著者

佐藤 博毅 田中 基康 松野 文俊

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.6, pp.651-658, 2006-06-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

4 5

---

In this paper, we derive a dynamic model and a trajectory tracking control law for snake robots, which have passive wheels and active joints. We remove passive wheels of some links, and introduce shape controllable points in the snake robot's body. For a trajectory tracking control of snake robots, it is one of the important problem to avoid the singular configuration like a straight line. Using input-ouput linearization for only the head position of snake robots based on dynamic model, we can control the head position by PD feedback, but the robot will converge to the singular configuration. In order to solve this problem, we propose a control law for shape controllable points, based on an index related to the singular configuration. Using the proposed control law, the robot can accomplish trajectory tracking of the head position without converging to the singular configuration. Simulation results show the effectiveness of the proposed control law.

著者

山中 一雄 内田 健康 示村 悦二郎

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.13, no.4, pp.318-323, 1977-08-30 (Released:2009-03-27)

参考文献数

7

---

In a stochastic linear composite system, which is composed of several subsystems, it may be desired to obtain an estimate of the state of only one particular subsystem. A usual approach to this problem will be to construct a Kalman-Bucy filter for the total system, and to obtain the required partial state estimate as a part of the total one. That is, a dynamical filter of the same dimension as that of the total system is necessary for only the partial state estimation. From the computational view point, it is preferable to obtain a partial estimate by a suitable dynamical filter, which is not necessarily optimal, of the dimension of that subsystem. In this paper, we consider a class of composite systems in which two subsystems are coupled and their time responses are widely different. And we propose a method to synthesize an approximate filter for the “slower” subsystem. It is also shown that the approximation error vanishes as the ratio of the maximum eigenvalue of the “slower” subsystem to the minimum eigenvalue of the “faster” subsystem approaches to zero.

著者

山田 和明 高野 慧

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.39-47, 2013 (Released:2013-02-08)

参考文献数

18

被引用文献数

1 1

---

This paper proposes a new reinforcement learning approach for acquiring conflict avoidance behaviors in multi-agent systems. Multi-agent systems are able to establish orderly systems autonomously through interaction with autonomous agents. We expect to be able to construct flexible and robust systems for the environmental changes by using multi-agent system approaches. However, it is difficult for designers to preliminarily embed appropriate behaviors to avoid conflict because complex dynamics emerges by interaction between many agents. We apply the proposed method to the narrow road problem that many agents go by each other in a narrow road, and verify the effectivity of the proposed method. In the narrow road problem, it is the optimal strategy that an agent selects going forward and another agent selects giving way. However, it is difficult for agents to decide which strategy to select because they cannot predict other agents' behaviors beforehand. The proposed method can differentiate into agents preferring to go forward and agents preferring to give way, by using Q-learning that can adjust discount rates. We solve conflict problems in multi-agent systems through autonomous functional differentiation of many learning agents. Through experimental results, we showed that agents differentiated into two type of agents, and acquired stable conflict avoidance behaviors with high probability than a conventional Q-learning.

著者

北野 寛 高橋 千晴 稲松 照子

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.23, no.12, pp.1246-1253, 1987-12-30 (Released:2009-03-27)

参考文献数

9

被引用文献数

3 6

---

Water vapor pressure of a saturated salt solution is inherently constant at a given temperature and utilized for calibration of hygrometers as a humidity fixed point. In this paper, the humidity fixed points were realized respectively in a glass desiccator and in a box with an air stirrer and examined experimentally.The state of saturated solution and the change of ambient temperature are important and effective for realizing the humidity fixed point. It is suitable for a rapid attainment of humidity equilibrium that the saturated solution is in a state of slushy mixture with water and salt. Although the equilibrium relative humidity of the saturated solution does not change much with temperature, a transient change of the relative humidity is observed following a sudden change of ambient temperature. The transient change amounted to -1.5%RH/°C at the maximum.The equilibrium relative humidities by respective saturated solutions of magnesium chloride, sodium bromide, sodium chloride and potassium chloride were accurately measured in a glass desiccator with use of a humidity sensor calibrated against the humidity standard of the National Research Laboratory of Metrology. The humidity values measured agree with those of the salt-humidity table in the literature and accordingly the reliability of the table was confirmed. The humidity fixed point by saturated salt solutions can be realized in a desiccator with the precision of 1%RH, if temperature is well controlled.To improve utility for practical use, the humidity characteristics of the fixed point realized in a cubic box were also studied under various conditions, such as stirring in the box and changing surface area of saturated solutions. It becomes clear that the stirring is important for uniform distribution and for quick attainment of equilibrium of the humidity, and the time required for the humidity equilibration is decreased to about 30min under stirring condition.

