著者

Kiminao KOGISO Makoto NOGUCHI Kazuyoshi HATADA Naoki KIDA Naofumi HIRADE Kenji SUGIMOTO

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.3, no.4, pp.229-236, 2010 (Released:2011-11-18)

参考文献数

20

被引用文献数

1 1

---

This paper presents some experimental validation results of an already-proposed switching control method for simultaneous achievement of collision avoidance and tracking control for a vehicle in a non-cooperative situation. To validate the method, an experimental control system is made, in which the vehicle is a toy model car possible to remotely control via infrared ray and a camera is used to measure the vehicle's state. After presenting the constructed control system, the effectiveness of the method is investigated with the results obtained from the several control experiments.

著者

Shingo ABE Yohei TANAKA Yukako UCHIDA Shinichi HORATA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.11, no.4, pp.372-379, 2018 (Released:2018-07-31)

参考文献数

21

被引用文献数

10

---

In industrial control system (ICS) network, communication is often conducted using custom protocols. Methods for analysis and protection from cyber threats that are specific to ICS network need to be discussed in line with each device and system specification. In this research, the honeypot technology, which is already practiced in IT networks, was further improved for ICS networks so that it responds to packets reaching the honeypots and even conducts counter-scan to collect information of the attack method and its sources. It has been already presented that machines infected with some known malware (e.g. Havex RAT) in ICS networks conduct scan activities against certain devices. For this type of attack, interaction honeypot is considered effective in identifying infected devices out of such scans. In the simulation based on Modbus Stager, which affects programmable logic controller (PLC) operation and connected PCs, the suggested interaction honeypot, namely “traceback honeypot system (THS)” successfully collected payload that is actually sent in the attacks by emulating responses to commands on Modbus protocols. Information obtained from THS-based observation can be used for proactive purposes as in separating infected devices from the operating network and restricting access to certain devices to prevent further infection in the ICS network. This paper discusses methods of tracking attack sources using the THS and preventing further infection within the network based on the search result.

著者

Noriko SUZUKI Haruka SHODA Rina MATSUBAYASHI Mamiko SAKATA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.11, no.3, pp.263-269, 2018 (Released:2018-05-31)

参考文献数

41

---

This paper investigates the effect of a hearer's attitude toward a speaker's multimodal behaviors. Twenty-one university students, nine males and twelve females, participated in this experiment as speakers. Two females, aged 22 years old, performed in the role of hearers. The experiment was carried out under two conditions regarding the hearer's attitude: polite and impolite conditions. The polite hearer nodded, produced back-channel response, and gazed at the speaker, while the impolite hearer did these actions to a lesser extent. Under each condition, the speakers talked about their own experiences to the two different hearers through a within-participants design. The speech, gaze, and body motion of speakers were recorded with a video camera. In addition, the communication skills of speakers, including expressivity, sensitivity, regulation, assertiveness, and responsiveness skills, were measured after the experiment. The speakers' silent pauses, filled pauses, gaze aversion, and representational gestures were compared between the hearers' two politeness conditions. The relationship between the multimodal behaviors and the speakers' communication skills was also analyzed. The results suggest that the speakers' silent pauses, filled pauses, and gaze aversion decreased in the polite hearer condition, while representational gestures increased. From the communication-skills test, the speakers with higher expressivity, sensitivity, and regulation skills but lower assertiveness and responsiveness skills show longer silent pauses under the impolite hearer condition. Moreover, we discuss how the implications of our findings can enhance the relationship between social robots and people.

著者

Junya TAIRA Suzanne LOW Maki SUGIMOTO Yuta SUGIURA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.12, no.3, pp.116-123, 2019 (Released:2019-05-16)

参考文献数

30

---

We propose a system of detecting the position of a device embedded with an antenna by sensing the electrical power from a two-dimensional communication (2DC) sheet. The system obtains a characteristic power pattern at each position by sweeping the frequency of the microwave supplied to the 2DC sheet. Our system uses a machine learning technique to learn the accumulated power-pattern data to detect the position of a device. The position-detection accuracy of our system was 79.1% when the antenna was moved in 12mm intervals. In addition to detecting the position of a device, we also estimated the direction.

