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

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A New Skid Suppression Method for Avoiding Stuck State in Work Vehicle's Control 工作车辆控制中避免卡车状态的防滑新方法
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859870
Atsuhiro Aoki, H. Shimamura, Munetaka Nakata, Kazuhiro Motegi, Y. Shiraishi
{"title":"A New Skid Suppression Method for Avoiding Stuck State in Work Vehicle's Control","authors":"Atsuhiro Aoki, H. Shimamura, Munetaka Nakata, Kazuhiro Motegi, Y. Shiraishi","doi":"10.23919/SICE.2019.8859870","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859870","url":null,"abstract":"Such work vehicles as maintenance vehicles, bulldozers, grass cutters, and snow blowers conventionally using internal combustion engines are gradually being motorized and carrying autonomous driving function. These vehicles often fall into skid state on the wasteland, etc. and the skid state may proceed to stuck or lock states from which they cannot escape by itself. This becomes a serious problem for autonomous driving. This paper suggests a new skid suppression method and the performances of this method are evaluated by simulations in Model Based Design method. The feasibility of suggested skid suppression method is verified by Model In the Loop Simulation and its detailed control algorithm using a cost-effective acceleration sensor is modified by applying Rapid Control Prototyping before actually implementing the controller. Setting a snow blower as an example, the application of Model Based Design method and the evaluation results are described.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"67 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":"126088513","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
Information technology using annotation based on design knowledge for smart maintenance of machine components 基于设计知识的标注信息技术用于机器部件的智能维护
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859881
Kesaaki Minemura, T. Akashi
{"title":"Information technology using annotation based on design knowledge for smart maintenance of machine components","authors":"Kesaaki Minemura, T. Akashi","doi":"10.23919/SICE.2019.8859881","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859881","url":null,"abstract":"As information and communication technology develops, more industrial machines and their components are being connected to the cloud and maintenance service providers. In the field of machine maintenance, a transition is occurring from conventional time-based maintenance, in which maintenance is performed at fixed time intervals, to condition-based maintenance (CBM), which is called smart maintenance, using cloud data. For a CBM standard, it is necessary to extract features that indicate changes in the machine condition from collected data. In setting the CBM standard, it is necessary to determine the relationship between the collected data and domain knowledge through a process called data annotation. To introduce an example of data annotation, this paper describes data analysis of experimental data from a gear motor, signal processing, and data annotation with domain knowledge for the smart maintenance of machine components.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"83 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":"131244344","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
State Estimation By Observer Using Median Operation for Observed Output with Outliers 带离群值的观测输出中值算子状态估计
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859964
Hiroshi Okajima, Y. Kaneda, N. Matsunaga
{"title":"State Estimation By Observer Using Median Operation for Observed Output with Outliers","authors":"Hiroshi Okajima, Y. Kaneda, N. Matsunaga","doi":"10.23919/SICE.2019.8859964","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859964","url":null,"abstract":"A design method for a state estimation observer for observed outputs with outliers is proposed in this paper. Outliers are one of the most important problems to be solved in actual systems control, such as engine valve control in automobiles and motion control using camera devices. When outliers occur in output signals, the output data for the control system becomes invalid. The state estimation observer does not work well because of this invalid value. Therefore, the effect of the outliers needs to be overcome for implementing state feedback control using state estimators. Accordingly, we propose a method to remove the effect of the outliers for the estimated state using median operation. The effectiveness of the observer based on the median of candidate vectors is verified by numerical simulation.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"10 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":"121775736","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
Bayesian LPV-FIR Identification of Wheelchair Dynamics 轮椅动力学的贝叶斯LPV-FIR辨识
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859813
Y. Fujimoto, Tatsuki Tokushige, M. Nagahara
{"title":"Bayesian LPV-FIR Identification of Wheelchair Dynamics","authors":"Y. Fujimoto, Tatsuki Tokushige, M. Nagahara","doi":"10.23919/SICE.2019.8859813","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859813","url":null,"abstract":"This paper constructs a model of wheelchair dynamics in a data-driven manner. In particular, we focus on the forward movement of the wheelchair, for which we adopt a Linear-Parameter-Varying Finite-Impulse-Response (LPV-FIR) model. To avoid the overfitting behavior, we employ the Bayesian estimation method. We show by experimental results that the constructed model reproduces the observed data more precisely than linear models.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"18 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":"133313369","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
On a New Class of Structurally Balanced Graphs for Scaled Group Consensus 一类新的用于比例群一致的结构平衡图
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859892
Kenta Hanada, T. Wada, I. Masubuchi, T. Asai, Y. Fujisaki
{"title":"On a New Class of Structurally Balanced Graphs for Scaled Group Consensus","authors":"Kenta Hanada, T. Wada, I. Masubuchi, T. Asai, Y. Fujisaki","doi":"10.23919/SICE.2019.8859892","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859892","url":null,"abstract":"A distributed protocol that can achieve a scaled group consensus, or equivalently a multi-parition of the agents, over weighted, signed, and directed graphs is investigated. It is said that the scaled group consensus is achieved if a consensus value for a certain agent (group) can be described as the multiplication of one for another agent by a scaling factor for all agents. In this paper, it is assumed that each agent need not know all of the scaling factors and which group it belongs to. Then, the definition of n-structurally balanced graphs is proposed. Necessary and sufficient conditions are provided to achieve the multi-parition of the agents over the n-structurally balanced graphs. It is also provided that the distributed protocol can achieve in fact the scaled group consensus over the graphs. The results are illustrated through a numerical example.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"25 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":"133481494","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: 4
Multiple Scenario-based Model Predictive Control with Decision Time Limit Determination of Scenario Selection 基于多场景的模型预测控制与场景选择的决策时限确定
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859962
Y. Iino, Y. Hayashi