著者

大坊 真洋 田山 典男 長谷川 辰雄 南幅 留男

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.34, no.12, pp.1937-1944, 1998-12-31 (Released:2009-03-27)

参考文献数

25

---

This paper describes a new approach to the X-ray computed tomography in order to find defects of the products in manufacturing industry. Our approach which is Fast Model Reconstruction Computed Tomography (FMR-CT), involves two key ideas: 1) for forward problem, integration two dimensional sinc functions along the X-ray on the sampled two-dimentional planee model and 2) for inverse problem, solving the liner inverse problem using a truncated singular value decomposition (SVD) method.Our algorithm is favorable fast computation capability because image vector can be obtained simple formula such as pseudo-inverse matrix (constant) multiplied by projection data vector, and is also compatible with multiprocessor implementations. The combination of sampling theorem and the SVD allows smooth reconstruction image with even smaller numbers of projections, because each techniques contribute interpolation and least-squares optimization, respectively.We demonstrate the cross section image which is reconstructed real projection data sets acquired by using the micro-focused X-ray TV. Further, we discuss practical determination of truncation rank with the visualization of decomposed v-singular vector and the distribution of singular values.

著者

関 宏也 大山 敏 小河 守正

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.38, no.1, pp.61-66, 2002-01-31 (Released:2009-03-27)

参考文献数

15

被引用文献数

1 2

---

A nonlinear model predictive control based on successive linearization approach is developed. A nonlinear process model is linearized along its trajectory and an infinite-time horizon linear optimal regulator with integrator is implemented in a receding horizon fashion. Simulation examples for highly nonlinear chemical reactors which exhibit static input or output multiplicities are given to demonstrate the capability of the controller. The developed control algorithm has been successfully applied to a grade transition operation in an industrial polymerization reactor.

著者

Hiroshi OKAJIMA Kenji SAWADA Joe KAIBE Nobutomo MATSUNAGA

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.48, no.6, pp.359-361, 2012 (Released:2012-06-30)

参考文献数

6

被引用文献数

2

---

This paper aims at design of network control system for the remote control of robot. As the system includes a communication channel, quantization is required to satisfy communication capacity limitation. Dynamic quantizer is a kind of quantization methods and has been studied in control engineering field. Optimal quantizing width designed of dynamic has been designed based on invariant sets. However, quantizing width of dynamic quantizer designed based on invariant sets has maintainability than one of designed based on reachable sets and big maintainability and poor control performance. We need to design quantizing width of dynamic quantizer based on reachable sets. In this study, we propose design method of quantizing width of dynamic quantizer based on reachable sets. The effectiveness is shown by numerical example.

著者

Hiroshi OKAJIMA Nobutomo MATSUNAGA

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.47, no.4, pp.217-219, 2011 (Released:2011-12-19)

参考文献数

8

被引用文献数

2

---

In the field of signal processing, AD/DA converter takes an important role for data compressing and circuits design. This paper proposes new design method of AD/DA system with pre-filter and post-filters for achieving small quantization noise effect. Both filters are designed to minimize noise and distortion toward original signal. The effectiveness is illustrated by numerical example.

著者

Hiroshi OKAJIMA Kenji SAWADA Nobutomo MATSUNAGA

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.47, no.2, pp.126-133, 2011 (Released:2011-12-19)

参考文献数

15

被引用文献数

4 2

---

This paper proposes a design method of the dynamic quantizer for the networked control systems. In the networked control systems, the data size of the signals is limited because of the transmission rate of the communication channel. It is well known that feedback type dynamic quantizers such as Delta/Sigma modulator are effective for quantization of data series. The dynamic quantizer includes a set of the dynamic filter and the static quantizer. Many methods have been proposed to design the dynamic filter. However, the static quantizer part has not been designed although the quantization level number of the static quantizer has an effect on the data size. The simultaneous design of dynamic filter and the quantization level will be important issue to satisfy the given communication rate. In this paper, the integrated design method of the filter and the static quantizer is proposed based on the communication rate constraints. The proposed method is derived based on the invariant set analysis with LMIs. The effectiveness is shown by numerical examples.

