal gripper.

著者

木下 源一郎 高瀬 国克 森 政弘

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.7, no.1, pp.25-30, 1971-02-28 (Released:2009-03-27)

参考文献数

9

---

This paper proposes an artificial-tactile pattern recognition which is composed of the recognition by touching the object surface with the artificial-tactile sense and the recognition by grasping the object with the artificial-hand.The hint of this proposition was found in the function of the tactile sense of a human hand.The fundermental principle of the artificial-tactile pattern recognition is to process a stress distribution that the unknown object produces in the artificial-tactile sense elements.In the proposed method, the 3-dimensional stress distribution is partitioned into the 2-dimensional peripheral pattern and the threshold decrement by an analogy with the threshold phenomena in the living body. The object surface is recognized as a sequence of the peripheral processing at each threshold decrement.A simple experiment classifying cylinders and square pillars was performed by the artificialhand with on-off switches instead of the presure sense elements. As the result, a high reliability of recognition is obtained.

著者

山口 博明 野木 滉一郎 米澤 直晃 冨岡 明弘

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.54, no.6, pp.574-587, 2018 (Released:2018-06-20)

参考文献数

28

---

This paper presents a novel dynamical path following feedback control method for a snake-like robot. The snake-like robot is an undulatory locomotor transforming its periodic changes in shape into its displacement. To achieve work involving movement, e.g., an inspection task, in its working environment, it is necessary to specify its motion quantitatively. Since each of the links of the locomotor has passive wheels at its midpoint, it is not simple to design a feedback control system which enables the locomotor to follow desired paths (or to track desired trajectories) compared with wheel drive vehicles. Especially, the locomotor has singular attitudes in which the driving of its joints cannot be transformed into its movement. In this control method, a virtual link with a virtual steering system at its tip and a virtual axle at its midpoint connected to a top link through a virtual joint at its tip is caused to follow winding paths, which makes it possible to transform the driving torque of its joints into its propulsion force. The kinematical equations of the locomotor are formulated in a curvilinear coordinate system in which a winding path is one coordinate axis. A part of the kinematical equations describing the motion of the virtual mechanical elements only are converted into a chained form which facilitates to design a kinematical path following feedback control system. By a backstepping method, the acceleration required to realize the desired velocity in the kinematical control system is calculated. Based on the dynamical equations of the locomotor derived in Lagrangian mechanics, the torque of the joints of the locomotor is designed so as to realize the acceleration calculated by the backstepping method. The validity of this dynamical control method is verified by simulations in which the locomotor climbs a slope while following a serpenoid curve path.

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.57, no.7, pp.337-338, 2021 (Released:2021-07-17)

参考文献数

1

---

In the previous paper, we proposed a method to stabilize the air over a heater by ultrasonic standing wave for better vision sensing. The phenomenon was not fully understood. This paper reports the observation results by particle image velocimetry.

著者

中村 仁彦 花房 秀郎

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.21, no.5, pp.501-507, 1985-05-30 (Released:2009-03-27)

参考文献数

20

被引用文献数

3 4

---

In this paper, the optimal redundancy utilization of articulated robot arms is discussed. Concerning redundancy utilization of robot arms, the momentary optimal control scheme has been proposed so far, where the null spaces of Jacobian matrices are made optimal use of instantaneously. However, it is not enough when the exact optimality covering the full working time is required. For examples, the energy saving motion is required for robot manipulators of space use. The successful motion may not be always obtained for obstacle avoidance problem in the working space with complicated obstacles, if we apply the momentary optimal control scheme.The globally optimal control scheme of redundancy is formulated based on Maximum Principle. By applying this scheme, the optimal solution is necessarily obtained, if it exists. And the amount of computation is reduced to one dimensional search for the minimum value when the degree of redundancy is equal to one.

著者

金 亨俊 山川 宏

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.4, pp.240-250, 2015 (Released:2015-04-15)

参考文献数

18

---

Existing rigid robot arms are often designed to have two or three joints in view of costs and manufacturing points. However at an initial design stage, the number of joints and lengths of arms should be designed more freely and adequately from the points of total efficiency and costs. This study aims at developing and providing a general and convenient method to obtain optimum number of joints and lengths of a rigid robot arm at initial design stage. The design of optimum joints and lengths, of course, depends upon trajectories, obstacles in working space, tasks and other many factors. At an initial design stage it is not so easy to determine optimum number of joints and lengths under consideration such many factors but is worthwhile to study on seeking for a possible method. Hence this study proposes a general design method where a trajectory itself is taken as design variables beside number of joints and lengths of robot arms because a trajectory is considered as one of prominent factors to effect on such two measures energy and manipulability are adopted as objective functions. Then an optimum problem is formulated as multi-objective optimum design problem. This problem is difficult to solve by conventional optimization methods, thus it is solved by multiple loops based on Genetic Algorithm (GA). Based on the proposed method, numerical examples in 2- and 3-dimensional spaces are demonstrated. Model experiments are also carried out. All those results are examined, and show the validity and effectiveness.