文献一覧: 公益社団法人計測自動制御学会 (出版者)

3 0 0 0 OA モデルベース強化学習を用いた六脚ロボットの前進行動獲得

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.

2016-06-26 12:25:07
3 + 2 Twitter

3 0 0 0 OA JITA国際シンポジウム

著者: 合田周平
出版者: 公益社団法人計測自動制御学会
雑誌: 計測と制御 (ISSN:04534662)
巻号頁・発行日: vol.11, no.6, pp.596-596, 1972 (Released:2009-11-26)

2016-04-11 09:26:06
3 + 0 Twitter

3 0 0 0 OA データマイニングの展望

著者: 寺野隆雄
出版者: 公益社団法人計測自動制御学会
雑誌: 計測と制御 (ISSN:04534662)
巻号頁・発行日: vol.41, no.5, pp.315-318, 2002-05-10 (Released:2009-11-26)
参考文献数: 26
被引用文献数: 4

2016-03-23 00:27:06
3 + 0 Twitter

3 0 0 0 OA ジョイスティック式自動車運転装置による操舵制御に関する検討

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.

2015-12-17 00:23:17
3 + 11 Twitter

3 0 0 0 OA 制御用計算機の挑戦と系譜第2回: 組込みソフトウェアの系譜

著者: 松本吉弘
出版者: 公益社団法人計測自動制御学会
雑誌: 計測と制御 (ISSN:04534662)
巻号頁・発行日: vol.42, no.3, pp.222-229, 2003-03-10 (Released:2009-11-26)
参考文献数: 9

2 0 0 0 OA テンポラルネットワーク上の伝播過程

著者: 小蔵正輝
出版者: 公益社団法人計測自動制御学会
雑誌: 計測と制御 (ISSN:04534662)
巻号頁・発行日: vol.55, no.11, pp.942-947, 2016 (Released:2016-11-23)
参考文献数: 27
被引用文献数: 1

2024-01-11 16:44:17
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2 0 0 0 複数の分析関心に基づく社会シミュレーション・ログの階層的分類と可視化手法

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.

2 0 0 0 OA 歩行運動の平面法則が成立する座標系について

著者: 山崎大河仲達俊介忻欣
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.12, pp.1172-1178, 2013 (Released:2013-12-21)
参考文献数: 13
被引用文献数: 1 1

The three-dimensional plot of the time sequences of the elevation angles of the thigh, shank, and foot during human walking has been reported to lie close to a plane, called the planar law showing the intersegmental coordination. For evaluating such coordination, the elevation angle has been regarded as an important coordinate system. However, there exist many other coordinate systems for describing the limb configuration. Even for the same data, the difference of the coordinate system may change the degree of planarity, and also affect the evaluation of the coordination. Here we aim to study the effect of the coordinate system on the planar law. We measure lower limb kinematics during steady walking on a treadmill with various speeds. Then we compare the degrees of planarity of the measured data described in various coordinate systems generated from the measured angles between the vertical and the thigh, the thigh and the shank, and the shank and the foot, and the linear transformations described by regular-three-dimensional matrices composed of elements { 0, 1, -1 }. The result shows that the different coordinate system can lead to a wide range of the planarity, and there exist many coordinate systems yielding higher or lower planarity than the elevation angles. Additionally, we elucidate the mathematical aspects of the planarity that depends on the coordinate systems. It is concluded that the planar law does not necessarily imply the importance of the information described by the elevation angles.

2024-01-06 07:11:43
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2 0 0 0 非線形モデル予測制御の自動コード生成ツール

著者: 大塚敏之
出版者: 公益社団法人計測自動制御学会
雑誌: 計測と制御 (ISSN:04534662)
巻号頁・発行日: vol.62, no.9, pp.536-540, 2023-09-10 (Released:2023-09-15)
参考文献数: 15

2023-12-26 12:32:16
2 + 13 Twitter

2 0 0 0 OA 油圧ダンパを用いた鉄道車両用上下制振システムの開発

著者: 菅原能生
出版者: 公益社団法人計測自動制御学会
雑誌: 計測と制御 (ISSN:04534662)
巻号頁・発行日: vol.54, no.9, pp.668-671, 2015-09-10 (Released:2015-09-25)
参考文献数: 10
被引用文献数: 1

2023-12-22 21:13:41
2 + 1 Twitter

2 0 0 0 OA 鳥の群れの動態解析と数理モデル

著者: 早川美徳
出版者: 公益社団法人計測自動制御学会
雑誌: 計測と制御 (ISSN:04534662)
巻号頁・発行日: vol.52, no.3, pp.207-212, 2013-03-10 (Released:2019-05-08)
参考文献数: 4

2023-12-12 03:39:27
2 + 0 Twitter

2 0 0 0 OA ポリトープ型不確かさを有する連続時間線形時不変システムに対するモデル誤差抑制補償器のロバスト性能解析

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.800-807, 2019 (Released:2019-12-14)
参考文献数: 29
被引用文献数: 3 2

Model based control system design has been developed in many fields based on the dynamics of the accurate plant model. The desired control performance of the transient response can not be achieved if the dynamics gap between the plant and its mathematical model is not small. We have proposed a specified compensator to minimize the gap between an actual plant and its nominal model. The proposed compensator is composed of its plant model and an error feedback component. In this paper, we propose a method to analyze error feedback compensation component based on the analysis method using LMIs. Polytopic-type uncertain continuous LTI systems are dealt with in this paper. The robust performance by the model error compensator is analyzed using H2 and H∞ indexes. The effectiveness of our analysis method is shown by numerical examples.

2023-12-08 12:17:23
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2 0 0 0 OA 確率微分方程式の基礎

著者: 山本直樹
出版者: 公益社団法人計測自動制御学会
雑誌: 計測と制御 (ISSN:04534662)
巻号頁・発行日: vol.50, no.11, pp.937-943, 2011-11-10 (Released:2021-12-08)
参考文献数: 5
被引用文献数: 2

2023-12-07 15:56:21
2 + 10 Twitter

2 0 0 0 OA ボロノイ分割を用いた複数のクワッドロータの相互衝突回避に関する数値的検証

著者: 中川健人権裕煥本仲君子三好誠司
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.56, no.1, pp.31-36, 2020 (Released:2020-02-01)
参考文献数: 12
被引用文献数: 1

In this paper, we assume a situation that multiple quadrotors are flying autonomously in the same space for the purpose of aerial photographing, surveillance, home delivery and so on. In such a situation, an algorithm to avoid mutual collision is needed. D. Zhou et al. proposed an algorithm based on the buffered Voronoi cells (BVC) to reach each target position without mutual collision when the multiple quadrotors fly and confirmed its operation by some simulations. In this research, we verified the performance of the method by numerical simulations using MATLAB. In addition, we confirmed the algorithm by dynamic simulations with four quadrotors using the dynamic simulator V-REP.