著者

Ken'ichi KOYANAGI Tatsuo MOTOYOSHI Hiroyuki MASUTA Kei SAWAI Toru OSHIMA

出版者

公益社団法人 計測自動制御学会

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.10, no.3, pp.170-176, 2017 (Released:2017-06-03)

参考文献数

19

---

In virtual reality (VR) technology, force feedback/display devices are expected to enhance fine sensation and contribute to the user's immersive experience. This is particularly true for glove-type devices. Force display gloves, however, do not have a specific numerical value to indicate display accuracy. In this paper, we report the results of sensory testing and analysis with VR cylindrical objects using a passive-type force display glove. The size discrimination threshold for grasping was determined to be smaller than the nominal average error of the device; however, the threshold was larger than either the actual accuracy of the device or the threshold from an organoleptic test of a barehanded human. We have also identified the possible superimposition of the sensory accuracy errors of the operator with those of the glove. Despite this finding, we have determined that the device shows adequate accuracy for representing cylindrical objects during specific grasping tasks.

著者

Keisuke KUNIYOSHI Setsuya KURAHASHI

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.10, no.6, pp.520-527, 2017 (Released:2017-12-17)

参考文献数

22

被引用文献数

4

---

In this research, a novel teaching simulation model is proposed, in which the understanding status, knowledge structure, and collaborative effect of each learner are integrated through the concept of a doubly structural network model. The purpose of this research is to investigate how the leaners' understanding will be changed by various teaching styles in a classroom. The proposed model consists of students' mental models, their learning capabilities, in-class learning processes, learning material structures, and their collaborative relationships. In the simulation experiments, we analyse the learning effects of both the different teaching strategies and the seating arrangement of learners on collaborative learning effects. From the simulation analyses, we have found that: (1) the learning effects depend on the difference in teaching strategies, (2) a teaching strategy where learning skills, material structure, and collaborative learning are integrated is the most effective, (3) the seating arrangement affects collaborative learning, and (4) ability classes have adverse effects on learners in collaborative learning.

著者

KOGISO Kiminao NOGUCHI Makoto HATADA Kazuyoshi KIDA Naoki HIRADE Naofumi SUGIMOTO Kenji

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.3, no.4, pp.229-236, 2010

被引用文献数

1

---

This paper presents some experimental validation results of an already-proposed switching control method for simultaneous achievement of collision avoidance and tracking control for a vehicle in a non-cooperative situation. To validate the method, an experimental control system is made, in which the vehicle is a toy model car possible to remotely control via infrared ray and a camera is used to measure the vehicle's state. After presenting the constructed control system, the effectiveness of the method is investigated with the results obtained from the several control experiments.

著者

Taro YANAGIYA Yusuke OKAJIMA Tomoaki HASHIMOTO Toshiyuki OHTSUKA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.13, no.5, pp.215-224, 2020 (Released:2020-09-12)

参考文献数

21

---

We developed a load frequency control system with stochastic model predictive control (SMPC) for power systems where the market penetration of wind power generation is high. The controller adjusts the electricity price for heat pump water heaters while at the same time controlling thermal power plants and batteries in order to maintain the frequency in the designated range. We propose an approach for solving SMPC problems on Hammerstein models including affine disturbance feedback parametrization. Simulation results show that SMPC with affine disturbance feedback parametrization outperforms both SMPC without parametrization and deterministic model predictive control in terms of the stage-cost and constraint violation.

著者

Thanh Vo NHU Hideyuki SAWADA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.9, no.6, pp.251-256, 2016 (Released:2016-12-28)

参考文献数

14

被引用文献数

1 1

---

The authors are developing a talking robot based on the physical model of human vocal organs in order to reproduce human speech mechanically. This study focuses on developing a real-time interface to control and visualize talking behavior. The talking robot has been trained using a self-organizing map (SOM) to reproduce human sounds; however, due to the nonlinear characteristics of sound dynamics, automatic generation of human-like expressive speech is difficult. It is important to visualize its performance and manually adjust the motions of the artificial vocal system to get a better result, especially when it learns to vocalize a new language. Therefore, a real- time interactive control for the talking robot is designed and developed to fulfill this task. A novel formula about the formant frequency change due to vocal tract motor movements is derived from acoustic resonance theory. In the first part of the paper, the construction of the talking robot is briefly described, followed by the real-time interaction system using Matlab Graphic User Interface (GUI) together with the strategy to interactively modify the speech articulation based on the formant frequency comparison.

著者

Tadahiko MURATA Takuya HARADA Daiki MASUI

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.10, no.6, pp.513-519, 2017 (Released:2017-12-17)

参考文献数

20

被引用文献数

1 9

---

In this paper, we modify a synthetic reconstruction (SR) method without samples. The synthetic reconstruction method is a method to generate attributes of population such as age, sex and kinship within a family according to available statistics. Although the original SR method employs some individual samples that are collected to make a statistics, it is criticized that generated attributes are only within the samples used in the reconstruction process. In this paper, we employ a simulated annealing-based SR method without samples. We compare two types of generation methods of a candidate solution in a search of simulated annealing: changing age of an agent (age-change) or swapping ages of two agents (age-swap). Results of synthetic reconstruction show that age-change is better when we limit the number of search. On the other hand, age-swap is better when we have enough number of search for reconstructing a population.

