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.5, pp.444-447, 2003-05-10 (Released:2009-11-26)

著者

児島 晃 内田 健康

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.45, no.1, pp.67-74, 2006-01-10 (Released:2009-11-26)

参考文献数

20

被引用文献数

1

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 38

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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

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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

山中 英夫

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.10, no.12, pp.868-879, 1971-12-10 (Released:2009-11-26)

参考文献数

38

著者

高杉 將司 山本 知仁 武藤 ゆみ子 阿部 浩幸 三宅 美博

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.45, no.4, pp.215-223, 2009 (Released:2011-11-03)

参考文献数

37

被引用文献数

3 3

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The purpose of this study is to clarify the effects of timing control of utterance and body motion in human-robot interaction. Our previous study has already revealed the correlation of timing of utterance and body motion in human-human communication. Here we proposed a timing control model based on our previous research and estimated its influence to realize human-like communication using a questionnaire method. The results showed that the difference of effectiveness between the communication with the timing control model and that without it was observed. In addition, elderly people evaluated the communication with timing control much higher than younger people. These results show not only the importance of timing control of utterance and body motion in human communication but also its effectiveness for realizing human-like human-robot interaction.

著者

黒川 隆夫

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.36, no.2, pp.77-83, 1997-02-10 (Released:2009-11-26)

参考文献数

36

被引用文献数

2

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

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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

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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.

著者

崎村 徹

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.33, no.2, pp.116-118, 1994-02-10 (Released:2009-11-26)

著者

関本 裕太郎 立松 健一 山本 智

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.39, no.6, pp.405-409, 2000-06-10 (Released:2009-11-26)

参考文献数

8

著者

境谷 栄二

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.9, pp.801-805, 2016

著者

示村 悦二郎 志水 清孝

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.14, no.7, pp.562-564, 1975-07-10 (Released:2009-11-26)

参考文献数

22

著者

尾島 俊雄

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.33, no.12, pp.989-994, 1994-12-10 (Released:2009-11-26)

著者

山田 和明 大倉 和博 上田 完次

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.39, no.3, pp.266-275, 2003-03-31 (Released:2009-03-27)

参考文献数

27

被引用文献数

3

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We describe a distributed approach to controlling autonomous arm robots. The robots need to acquire cooperative behaviors in order to smoothly lift an object. Each arm robot has its own reinforcement learning unit for decision-making. In investigating this task, we are primarily interested in the question of how to design a reinforcement learning control system for a multi-agent system. An applied reinforcement learning algorithm uses Bayesian discrimination method to segment continuous state and action spaces simultaneously, thereby generating of a set of effective rules. The proposed approach is examined empirically with two real arm robots. The basic dynamics of the reinforcement learning process are also analyzed.

著者

中野 文平

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.25, no.3, pp.204-210, 1986-03-10 (Released:2009-11-26)

参考文献数

35

著者

山口 亨 藤本 泰成

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.56, no.4, pp.294-297, 2017

著者

松島 晧三

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.6, no.5, pp.308-319, 1967-05-10 (Released:2009-11-26)

参考文献数

10

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When a pendulum type vibrograph is used in measuring vibration, the longest measurable period is determined by the natural period of the pendulum. Therefore when the measured vibration is supposed to have a long period component, the natural period of the pendulum must be made long accordingly. It is not possible, however, to make the natural period of the pendulum itself unlimitedly long because the size becomes prohibitive and the measuring accuracy degenerates.The author proposes the “servo-vibrograph” in which the pendulum itself is comperatively small and with a short natural period but the apparent natural period of the vibrograph is made long by the servomechanism incorporated with the pendulum. This paper presents considerations on various conceivable constructions of the servo-vibrograph which can achieve the above objective, i. e., the elongation of the natural period. The torsional servo-vibrograph designed and built by the author is described in relation to the above considerations, and with the experimental results which are compared with the theoretical calculations pointing out some of the salient natures of its design. The built servo-vibrograph employs a pendulum whose natural period is 1 second. Experimental data were taken when the natural period was lengthened 2, 3 and 7 times longer by the servomechanism. Comparison is made between this servo-vibrograph and other conventional types of vibrographs.

著者

伊原 正 中村 太郎

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.1, pp.55-57, 2015 (Released:2015-03-23)

参考文献数

27

著者

島田 潤一 加藤 雅雄

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.24, no.6, pp.533-538, 1985-06-10 (Released:2009-11-26)

参考文献数

10