{"title":"Multiple Scenario-based Model Predictive Control with Decision Time Limit Determination of Scenario Selection","authors":"Y. Iino, Y. Hayashi","doi":"10.23919/SICE.2019.8859962","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859962","url":null,"abstract":"In the Cyber Physical System or the Digital Twin, the control strategy generates multiple scenarios in the cyber world with optimization of future models and objective functions, and these scenarios are utilized to determine an optimal strategy, which is then applied to the physical world. In these procedures, the decision-making to select and fix a future scenario and its time limit are important factors. In this study, considering the scenario decision time limit, a procrastination strategy is introduced and formulated as a new model predictive control framework. It is to postpone the decision and preserve the freedom of scenario choice for the future. In the proposed method, the concept of a common admissible set for control trajectory and its branch point are introduced. A simple numerical example and an application to an energy management problem are shown to illustrate and verify the effectiveness of the proposed method.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"67 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":"131766686","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
Constructing workflow models of alarm responses via trace labeling and dependency analysis 通过跟踪标记和依赖分析构建报警响应工作流模型
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859934
Wenkai Hu, Tongwen Chen, Gordon A. Meyer
{"title":"Constructing workflow models of alarm responses via trace labeling and dependency analysis","authors":"Wenkai Hu, Tongwen Chen, Gordon A. Meyer","doi":"10.23919/SICE.2019.8859934","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859934","url":null,"abstract":"Human factors are critical to industrial alarm monitoring. Learning how operators cope with alarms and manage abnormal situations would be helpful to prevent the repetition of human errors and provide decision supports for realtime alarm responses. The events of operator actions and alarm notifications are recorded in Alarm & Event (A&E) logs, making it available to capture the experience of skilled operators from historical data. This paper presents a data driven method to construct workflow models of operator actions in response to alarms, either univariate or multivariate, from historical A&E logs. The discovery of operator responses is formulated as a causal net model construction problem and solved via a process discovery method comprised by two steps, namely, the trace labeling and the dependency analysis. The effectiveness of the proposed method is demonstrated based on A&E data from a real industrial facility.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"1155 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":"134470850","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
Optimal Trajectory Planning with Dynamic Constraints for Autonomous Vehicle 具有动态约束的自动驾驶汽车最优轨迹规划
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859824
Wei-Jen Wang, Chien-Feng Wu, Zhi-Hao Zhang, Shun-You Lin, Tsung-Ming Hsu
{"title":"Optimal Trajectory Planning with Dynamic Constraints for Autonomous Vehicle","authors":"Wei-Jen Wang, Chien-Feng Wu, Zhi-Hao Zhang, Shun-You Lin, Tsung-Ming Hsu","doi":"10.23919/SICE.2019.8859824","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859824","url":null,"abstract":"Trajectory planning with high accuracy is one of the key technologies of autonomous vehicles to travel safely on public roads. In this paper, we investigate the dependence of the path and velocity interactive planning based on cubic polynomial with vehicle dynamic as well as kinematic constraints including lateral acceleration and road curvature. The effect due to the vehicle dynamics of the host car by ignoring dependence states is studied through the comparison of longitudinal acceleration data in a simulation study and on-road test. Results show that our proposed methodology is more safety and comfort than the one without considering the dependency.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"33 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":"133684889","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
Stabilizing Control for a ball and beam system considering the restricted beam angle and ball speed 考虑限制光束角和球速度的球梁系统稳定控制
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859847
Daiju Kinoshita, K. Yoshida
{"title":"Stabilizing Control for a ball and beam system considering the restricted beam angle and ball speed","authors":"Daiju Kinoshita, K. Yoshida","doi":"10.23919/SICE.2019.8859847","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859847","url":null,"abstract":"For a ball and beam system where the beam angle and the ball speed are small, this paper describes a design method of control system transferring the ball to the target position considering especially the constrained beam angle. First, the transfer function of the ball and beam system is represented as the product of a softening filter, an inner function, and a double integrator. Using modal decomposition methods, we decompose the plant into the stable and unstable subsystems, and derive a nested saturating control law globally asymptotically stabilizing the unstable one. Moreover, the state is estimated for feedback by a reduced-order observer with the poles corresponding to the inner function unchanged. Also, it is shown that the regulator and the observer designed in this way give the controller an IMC (Internal Model Control) structure. The control system using this control law has the property that when the ball is transferred, its speed is mostly limited less than the specific value. To reduce the steady-state error in the ball position as well as to alleviate the reset windup, an IMC controller is constructed with the internal model of the control system itself in the outer feedback loop. The effectiveness of the control law is demonstrated numerically and experimentally.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"24 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":"130381358","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: 3
Consensus Based Formation Control of Automated Guided Vehicles Using Dynamic Destination Approach 基于共识的自动引导车辆动态目的地编队控制
2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI: 10.23919/SICE.2019.8859814
S. Manoharan, Wei-Yu Chiu
{"title":"Consensus Based Formation Control of Automated Guided Vehicles Using Dynamic Destination Approach","authors":"S. Manoharan, Wei-Yu Chiu","doi":"10.23919/SICE.2019.8859814","DOIUrl":"https://doi.org/10.23919/SICE.2019.8859814","url":null,"abstract":"Consensus based control has proven to be simple and effective in addressing nonlinearity invoked by robot formation control in dynamic environments. This study proposes a dynamic destination approach to formation control of Automated Guided Vehicles (AGVs). The dynamic destination approach is combined with a modified consensus based control method to maintain the formation with modest deviation. A leader-follower formation control structure for multiple AGVs is adopted. The proposed methodology is testified using both differential drive and omnidirectional mobile robots. Simulation results show the robustness of the modified consensus based controller and the proposed dynamic destination approach.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"104 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":"115700860","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: 4
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