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

118

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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

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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

Susumu TACHI

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.9, no.6, pp.729-738, 1973-12-30 (Released:2009-03-27)

参考文献数

10

被引用文献数

1 3

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A method is proposed for separating a desired periodic signal, i.e., for detecting its direction and estimating its Fourier components, from other periodic signals scattered in a field contaminated with Gaussian random noise.The auto-bispectrum of a signal composed of a periodic signal plus Gaussian random noise preserves the information about both relative amplitudes and relative phases of the components of the periodic signal, while it cancels out the over-all phase shift caused by the time delay of the signal.The cross-bispectrum of the two waveforms observed at two different points, on the other hand, preserves information about the inter-regional phase shift of each component.These characteristics are clarified and used as the basis, of the method. The direction of the desired signal is measured by means of the auto- and cross-bispectra of the observed waveforms. The Fourier components of the desired signal are estimated by using the auto-bispectrum, and the desired signal can be reconstructed by means of Fourier synthesis.An example of reconstruction is shown, and the estimation errors of the program used are discussed. The estimated value varies because of finite averaging, and the distribution of the deviation from the true value can be regarded as almost normal. The relative error diminishes almost linearly as the signal/noise ratio increases when the signal/noise ratio is larger than 1.0.

著者

立石電機 (株) 産機統轄事業部

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.27, no.12, pp.1130-1131, 1988

著者

渡辺 嘉二郎 真鍋 宗広 吉川 崇

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.4, pp.404-410, 2006-04-30 (Released:2009-03-27)

参考文献数

22

被引用文献数

4 5

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Two indices, sleep age and sleep index by the human pulse wave and body movement measured non-invasively by the pneumatic method are presented. The sleep age shows the quality of a whole night sleep and the sleep index shows the sleep characteristics of each minute to estimate the sleep stage in the manner of R-K method. The average error between the estimated sleep ages by the R-K method and the proposed method was 7.8 years. The coincidence rate by direct comparisons of sleep stages for each minute estimated by the R-K method and the proposed was 36.4% and SQRM of errors was one sleep stage. The sleep stages estimated by the proposed method showed the essential human sleep characteristics in whole night sleep.

著者

内海 権三 平林 庄司 渡辺 忠勝

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.17, no.1, pp.118-124, 1981

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Various nondestructive and breakdown tests were conducted with the two types of traction motors of electric locomotives of JNR which had been in service for many years. This paper describes nondestructive and breakdown characteristics. As the insulation resistance and tan δ are subject to environmental conditions such as humidity and temperature, we should be very careful to prevent their effect. On the other hand, the partial discharge characteristics are relatively little affected by the surrounding, also a considerable correlation is observed among the partial discharge characteristics and the breakdown voltage. This leads to the possibility of degradation judgement to a certain extent by the nondestructive test. The authors proposed the following guidelines for judging insulation detrioration in the partial discharge characteristics when the partial discharge measuring instruments are applied to an insulation test of relatively low voltage electric motor. (1) Partial discharge inception voltage (<i>V_i</i>): More than 1kV. Only for armature winding, more than 1.5kV. The windings which exhibit these test data have necessary insulation strength for operation. (2) Maximum partial discharge magnitude (<i>Q</i>_max): Below 10×10^-9 coulomb. Only for armature winding, below 2×10^-9 coulomb. The windings which exhibit these test data have necessary insulation strength for operation. (3) Partial discharge current(<i>I</i>): Below 3×10⁴× 10^-9A. Only for commutating pole winding, below 2×10⁴×10^-9A. The windings which exhibit these test data have necessary insulation strength for operation.

著者

杉山 喬

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 = Journal of the Society of Instrument and Control Engineers (ISSN:04534662)

巻号頁・発行日

vol.40, no.7, pp.527-530, 2001-07-10

著者

飯村 伊智郎 伊藤 登志也 濱口 孝治 中山 茂

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.9, pp.772-774, 2005

被引用文献数

2

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This paper proposes a distributed parallel processing of Queen Ant Strategy named "AS_queen" which imitated an ant society which a queen ant governs. It is noted that the proposed processing method satisfies "shortening of average time for search" and "improvement of searching ability" at the same time in the seventy-six cities' configuration of TSPLIB.