著者

Hiroshi OKAJIMA Nobutomo MATSUNAGA Kenji SAWADA

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.46, no.6, pp.327-335, 2010 (Released:2011-11-03)

参考文献数

21

被引用文献数

6 3

---

This paper proposes the design method of the dynamic quantizer for the networked control systems. It is well known that feedback type dynamic quantizer such as Delta/Sigma modulator is effective for quantization of data series and many methods for designing the dynamics have been proposed. When it is required to control with network communication, the data size of signal should be minimized appropriately by quantizers. Since the quantizing width of the quantizer concern with the data size, determination of quantizing width is important problem in networked control systems. However, the quantizing width has not been designed analytically in the past researches. In this paper, we propose the design method of the quantizing width based on the LMIs. The quantizing width would be determined explicitly with the communication rate constraints. By the proposed method, the quantizing width guarantee that the signals are quantized appropriately within the given data size. The effectiveness is illustrated by numerical examples.

著者

Hiroshi OKAJIMA Tatsuya UMEMOTO Nobutomo MATSUNAGA Shigeyasu KAWAJI

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.46, no.3, pp.149-156, 2010 (Released:2011-11-03)

参考文献数

16

被引用文献数

5 4

---

It is well known that plants with time delay are hard to be controlled by using traditional method. For this, controller with delay, such as Internal Model Control (IMC), Smith-method, have been proposed for input-delay systems. However, it would be difficult to realize the delay of controller because of memory limit of micro control unit(MCU). Also, the sampling time might be large in case of the application to the plant with large time delay, because of the limitation of the memory in MCU. Hence, the trade-off exists between sampling time and maximum quantizing error, and the assignment of the quantizer affects the quantization error. In this paper, dynamic quantizers are designed for achieving small quantizing error for input-delay control systems in MCU system. Also, the attainable performance caused by assignment of the quantizer is discussed. The effectiveness of the proposed method is shown by numerical example.

著者

Hiroshi OKAJIMA Nobutomo MATSUNAGA Shigeyasu KAWAJI

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.44, no.5, pp.458-460, 2008-05-31 (Released:2013-02-25)

参考文献数

4

被引用文献数

2 3

---

This paper is concerned with dynamic quantizer for controlling plants with discrete-valued input.l∞ norm of error between outputs with continuous-input and with quantized-input was guaranteed by the quantizer proposed by Azuma et al. In this paper, the degree of freedom of quantizer, which also guarantees the l∞ norm, is considered for treating the other objectives such as robustness, reduced-order controller etc. Then a design method of reduced-order quantizer is proposed by using the design parameter. The effectiveness of reduced-order quantizer is shown by numerical examples.

著者

Hiroshi OKAJIMA Toru ASAI Shigeyasu KAWAJI

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.45, no.6, pp.313-319, 2009 (Released:2011-11-03)

参考文献数

18

---

In this paper, tracking performance limitations for plants with input delay are considered. It is important to know the performance limitations for plants to design controllers and to design plants. Our objective is to find the fundamental limitation of the transient response in tracking control problem. When plant have input delay, no one would deny that tracking performance becomes worse than the plants without input delay. However performance limitations for such plants have not been derived analytically. We derive the performance limitations based on internal model control framework. The difference between plants with delay and without delay is compared by numerical examples.

著者

Hiroshi OKAJIMA Toru ASAI Shigeyasu KAWAJI

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.44, no.10, pp.793-801, 2008-10-31 (Released:2013-02-25)

参考文献数

19

被引用文献数

1 1

---

This paper is concerned with optimal reference tracking control problem for discrete time 1-DOF/2-DOF systems. It is well known that l2 norm of an error, which is defined by difference between an output and a reference, does not turn zero for all possible controllers when plant is given as a non-minimum phase system. Purpose of this research is to derive closed-form expression of the optimal value of l2 norm of the error and its controller. The references for tracking are e.g. step, sine, impulse train, triangle wave and linear combination of these signals. Therefore, we can handle various signals as a reference. Moreover, our results can also characterize impact of the relative degree of plant. Those effectiveness are shown by numerical examples.

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

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

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

田中 俊輔 滝沢 悦貞

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.26, no.6, pp.487-490, 1987

被引用文献数

2