著者
杉山 純一 臼井 支朗
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.26, no.4, pp.367-374, 1990-04-30 (Released:2009-03-27)
参考文献数
11
被引用文献数
2 1

Acoustic impulse response of muskmelons was studied to evaluate their quality. First, linearity and the effects of supporting conditions on the acoustic signals were examined. Secondly we obtained acoustic signals at points which divide the equator of the sample into 24 equal parts. These signals were displayed in a three-dimensional diagram with axes of time, location and sound intensity, and in a two-dimensional map with a gradation of 257 colors. For a more complete visual comprehension, an animation display which shows time changes of the distribution of sound intensity was presented. As a result of these analyses, it became evident that the impulse waveform of acoustic signals induced by impact was transmitted along the surface of the equator with uniform velocity. This transmission velocity became lower as the muskmelon ripened. The lower transmission velocity in the time domain agreed with the lower peak frequency in the frequency domain, both theoretically and practically. Because the wave equation suggests that the transmission velocity depends on the tensile force of the sample, the nondestructive evaluation provides a more direct index of the quality of muskmelons.
著者
玉置 久 森 正勝 荒木 光彦
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.8, pp.1185-1192, 1995-08-31 (Released:2009-03-27)
参考文献数
13
被引用文献数
18 21

In this paper, a method of applying the Genetic Algorithm (GA) to multi-criteria optimization problems is proposed. First, the reproduction operator in GA is made so that the selection is performed in parallel according to each criterion and, at the same time, the Pareto-optimal solutions are always reproduced if such appear in the population. Then, through computational experiments, it is shown that not only one of the Pareto-optimal solutions of a problem but a set of such solutions is obtained by a single run of the proposed method.
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

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
田畑 克彦 西田 佳史 飯田 佳弘 岩井 俊昭
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.1, pp.11-19, 2012 (Released:2012-03-02)
参考文献数
13
被引用文献数
1 2

We propose a new navigation system for Automatic Guided Vehicles (AGV) used as a carrier in the factory. The guided marker of the navigation system is composed of ultrasonic transducers instead of the traditional markers such as electromagnetic tape, light reflective tape and so on. The proposed system is available to be used not only indoors but also outdoors and adaptable to a temporary route. The ultrasonic sensor is generically susceptible to noise, so that we make the following propositions. First, a phased array of the ultrasonic sensors is employed in searching a land marker to improve the signal-to-noise ratio. Second, the specific ID with 7bits is assigned as the land marker to avoid the system errors ascribable to an ultrasonic interference. In addition, the proposed system is quite compact in virtue of the embedded technology of a microcomputer and Field Programmable Gate Array (FPGA). This paper reports the development of the proto-type system of navigation system and confirmation of its fundamental performances.
著者
岡島 寛 浅井 徹 川路 茂保
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.44, no.7, pp.566-574, 2008-07-31 (Released:2013-02-25)
参考文献数
21
被引用文献数
4

Path following control problem has been treated in recent years. In past studies, the velocity of the plant is considered as constant value. However, the velocity of the plant must be controlled so as to reduce traveling time. In this paper, velocity control in path following problem is discussed by using optimal control. Since reaching time from the start point to the terminal point is used as a cost, we can obtain good acceleration and deceleration input. Since constraints of path following are included in the optimal control problem, we can achieve not only optimization of the cost but also path following. The effectiveness of the proposed method is examined by numerical examples with a path of non-constant curvature.
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
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
浜松 正典 加賀谷 博昭 河野 行伸
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.44, no.8, pp.685-691, 2008-08-31 (Released:2013-02-25)
参考文献数
7
被引用文献数
6 5

Recently, maritime works, such as ocean observation or cable laying works, become efficient with the dynamic positioning control of the vessels. The conventional PID control is still useful but the performance is not enough for precise positioning or multiple waypoints tracking. In this paper, we present the application of real-time nonlinear Receding Horizon control for route tracking problem and control allocation problem for vessels equipped with azimuth thrusters. The performance and usefulness of the proposed method is verified with the actual cable laying works.
著者
Kazuaki ANDO
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.21, no.11, pp.1171-1176, 1985-11-30 (Released:2009-03-27)
参考文献数
7

Padé approximants of exp(-sT) have been widely used to realize dead-time elements. The companion form realization, however, is numerically ill behaved, if we use a high order approximant, because coefficients of lower order terms of the monic denominator polynomial become very large. In this paper, the realization based on Cauer type continued fraction expansion is shown to be well behaved. A simple method of getting coefficients of the expansion of the Padé approximant, using the continued fraction expansion of the exponential function, is proposed. By simulation, it is shown that the ballancing of the overshoot and the undershoot is attained if we choose the degree L of the mumerator smaller 2 to 5 than the degree M of the denominator, and that the rise time is inversely proportional to L+M.
著者
古田 一雄 森野 耕平
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.1, pp.90-97, 2006-01-31 (Released:2009-03-27)
参考文献数
20
被引用文献数
2 1

Increasing demands for participatory approaches of social decision-making is drawing people's interest on public opinion development, but mathematical models used for studying the process so far were insufficient. Dynamics and mechanism of public opinion development therefore were analyzed by multi-agent simulation, which is now a promising approach for analyzing complex. social systems. A simulation model was proposed based on a_decision model that includes both effects of conformity to others and private self-consciousness. Factory that may greatly affect the process were also considered: mass media, personal variation, and bias in true or false of assertion under argument. The result of simulation provided useful insights on the process of public opinion development, e.g., the society splits-into communities of positive and negative opinions, community size increases with increasing conformity to others, and public opinion becomes one-sided by the influence of mass media or bias in true or false of assertion. These findings are both good news and warning for promotion of consensus development in society.
著者
岡島 寛 松永 信智 川路 茂保
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.45, no.3, pp.153-159, 2009 (Released:2011-11-03)
参考文献数
16
被引用文献数
2 2