著者

上滝 致孝

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.9, no.9, pp.693-698, 1970

著者

杉原 知道

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.43, no.1, pp.21-23, 2004

著者

内山 正敏

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.44, no.10, pp.681-687, 2005

著者

栗山 繁

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 = Journal of the Society of Instrument and Control Engineers (ISSN:04534662)

巻号頁・発行日

vol.45, no.12, pp.1024-1029, 2006-12-10

著者

松野 文俊 笠井 正三郎 田中 美和子 若城 邦子

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.32, no.7, pp.1011-1019, 1996-07-31

被引用文献数

4 1

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In this paper we consider robust force control of a one-link flexible arm. Since the tip of the flexible arm contacts with a given constraint surface, a constraint condition should be satisfied. By using Lagrange multiplier method and Hamilton's principle, we derive dynamic equations of the joint angle (an ordinary differential equation), the vibration of the flexible arm (a partial differential equation), and the constraint force. The boundary condition of the derived distributed parameter system is nonhomogeneous. We introduce a new variable and derive a homogeneous boundary condition. By solving an eigenvalue problem, eigenvalues and corresponding eigenfunctions are derived. On the basis of the eigenfunction expansion we derive a finite dimensional modal model. To compensate the spillover instability an optimal controller with low-pass property and a robust <i>H</i>_∞ controller are constructed. The stability of the direct force feedback and the compliance control considering uncertainty of the arm flexibility is analyzed. To demonstrate the validity of the derived model and the effectiveness of the proposed controllers, a set of experiments has been carried out. Experimental results confirm that the robust controllers perform well.

著者

渡辺 嘉二郎 大西 健司

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.31, no.3, pp.302-307, 1995

被引用文献数

2

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The tone from a small police whistle when blown into weakly, can be listened into in such a way that the frequency is proportional to the amount of blowing. This fact hints to us some whistle element can be a new flowmeter that detects the flow by the frequency. Here we extract a structure of the whistle element that is desirable as the flowmeter. The spectrum of the whistle tone has several peaks and some frequencies with the peaks are linearly proportional to the flow and the other keeps same values. The whistle itself includes several tone generating mechanisms. This research aims at extracting an element and/or mechanism that generates the tone whose frequency is purely proportional to the flow.<br>First we investigate what role the each component (a) whistle itself, (b) edge and (c) cylindrical cavity plays in the tone generation. We investigated how the tone frequency changes as flow increases for each element and found the cylindrical cavity played the best role as the flowmeter in the sense of the range ability, stability and linearity.

著者

古賀 雅伸 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.29, no.10, pp.1191-1198, 1993

被引用文献数

1

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This paper describes a high-performance computer aided control system design language MATX which integrates numerical analysis, matrix computation, and symbolic manipulation in an easy way to use. One-variable polynomials, rational-functions, and symbolic matrices comprised of those elements are essential to the study of system theory. We take advantage of this fact and combine numerical computation and one-variable symbolic manipulation facility. Since MATX allows the definition and manipulation of these objects in a natural symbolic fashion, problem solutions are expressed almost exactly as they are written mathematically. Therefor, the user can solve a lot of control system design problems in much shorter time than describing programs in other programming languages. MATX will play an important role in developing and examining new design algorithms in system theory.

著者

吉田 武史 深尾 隆則

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.149-157, 2013 (Released:2013-02-08)

参考文献数

13

被引用文献数

1

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This paper proposes a method to construct a three-dimensional (3D) model of an outdoor scene containing a large amount of information by combining local stereo images which are acquired from multiway. It is difficult to reconstruct outdoor scenes accurately using a single view of a stereo camera because the distance to a target is very far compared with the stereo camera's baseline length. Therefore the proposed method makes the 3D model accurately by reducing the uncertainties of a 3D point from various angles to the region which includes the correct point. Multi-view stereo images are captured using a rotational stereo camera that swings back and forth and can capture not only the upper surface of an object but also the side surface of the object. As an experiment, a blimp robot with a rotational stereo camera is used to capture aerial stereo images of the ground. The proposed method achieves the dense and accurate reconstruction of the outdoor 3D model.

著者

伊藤 正男

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 = Journal of the Society of Instrument and Control Engineers (ISSN:04534662)

巻号頁・発行日

vol.46, no.10, pp.759-764, 2007-10-10

被引用文献数

2

著者

巻口 誉宗 井上 純一

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.46, no.11, pp.666-675, 2010-11-30

被引用文献数

3

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In real flocks, it was revealed that the angular density of nearest neighbors shows a strong <i>anisotropic structure</i> of individuals by very recent extensive field studies [Ballerini <i>et al</i>, <i>Proceedings of the National Academy of Sciences USA</i>, <b>105</b>, pp. 1232-1237 (2008)]. In this paper, we show this structure of anisotropy also emerges in an artificial flock simulation, namely, <i>Boid simulation</i>. To quantify the anisotropy, we evaluate a useful statistics, that is to say, the so-called γ-value which is defined as an inner product between the vector in the direction of the lowest angular density of flocks and the vector in the direction of moving of the flock. Our results concerning the emergence of the anisotropy through the γ-value might enable us to judge whether an optimal flock simulation seems to be <i>realistic</i> or not.

著者

岡 浩太郎

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 = Journal of the Society of Instrument and Control Engineers (ISSN:04534662)

巻号頁・発行日

vol.46, no.12, pp.893-897, 2007-12-10

著者

橋本 秀紀

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 = Journal of the Society of Instrument and Control Engineers (ISSN:04534662)

巻号頁・発行日

vol.44, no.8, pp.568-573, 2005-08-10

被引用文献数

4