2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)最新文献

On the Synthesis of Finite Frequency Internal-Model-Based H-infinity Controllers For Continuous-Time Linear Systems 连续时间线性系统有限频率内模h∞控制器的综合研究

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-12 DOI: 10.23919/SICE.2019.8859850

Sheng-Fong Wei, Y. Chou

引用次数: 0

Retrofit Control of Power Systems: Cooperation of Decentralized Controller and Global Controller 电力系统改造控制:分散控制器与全局控制器的合作

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859823

Takahiro Kawaguchi, T. Ishizaki, J. Imura

{"title":"Retrofit Control of Power Systems: Cooperation of Decentralized Controller and Global Controller","authors":"Takahiro Kawaguchi, T. Ishizaki, J. Imura","doi":"10.23919/SICE.2019.8859823","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859823","url":null,"abstract":"This paper develops a controller design method to improve the damping performance of frequency deviation caused by a fault in power systems, based on retrofit control. Retrofit control is a modular control approach for a stable network system whose subsystems are managed by their corresponding subsystem operators. The retrofit controller is designed only with a subsystem model that is available locally, and is activated only for local disturbance to the corresponding subsystem. This paper shows that the retrofit control cannot compensate an offset of the frequency, which is caused by system variation caused, e.g., by load variation. To address this problem, focusing on the fact that the offset can be compensated by a global controller that has an integrator, we propose a control method utilizing a retrofit controller in conjunction with a global controller. The proposed method provides a reasonable separation of the control to improve transient and steady state responses. The effectiveness of the proposed method is examined through a numerical simulation with the IEEE 68-bus, the 16-machine power system.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115718579","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multicopter Flight Control Accompanied by Deviation of Center of Gravity 多旋翼机的重心偏差飞行控制

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859843

J. Yamaguchi, R. Yanagihara, Kiyotaka Kato

{"title":"Multicopter Flight Control Accompanied by Deviation of Center of Gravity","authors":"J. Yamaguchi, R. Yanagihara, Kiyotaka Kato","doi":"10.23919/SICE.2019.8859843","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859843","url":null,"abstract":"Multicopter flight control is performed assuming location of multicopter center of gravity at the body center. When a multicopter carries a load, however, the center of gravity often deviates from the body center. This led, therefore, to considering development of a mechanism to make a multicopter center of gravity agree with the body center. However, there is concern that multicopter production cost and weight may increase. This study (1) examines conditions under which a multicopter can fly without the above-mentioned mechanism installed, even if the center of gravity does not agree with the body center; (2) indicates a method by which a multicopter can be adaptively controlled and take off, even if the center of gravity position is unknown; (3) describes a technique using recursive least squares method to estimate center of gravity position in detail for a multicopter after take-off; (4) describes flight control in the center of gravity direction that makes estimated center of gravity direction agree with the progressing direction; (5) investigates energy consumption in the state that multicopter center of gravity does not agree with the body center; and (6) discusses such a flying method's feasibility.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116802285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Robust Nash Strategy for Uncertain Delay Systems with LSTM and Its Application for TCP/AQM Congestion Control 基于LSTM的不确定延迟系统鲁棒纳什策略及其在TCP/AQM拥塞控制中的应用

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859817

H. Mukaidani, Ramasamy Saravanakumar, Hua Xu, M. Sagara

{"title":"Robust Nash Strategy for Uncertain Delay Systems with LSTM and Its Application for TCP/AQM Congestion Control","authors":"H. Mukaidani, Ramasamy Saravanakumar, Hua Xu, M. Sagara","doi":"10.23919/SICE.2019.8859817","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859817","url":null,"abstract":"In this paper, we propose a robust Nash strategy for a class of uncertain delay systems (UDSs) via static output feedback (SOF) with additive gain variation based on long short-term memory (LSTM), which is known as one of the recurrent neural networks. After establishing the extended bounded real lemma for UDS, the conditions for the existence of a robust Nash strategy set are determined by means of matrix inequalities. It is shown that input delay can be compensated because the LSTM has the powerful capability of learning past state information. It should be noted that the proposed LSTM can be worked as the additive gain variation and the stability for the closed-loop UDS is guaranteed. In order to solve the SOF problem, an heuristic algorithm is developed based on the algebraic equations and the linear matrix inequalities (LMIs). In particular, it is shown that robust convergence is guaranteed under a new convergence condition. Finally, a practical numerical example based on the congestion control for active queue management is provided to demonstrate the reliability and usefulness of the proposed design scheme.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117184801","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Improved Backstepping Controller for Rigid-Flexible System using Input Shaping Reference Model Matching and Neural Network 基于输入整形参考模型匹配和神经网络的刚柔系统改进反步控制器