著者

Hiroshi OKAJIMA Yuki MINAMI Nobutomo MATSUNAGA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.11, no.6, pp.510-516, 2018 (Released:2018-11-22)

参考文献数

18

---

This study proposes a design method for unilateral control systems with communication rate constraints. In the case where it is necessary to control under a communication rate constraint, the effect of the quantization noise should be minimized using effective signal quantization methods. One of the effective methods for signal quantization is a feedback-type dynamic quantizer. We previously proposed a design method for a dynamic quantizer under communication rate constraints. In this paper, a unilateral control structure is proposed to minimize the effect of the quantization error. The design method for the quantizer is applied to the proposed structure. The effectiveness of the proposed system with the designed quantizer is assessed via numerical examples.

著者

Fang Wei HUANG Madoka TAKAHARA Ivan TANEV Katsunori SHIMOHARA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.11, no.3, pp.230-238, 2018 (Released:2018-05-31)

参考文献数

18

被引用文献数

1

---

We investigate whether socio-psychological aspects such as empathy, grouping (swarming), and the trade-off between reactive and proactive behaviors, implemented in caribou agents improves the efficiency of the simulated evolution (via genetic programming) of their escape behavior or the effectiveness of such a behavior in the wolf-caribou predator prey pursuit problem. The latter comprises a team of inferior caribou agents attempting to escape from a single yet superior (in terms of sensory abilities, raw speed, and maximum energy) wolf agent in a simulated two-dimensional infinite toroidal world. We empirically verified the survival value of empathy in that it improves both the efficiency of evolution of escape behavior and the effectiveness of such a behavior. Also, we concluded that swarming facilitates a faster evolution of caribou agents while preserving the effectiveness of their evolved behavior. Finally, we investigated the dilemma between the reactiveness and proactiveness of the behavior of caribou agents. The experimental results suggest that the trade-off between the reactiveness and proactiveness facilitates a significant improvement of both the efficiency of evolution and the effectiveness of the evolved escape behavior of caribou agents.

著者

Kazuhiro SHIN-IKE Hitoshi IIMA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.9, no.3, pp.144-150, 2016 (Released:2016-06-25)

参考文献数

11

---

In this study, we propose a method for determining the classroom seating arrangements considering relationships between one student and the other students sitting around him or her. The method for determining the classroom seating arrangements is constructed based on our proposed genetic algorithm. In order to determine the optimal classroom seating arrangements, the genetic algorithm is applied on the basis of the questionnaire result of how students feel when they take a class on the seats assigned to them and the analysis of each student's personality. Experiments are carried out in order to verify the effectiveness of the proposed method.

著者

Jorge CORTÉS Magnus EGERSTEDT

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.10, no.6, pp.495-503, 2017 (Released:2017-12-17)

参考文献数

70

被引用文献数

108

---

Recently, significant gains have been made in our understanding of multi-robot systems, and such systems have been deployed in domains as diverse as precision agriculture, flexible manufacturing, environmental monitoring, search-and-rescue operations, and even swarming robotic toys. What has enabled these developments is a combination of technological advances in performance, price, and scale of the platforms themselves, and a new understanding of how the robots should be organized algorithmically. In this paper, we focus on the latter of these advances, with particular emphasis on decentralized control and coordination strategies as they pertain to multi-robot systems. The paper discusses a class of problems related to the assembly of preferable geometric shapes in a decentralized manner through the formulation of descent-based algorithms defined with respect to team-level performance costs.

著者

Takuya HARADA Tadahiko MURATA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.10, no.6, pp.505-512, 2017 (Released:2017-12-17)

参考文献数

17

被引用文献数

10

---

In this paper, we propose a method to project households of synthetic population using fundamental geospatial data for real-world social simulations. That is, we assign each generated household on a building in a geographical map. When we try to conduct a real-scale social simulation, we need attributes of agents and their locations on a geographical map. We have already proposed a synthetic population method that generates attributes of agents or citizens from the statistics of the real world. To determine the locations of agents, we propose, in this paper, a threefold method to project generated households on buildings in a geographical map using the fundamental geospatial data. We apply the proposed method to project households generated from the statistics of Takatsuki City, Osaka, Japan and project them on buildings in the map. In order to cope with a problem of random assignment of households on buildings, we propose a modified method to consider types and area of buildings. Projection results show that households are assigned more reasonably to isolated houses and apartments.

