著者

宮本 洋孝 田中 友樹 岡島 寛 松永 信智

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.136, no.5, pp.642-649, 2016-05-01 (Released:2016-05-01)

参考文献数

17

被引用文献数

2

---

Recently, welfare vehicles are widely used by patients and elders. Many welfare vehicles are restricted to drive indoor or on a flat road. The vehicle with free casters can not be driven well when the road surface is rolling outdoors. To design compact welfare vehicles for outdoor use at low cost, the skid steer mechanism is focused on. The skid steer vehicle (SSV) is well known for its high traveling ability on an off-road. However, the SSV has disadvantage that the maneuvering assistance is required because its steering is highly affected by road condition. This study aims a steering assistance of SSV for patients and elders by using Model Error Compensator (MEC) that suppresses the modeling error by traditional PID control. The proposed controller consists of MEC and Extended Kalman Filter to reduce the sensor and the system noise assuming the undulating and skiddy roads. The effectiveness of the proposed control system is verified by the driving simulation considering the drivers weight and the road conditions.

著者

宮崎 剛司 北原 晃輔 岡島 寛 松永 信智

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.31, no.7, pp.274-280, 2018-07-15 (Released:2018-10-24)

参考文献数

16

被引用文献数

1

---

In recent years autonomous control of automobiles has been focused on. Path-following control is an important technologies of autonomous control of automobiles. In path-following control, it is necessary to calculate an appropriate steering input and velocity input according to the shape of the target path. In previous research, the steering control and velocity control method have been achieved by formulating and solving the optimization problem using variation principle. Since the problem solvable by the two-point boundary value problem is limited, the format of the evaluation function is limited and it is difficult to explicitly consider constraints in some cases. In addition, the real-time performance of the optimization calculation is also a problem considering the implementation in the real plant. In this paper, we propose a method for accurate follow-up to the target path and appropriate velocity control according to the shape of the target path in real time by designing the velocity function as a function of the target path information and state of the plant.

著者

菅野 達也 壇 裕介 岡島 寛 松永 信智

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.82, no.840, pp.15-00690-15-00690, 2016 (Released:2016-08-25)

参考文献数

19

被引用文献数

4

---

In aging society, welfare personal vehicles have been widely used to improve the quality of life of elderly and handicapped persons. However, it is difficult for the users to steer the vehicle in narrow buildings. Accordingly, platoon driving of welfare personal vehicles has attracted attention as one of the effective leading methods. The platoon driving system consists of the longitudinal control and the lateral control. The longitudinal control is based on Adaptive Cruise Control. If the vehicle parameters are adjusted for each user’s driving ability, the longitudinal control will be string unstable in the worst case. As for the lateral control, the following vehicle tracks the preceding vehicle according to the target point following algorithm. The following vehicle may collide with a wall due to the large tracking error at a sharp corner in buildings. In this paper, the robust and precise platoon driving system is proposed to realize the safe platoon driving. Firstly, the longitudinal controller stably keeps the inter-vehicle distance regardless of the short time-headway. Secondary, the lateral controller precisely tracks the wheel track of preceding vehicle by using way-points. Thirdly, the robust platoon control for the different vehicle dynamics is designed by Model Error Compensator. Finally, the effectiveness of our proposed system is evaluated by the driving experiments.

著者

住友 宣仁 岡島 寛 松永 信智

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.57, no.8, pp.349-357, 2021 (Released:2021-08-20)

参考文献数

39

被引用文献数

1

---

In this study, we propose a path-following control method based on the state feedback law. In recent years, automated driving which attracts attention requires various element technologies, and among them, path following control to follow the target path is one of the most important elemental technologies. In previous study, a method was proposed that gave a constraint that makes the following error asymptotically zero. However, if the target path has a road width, the tracking error does not have to be zero. In this paper, a reference value for the tracking error is designed as a function of the vehicle state and other factors. The effectiveness of the proposed method was validated by numerical simulations and showed better performance than previous studies.