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859811

Sirichai Nithi-Uthai, W. Chatlatanagulchai

{"title":"Improved Backstepping Controller for Rigid-Flexible System using Input Shaping Reference Model Matching and Neural Network","authors":"Sirichai Nithi-Uthai, W. Chatlatanagulchai","doi":"10.23919/SICE.2019.8859811","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859811","url":null,"abstract":"Backstepping is a good control technique for rigid-flexible system, but it has some limitations that hard to use in real control applications. First, a desired trajectory should be a continuous function and not change rapidly. Second, math model used in design process should be exactly precise. This paper presents a novel backstepping control method for rigid flexible system. The proposed approach consists of 4 techniques. First, main controller is based on backstepping technique. Second, a reference model matching is used to convert the desired trajectory to ensure that it is suitable for the backstepping controller. Third, input shaping method is used to improve a speed performance of reference model matching. Finally, uncertainty and disturbance in the system is compensated by using Neural Network. Simulation results on a one link Flexible Joint Robot manipulator (FJR) show that the proposed approach can improve performance of traditional backstepping method which can be described as follows. First of all, it can be applied when the desired trajectory is discontinuous. Moreover, the response of the system using the proposed control approach is better than the control system using normal backstepping control approach. Finally, the proposed approach can also be used to control uncertain system.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122520983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Inferring Direct Causality from Noisy Data using Convergent Cross Mapping 用收敛交叉映射从噪声数据推断直接因果关系

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859922

P. Krishna, A. Tangirala

{"title":"Inferring Direct Causality from Noisy Data using Convergent Cross Mapping","authors":"P. Krishna, A. Tangirala","doi":"10.23919/SICE.2019.8859922","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859922","url":null,"abstract":"Inferring causality between variables from time series data is of primary interest in various applications. Recently, convergent cross mapping (CCM) has been developed to address non-separable nonlinear dynamical systems based on nonlinear state space reconstruction. Unlike the idea in widely used Granger-causality, CCM measures the degree to which a cause can be recovered from its effect in the form of a cross map skill. Despite the superiority of CCM over GC, there are at least two known primary shortcomings. Firstly, detection of causal relationships using CCM in the presence of observational noise leads to spurious results. Secondly, it is unable to distinguish between direct and mediated causal relations. In this work, we address these two critical challenges. First, we investigate the effect of measurement noise on the functionality of cross map skill with sample size and propose a method for significance testing based on surrogate data analysis. Secondly, we develop a two-stage method to distinguish between direct and mediated cause. The first stage consists of pairwise analysis using CCM, while the second stage computes the regression coefficient between the hypothesised observed cause and all the recovered effects in the first stage. Direct connection is absent if the regression coefficient is zero between the observed cause and recovered causes from each effect. Simulation results are presented to illustrate the efficacy of the proposed method.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128280533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Effect of Contraction Parameters on Swing Support During Walking Using Wireless Pneumatic Artificial Muscle Driver: A Preliminary Study 无线气动人工肌肉驱动器行走时收缩参数对摆动支撑影响的初步研究