Electric automobiles with four in-wheel moters have been developed in recent year. By using dynamic differential force between wheels, lateral motion of the automobile can be controlled with yaw moment. This framework is known as “Direct Yaw-moment Control (DYC)”. In many previous works of DYC methods, yaw-moment is used for increasing the stability. However, maneuverability has not been discussed. In this paper, a novel DYC controller is proposed that gives the neutral steering, where neutral steering is a good evaluation index of maneuverability of automobiles. The proposed controller is derived based on the output zeroing control. The effectiveness of proposed method is shown by numerical example.
著者
黒沢 良一
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.28, no.6, pp.680-689, 1992-06-30 (Released:2009-03-27)
参考文献数
11
被引用文献数
3 4

The deadbeat control, also known as, finite time settling control is supposed to be effective exclusively in sampled data controls. In 1957, O. J. M. Smith proposed Posicast control to obtain the finite time settling response to a command input for continuous control systems. He mentioned in his paper the finite time settling response to a disturbance as well. His method is, however, impractical because inverse transfer functions of controlled objects would be required.The author has found out a new controller configuration with a delay element for continuous control systems, which has the finite time settling responses both to a step command input and to a step disturbance. This new method is named Continuous deadbeat Control (CdbC) and was published.This paper describes a design of CdbC. Conditions to realize controllers based on CdbC are shown, and the following is cleared. For a high order controlled object without unstable zeros, only one delay element is required in the controller independent of functions of a command and a disturbance.
著者
入部 正継 白旗 晃規廣 喜多 洋允 佐々重 陽祐 太才 遼一
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.47, no.3, pp.173-179, 2011 (Released:2011-12-19)
参考文献数
11
被引用文献数
1

In this paper we propose a new type educational program for Mechatronics design which contributes to develop the physical sense and problem solving ability of the students who study Mechatronics design. For this program we provide a new handicraft kit of 4-wheeled car which is composed of inexpensive and commonplace parts, and the performance of the assembled 4-wheeled car is sensitive to its assembly arrangement. And then we implemented this program with the handicraft kit to the university freshmen, and verified its effectiveness, and report the results of the program.
著者
柏尾 知明 松木 剛志 出口 幹雄 白井 みゆき 占部 弘治 栗原 義武 今井 伸明
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.50, no.4, pp.383-385, 2014

This paper reports development of a real-time remote control system for robots using augmented reality (AR) technology. An operator can control a robot via the Internet or LAN in real-time by using the system, obtaining an image composed of a remote web camera image and 3D virtual objects. In the paper, a transmission method of the web camera image using UDP and an application method of AR are explained and application of the system to the treasure hunter robot exhibited in Akagane Industrial Expo 2012 is presented.
著者
関本 勝也 岡部 靖憲 緒方 純俊
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.35, no.12, pp.1524-1529, 1999-12-30 (Released:2009-03-27)
参考文献数
13

We have analyzed the interaction of the air pollution gases concentration between neighboring places in Kitakyushu area by KM2O-Langevin equations theorem, which provides the causality between different time series. From the analyses on SO2, NO2 and NO gases concentrations on 100 hours basis from 1980 to 1986, we have recognized a strong causality on SO2 in 1980 and 1986, but not noticiable in other cases. We have also recognized a moderate causality on NO2 in 1986.
著者
渡辺 亮 内田 健康 藤田 政之
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.35, no.7, pp.861-868, 1999-07-30 (Released:2009-03-27)
参考文献数
22
被引用文献数
3 2

The actual control systems possess some kind of restrictions on the control inputs like saturation, rate limit, and so on. It is known that these restrictions usually cause the large overshoot of the controlled variables for step reference signals. This overshoot phenomenon is called the windup phenomenon. Though the windup phenomenon crucially causes the undesirable performance of the actual control systems, formulation of the windup phenomenon from a control-theoretical point of view has not been proposed yet.In this paper, we characterize the windup phenomenon via output reachable sets and propose analysis technique for the windup based on reachable set analysis. Then we propose a new framework for anti-windup technique and characterize its anti-windup performance via output reachable sets. We also propose analysis technique for anti-windup performance based on reachable set analysis.
著者
山本 広樹 青島 伸治
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.39, no.11, pp.993-1001, 2003 (Released:2009-03-27)
参考文献数
12

In this paper, we propose evaluation indices for grasping the characteristics of measurement signals from three axis sensors. Those evaluation indices are based on signal representation of quaternion and spectral analysis on the form. And, those are led by linking the coefficients of such spectra and the concept of the periodic motion on elliptic orbit in quaternion space. To show the benefit of the method in future use, an model experiment processing the three axis acceleration measurement data, which were recorded by originally developed sensor ball, were carried out. Then, the indices were calculated with the acceleration data given in such manner. As the result, comparing to the complex spectra at each axis, our evaluation indices have some advantages at the point of quick observation and recognition of three dimensional dynamical characteristics. Although the data processing based on quaternion has been widely used among the field of computer graphics or attitude control system of artificial satellite, a few attention are paid to the application for the signal processing of three dimensional measurement signal. On the other hand, in the field of the diagnostics with vibration such as of rotating machine, the spectral analysis which can observe a phase relation between multiple axis may become to be in great demand. So that, our evaluation indices will be a useful mean under such situation.