著者

藤木 大介 関口 道彦 森田 志保 高橋 佳子 倉田 久美子 山崎 晃

出版者

日本認知科学会

雑誌

認知科学 (ISSN:13417924)

巻号頁・発行日

vol.17, no.1, pp.169-179, 2010 (Released:2010-10-22)

参考文献数

20

---

In 2004, Ninio suggested that the process of comprehending noun phrases such as “black shoes” included two steps: comprehending the noun “shoes” and the addition of the attribution “black.” Based on this assumption, Ninio predicted that the developmental process of comprehending noun phrases must progress through a phase in which children understood only the noun. She demonstrated the validity of her assumption through experiments conducted in Hebrew. However, her results were confounded by the word order of the noun phrase in the Hebrew language, in which the noun is the first word and the headword. In this study, we used Japanese phrases to eliminate the artifacts of the above study, because in the Japanese language, the noun is neither the first word in a noun phrase, nor the headword in an adjective phrase. Results indicated that also in Japanese, there is a developmental phase in which children comprehended only the noun in the noun phrases, which confirmed Ninio's assumption. However, there was also a phase in which children comprehended only the noun in the adjective phrases. These results cast doubt on Ninio's suggestion that the process of comprehending the noun phrase includes two steps, or that this two-step process results in a phase in which children comprehend phrases based only on the noun. We think current results relate the idea of noun dominance in children's learning of new words as described by Gentner in 1982, and this dominance influences children's attention by directing it to the noun when comprehending phrases.

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.823-829, 2019 (Released:2019-12-14)

参考文献数

23

被引用文献数

1 3

---

This paper dealt with a design method of MCV observer using robust invariant set analysis method. In our previous research, a design method of state observer for output signal with outliers was proposed. In some control systems, adverse effect by outliers is one of the most important topics for solving. To overcome the adverse effect by outliers, we proposed a method to disappear the effect of outliers using median and candidates of estimated state. In this paper, we give an evaluation signal, and analyze the maximum absolute value of the evaluation signal using a robust invariant set. We propose the design method of observer gains to minify the maximum absolute value of the evaluation signal based on LMIs with some variables. It is easy to design the observer gains by our method. The effectiveness of the proposed design method of observer gains is evaluated by numerical simulation.

著者

白井 信雄

出版者

法政大学サステイナビリティ研究所

雑誌

サステイナビリティ研究 (ISSN:2185260X)

巻号頁・発行日

vol.6, pp.5-19, 2016-03

---

和文:固定価格買取制度により再生可能エネルギーの導入が活発してきたが、その一方で住民関与や地域の社会・経済・環境面での効果の希薄さが危惧されている。また、2016年4月からは小売電力自由化等の新たな動きがある。こうした揺籃期にあって、地域主体は、再生可能エネルギーの導入によって、どのような地域づくりを目指すのか、そのための地域施策はどのようにあるべきかを検討することが必要となっている。このため、本研究は、既往研究を踏まえて、再生可能エネルギーの導入によって目指すべき地域社会の変革目標の理論的枠組みを設定した。さらに、その枠組みを用いて、市民共同発電事業の蓄積や再生可能エネルギー条例等を進めてきている長野県飯田市の取組みを分析し、理論的枠組みによる地域分析の有効性の確認までを行った。設定した理論的枠組みは、(1)エネルギーの自治、(2)対話とネットワーク、(3)地域経済の自立、(4)社会公正と環境共生、(5)地域主体の自立共生、の5つである。これらの変革目標は、従来の地域づくりの延長上にあるものでなく、今日の諸問題の根本にある「内なる危機」を解消する、価値規範や社会経済システムの転換を伴うものである。5つの変革目標を枠組みとして、飯田市の状況整理を行い、飯田市の先進性を明確に切り出すことができた。これにより、5つの変革目標を枠組みとした地域評価の有効性を示した。今後は、さらに多くの地域での事例調査を実施し、再生可能エネルギーによる地域社会の構造的再生の理論的枠組みの具体化や事例のアーカイブズの構築等を行うことが課題となる。英文:Situational changes are occurring concerning Renewable Energy (RE). Large RE stations made in local areas pose conflicts and divisions between regional subjects and RE stations. On the other hand, there are new possibilities to use RE through the full liberalization of retail electricity sales. In a situation like this, we need goal setting by regional subjects. This research was conducted to build a theoretical framework for the structural regeneration of regional communities through RE. Subsequently, a case study on Iida city was conducted to confirm the effectiveness of the theoretical framework. Iida is an environmentally advanced city that has pioneered the spread of photovoltaic power systems. Municipal ordinances for a sustainable community through the introduction of RE were enacted by the local government in Iida. The theoretical framework concludes five elements: A. Autonomy of Energy, B. Dialogue and Networking, C. Independence of the Regional Economy, D. Fair/Equitable and Environmental Symbiosis, and E. Conviviality. These targets of social transformation are not the extension of traditional regional construction, but are rather the transformation of the socio-economic system to solve the various problems. By using the theoretical framework, we could organize the situation in Iida and extract advanced points regarding the city. By this trial, it was shown that the theoretical framework was effective in community diagnosis. As a future task, it was necessary to conduct case studies on many regions, and to reify the theoretical framework. Eventually, we would like to build the archives of case studies of the structural regeneration of regional communities through RE.