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859803

Haruki Toda, M. Tada, Tsubasa Maruyama, Y. Kurita

{"title":"Effect of Contraction Parameters on Swing Support During Walking Using Wireless Pneumatic Artificial Muscle Driver: A Preliminary Study","authors":"Haruki Toda, M. Tada, Tsubasa Maruyama, Y. Kurita","doi":"10.23919/SICE.2019.8859803","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859803","url":null,"abstract":"We developed wireless pneumatic artificial muscle (PAM) driver that can control delay before contraction starts, and duration of contraction through GUI of an application running on a smartphone. The purpose of this study is to evaluate the effect of these two parameters on the joint motion in the swing phase for realizing optimal swing support. The PAMs were placed above the left hip joint in order to support the left hip flexion in the swing phase. Pressure sensor was placed under the right heel for detecting the heel contact that triggers the activation of the PAMs. Subjects walked with the support under different contraction parameters. The experimental result clearly demonstrated that the hip flexion angle in the swing phase increased in all subjects, although there was individual difference in the optimal delay between heel contact and start of the PAM contraction. In addition, the variability of the hip flexion was decreased, while the hip flexion angular velocity and the peak value of the knee flexion angle were increased by the swing support for the hip joint under the optimal delay parameter. The results of this pilot study suggested that leg swing could be instantaneously modified by the support of PAMs and the optimal parameter for realizing the most effective support differed among subjects. Our wireless PAM driver enables the most effective walking support depending on the physical ability of the patient by its functionality to adjust the contraction parameters.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121404531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

AR Brain-Shift Display for Computer-Assisted Neurosurgery 计算机辅助神经外科的AR脑移显示

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859884

Ryosuke Shirai, Xiaoshuai Chen, Kazuya Sase, S. Komizunai, T. Tsujita, A. Konno

引用次数: 1

Crack Inspection Support System for Concrete Structures Using Head Mounted Display in Mixed Reality Space 基于混合现实空间头戴式显示器的混凝土结构裂缝检测支撑系统

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859876

Tomoyuki Yamaguchi, T. Shibuya, Masashi Kanda, A. Yasojima

{"title":"Crack Inspection Support System for Concrete Structures Using Head Mounted Display in Mixed Reality Space","authors":"Tomoyuki Yamaguchi, T. Shibuya, Masashi Kanda, A. Yasojima","doi":"10.23919/SICE.2019.8859876","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859876","url":null,"abstract":"The number of concrete structures that are more than 50 years old is increasing. Since these concrete structures must be inspected periodically, automatic crack inspection methods are utilized, such as image processing to find shapes of cracks on the concrete surface. The crack inspection result needs to be corrected and confirmed off-line by an operator to verify that there are no missed defects or false positives. In this paper, we developed a crack inspection support system using a head-mounted display (HMD). The proposed system consists of building 3D models by spatial sensing, detecting and matching features of cracks from captured images, and finally superimposing and projecting detected cracks onto the real structure surface in a mixed reality (MR) space. Through experiments, we confirmed that the proposed system could acquire 3D data of concrete structures that can be measured easily in real time and onsite. In addition, it is possible for the operator to confirm the crack measurement analysis by comparing measured results with the actual structure in the MR environment. Thus, the proposed system unifies the previously separated processes of 3D data creation and analysis used in concrete structure inspection.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"209 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113977854","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Application of Multi Agent System and Transition Matrix Analysis to Logistics System for Equal Distribution under Disaster Situation 多智能体系统及转移矩阵分析在灾害条件下物流均配系统中的应用

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859856

T. Majima, K. Takadama, D. Watanabe, Taro Aratani, Keiji Sato

{"title":"Application of Multi Agent System and Transition Matrix Analysis to Logistics System for Equal Distribution under Disaster Situation","authors":"T. Majima, K. Takadama, D. Watanabe, Taro Aratani, Keiji Sato","doi":"10.23919/SICE.2019.8859856","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859856","url":null,"abstract":"The logistics under disaster situation has recently been dealt with in many publications and most of the studies focus on optimization techniques from the viewpoint of the Operational Research. On the other hand, it is effective to grasp roughly the transportation capability of the logistics system in the disaster response plan, which may constitute a part of disaster prevention plan, prior to optimization. Under disaster circumstance, equal distribution system for evacuation refugees is essential and such system should be established taking into account the constraints of the logistics system under the circumstance different from ordinary situation. Two analysis tools for the equal distribution system are introduced in this paper, in order to estimate the performance of the logistics system for disaster response. One is a simulator based on the Multi-Agent System, in which the vehicles, e.g. trucks, ships, aircrafts, as agent determine their delivery destination corresponding to sufficiency ratios of the relief supplies of respective areas. The other is a method based on the transition matrix analysis that estimates where the bottleneck takes place. Combining these two tools enables to design more efficient and robust logistics systems. Applying these tools to a logistics system in a disaster response plan of a city, where a large scale disaster is concerned, effective countermeasures are quantitatively clarified.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121624351","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0