著者

Hiroshi OKAJIMA Hironori UMEI Nobutomo MATSUNAGA Toru ASAI

出版者

公益社団法人 計測自動制御学会

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.6, no.4, pp.267-275, 2013 (Released:2013-08-01)

参考文献数

28

被引用文献数

9 37

---

The robust control design method has been studied in recent decades. A control system works well under the modeling errors and disturbances if controller design is based on the robust control method. However, it is well known that in control systems, generally, there exists a trade-off between control performance and robustness. To overcome the trade-off problem, this paper proposes an internal model type compensator structure that minimizes the modeling gap between the nominal model and actual plant dynamics. By using the proposed compensator, the dynamics of the compensated system closes to that of the nominal model. Then, a design method of the compensator parameters is also proposed for minimizing a set of plant dynamics. The proposed design method is reduced to the standard µ design control problem. If we use the proposed compensator for control systems instead of the plant itself, the output performance might be better despite plant uncertainty. Given that the proposed compensator can be used for the control of not only linear but also nonlinear plants, we can easily achieve robust control of nonlinear systems. The effectiveness of the proposed method is shown by numerical examples.

著者

Gou ICHIMASA Hiroshi OKAJIMA Kosuke OKUMURA Nobutomo MATSUNAGA

出版者

公益社団法人 計測自動制御学会

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.10, no.5, pp.468-475, 2017 (Released:2017-09-23)

参考文献数

13

被引用文献数

7

---

Design methods for control systems based on plant models have been developed for many years. If a mathematical model is accurately obtained from the input-output relation of a plant, then the designed controller for the model performs well for the control system connected with the plant. However, the desired control performance might not be achieved when there is an undeniable modeling error. To overcome this problem, the authors proposed the model error compensator (MEC) to minimize the effect of the modeling error between the plant and the model. The MEC works well for many control systems, such as unstable systems and non-linear systems. However applying the MEC to non-minimum-phase plants is difficult because of their control system structures. Non-minimum-phase plants are well known for being difficult to control. This paper proposes an MEC with a parallel feed-forward filter (PFF). The PFF is used to cancel the non-minimum-phase characteristics of the plant. The effectiveness of the proposed method is illustrated through numerical examples.

著者

Takafumi KAWASAKI Makoto KAWANO Takeshi IWAMOTO Michito MATSUMOTO Takuro YONEZAWA Jin NAKAZAWA Hideyuki TOKUDA

出版者

公益社団法人 計測自動制御学会

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.10, no.5, pp.393-401, 2017 (Released:2017-09-23)

参考文献数

27

---

Road maintenance requires local city governments to dedicate a substantial amount of funds in finding and repairing damaged traffic marks and pavements. In developed cities, the total road length is so large that the cost becomes unreasonably high. In this paper, we propose a method of sensing damaged traffic marks from images captured by a camera mounted to a car, for the purpose of reducing road maintenance cost. In particular, we utilized convolutional neural networks (CNN), as well as linear support vector machines (SVM) and Random Forest, in developing a system of damage detection. The experiments used thousands of images captured in the wild and showed that the method can detect damages using CNN with 93% accuracy, at maximum, and at reasonable speed (55 images per second).

著者

Trung Quang PHAM Takayuki HOSHI Yoshihiro TANAKA Akihito SANO

出版者

公益社団法人 計測自動制御学会

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.10, no.5, pp.426-432, 2017 (Released:2017-09-23)

参考文献数

24

被引用文献数

2

---

Rapid adapting type-I (RA-I) receptor is one type of mechanoreceptors in the human skin. They are believed to be responsible for the detection of stimuli that produce minute skin motion (flutter, slip, microgeometric surface features). The neurophysiological experiments in the paper [J.R. Phillips et al. J. Neurophysiol., Vol. 46, pp. 1192-1203, 1981]raise a question about why the RA-I afferent (innervated into RA-I receptor) fails to represents the stimulus with the width less than 3mm and why their response is anisotropy. It is unclear whether the skin's mechanics or the specific afferent branching of mechanoreceptors themselves are accounted for these phenomena. The present work seeks an interpretation of the neurophysiological phenomena, using a biomechanical finite-element (FE) model with a transduction sub-layer and synthetic sub-model for afferent current. The predicted afferent current matched well with the neural recordings in previous reports. This result suggests a major role of afferent branching in regard to the neurophysiological phenomena.