著者

岡島 寛 細江 陽平 萩原 朋道

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.54, no.11, pp.827-835, 2018 (Released:2018-11-22)

参考文献数

24

被引用文献数

1

---

This study proposes a design method of dynamic quantizer with communication rate constraints. Dynamic quantizers are well known as an effective method for the signal quantization in the meaning of the noise shaping. The noise shaping characteristics of the dynamic quantizers are determined by the matrices A, B and C. In the previous studies, A, B and C are given as time-invariant matrices. In this paper, we propose a dynamic quantizer form including periodically time-varying matrices for improving the control performance under the communication rate constraints. Analysis method of periodically time-varying dynamic quantizer is reduced to that of dynamic quantizers using time invariant matrices by using lifting technique. The effectiveness of the designed periodically time-varying dynamic quantizer is assessed via numerical examples.

著者

岡島 寛 南 裕樹 松永 信智

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.52, no.7, pp.393-400, 2016 (Released:2016-09-29)

参考文献数

24

被引用文献数

1

---

Networked control has been studied by many researchers in recent years. This paper proposes a new system structure of the networked control systems. The evaluation system is presented to find the performance degradation caused by the communication channels. The proposed system has high degree of freedom for design and is not cumbersome structure. The effectiveness of the proposed structure is illustrated by numerical simulations.

著者

岡島 寛 上瀧 剛 松永 信智 内村 圭一

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.51, no.9, pp.645-654, 2015 (Released:2015-10-08)

参考文献数

19

被引用文献数

1

---

A digital halftoning method for DLP projector system is proposed in this paper. PWM type 2-value images have been rapidly switched to achieve high resolution image in DLP projector systems. To achieve high frame rate image projection with high image quality, it is required to reduce the number of 2-value images with small degradation of the image quality. We propose a framework for optimizing color quantization and luminance for DLP projector system with a few number of the 2-value images. The optimal light intense is designed based on a particle swarm optimization algorithm. We illustrate the effectiveness of the proposed method by numerical examples.

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

岡島 寛 澤田 賢治 松永 信智 南 裕樹

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.131, no.10, pp.1767-1774, 2011-10-01 (Released:2011-10-01)

参考文献数

21

被引用文献数

1

---

This paper proposes a design method of dynamic quantizers for MIMO networked control systems. It is well known that feedback type dynamic quantizers are effective for quantization of the data series in the meaning of noise shaping. The dynamic quantizers include a set of a dynamic filter and a static quantizer. When it is required to use the quantizer under the network communication, the data size of signal should be minimized appropriately by the quantizers. The authors have proposed a design method of the dynamic quantizers for SISO systems based on the communication rate constraint. In this paper, the design method is extended to MIMO systems. By this extension, we can handle the communication rate constraint for a kind of concentrated systems. In the setting of the quantizer for MIMO system, bit assignment is important matter for appropriate design of information flow. The effectiveness of proposed design method is shown by numerical examples.

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

Koji Sasano Hiroshi Okajima Nobutomo Matsunaga

出版者

THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

雑誌

Transactions of the Institute of Systems, Control and Information Engineers (ISSN:13425668)

巻号頁・発行日

vol.23, no.11, pp.257-264, 2010 (Released:2011-05-21)

参考文献数

22

---

Recently, the fractional order PID (FO-PID) control, which is the extension of the PID control, has been focused on. Even though the FO-PID requires the high-order filter, it is difficult to realize the high-order filter due to the memory limitation of digital computer. For implementation of FO-PID, approximation of the fractional integrator and differentiator are required. Short memory principle (SMP) is one of the effective approximation methods. However, there is a disadvantage that the approximated filter with SMP cannot eliminate the steady-state error. For this problem, we introduce the distributed implementation of the integrator and the dynamic quantizer to make the efficient use of permissible memory. The objective of this study is to clarify how to implement the accurate FO-PID with limited memories. In this paper, we propose the implementation method of FO-PID with memory constraint using dynamic quantizer. And the trade off between approximation of fractional elements and quantized data size are examined so as to close to the ideal FO-PID responses. The effectiveness of proposed method is evaluated by numerical example and experiment in the temperature control of heat plate.

著者

西山 由美

出版者

早稲田大学法学会

雑誌

早稻田法學 (ISSN:03890546)

巻号頁・発行日

vol.95, no.3, pp.583-606, 2020-03-30

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

松井 圭介 兼子 純 松井 圭介 兼子 純

出版者

筑波大学大学院生命環境科学研究科地球環境科学専攻

雑誌

人文地理学研究 (ISSN:18800939)

巻号頁・発行日

vol.34, pp.107-125, 2014