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2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)最新文献

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An elastoplastic friction compensator with improved static friction behavior 一种改进静摩擦性能的弹塑性摩擦补偿器
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749226
M. Iwatani, Ryo Kikuuwe
{"title":"An elastoplastic friction compensator with improved static friction behavior","authors":"M. Iwatani, Ryo Kikuuwe","doi":"10.1109/SICE.2016.7749226","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749226","url":null,"abstract":"Mahvash and Okamura's elastoplastic friction compensator is one of successful friction compensators for robotic joints with compliant transmissions. A limitation of the scheme is that, in the static friction state, the compensator continues commanding non-zero output force, which hampers the system's reaction to external forces. This paper presents an improved version of the elastoplastic friction compensator with an additional term, which makes the output force decay exponentially in the static friction state. The proposed method was validated using a linear actuator system with a ball screw and a timing belt. The experimental results show that the proposed method reduces external force required to move the device.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117218595","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
Extended structure of MEC for thermal process 热过程MEC的扩展结构
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749092
Gou Ichimasa, K. Okumura, Hiroshi Okajima, N. Matsunaga
{"title":"Extended structure of MEC for thermal process","authors":"Gou Ichimasa, K. Okumura, Hiroshi Okajima, N. Matsunaga","doi":"10.1109/SICE.2016.7749092","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749092","url":null,"abstract":"Recently, high-performance temperature control for the thermal process is becoming important with high quality of heat-treated product such as semiconductors. The dynamics of the thermal process is varied by setting the product for fabrication. Therefore, a modeling error between the system and the model exists and we cannot obtain intended output by this error. To minimize the modeling error, the model error compensator(MEC) has been proposed. The compensated system by MEC is used instead of the plant. The entire system works well because the compensated system is similar to the plant model. However, it is difficult to apply MEC for the thermal process because it is a kind of infinite dimension systems. Here, we have proposed extended MEC for the thermal processing system. In this paper, we use a high-order model to improve control performance and propose the MEC with parallel feed-forward compensator. The compensator form is designed based on the Smith predictor for thermal process to overcome delay component. The effectiveness is illustrated by using numerical examples.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132428303","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
Flocking algorithm for multiple nonholonomic cars 多辆非完整车的群集算法
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749193
Y. Hayashi, T. Namerikawa
{"title":"Flocking algorithm for multiple nonholonomic cars","authors":"Y. Hayashi, T. Namerikawa","doi":"10.1109/SICE.2016.7749193","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749193","url":null,"abstract":"In this paper, a flocking control algorithm for multiple nonholonomic cars is proposed. First, it is shown that the nonholonomic car is linearized by using a virtual vehicle. Second, we define a metric and topological neighborhood set in order to decide which cars to be next to the other car. Control objectives consist of three rules in boids model as separation, alignment, and cohesion, which is a well-known framework of emerging flock, advocated by Reynolds in 1986. Using the neighborhood set, we show the formation of flocking corresponds to the model. These cars are supposed to be on a straight highway, which enables us to set an assumption that each car heads to the same direction and reaches the same velocity eventually. The input for a car consists of the artificial potential method and LaSalle's invariance principle is utilized to prove the convergence of the entire vehicle system. Finally, the effectiveness of the presented method is examined through simulation.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128806504","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: 6
A study on effective demand response program in electric power system based on results of demonstrative field test 基于示范性现场试验结果的电力系统有效需求响应方案研究
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749255
Kiyonori Kawamura, Tsutomu Doki, Y. Oono, H. Takano, J. Murata
{"title":"A study on effective demand response program in electric power system based on results of demonstrative field test","authors":"Kiyonori Kawamura, Tsutomu Doki, Y. Oono, H. Takano, J. Murata","doi":"10.1109/SICE.2016.7749255","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749255","url":null,"abstract":"Since the Great East Japan Earthquake in 2011, development and utilization of Demand Response (DR) has been getting more active in Japan, which can, as one of the demand control methods, contribute to efficient power supply. Necessity of such DR has also been pointed out recently that does not put a burden on consumers. Peak Time Rebate (PTR) type DR does not impose too much a burden on consumers. However, little is known so far about its effectiveness. The authors have designed a PTR type DR program, implemented it in a demonstrative field test targeting ordinary home consumers and observed their electric power use reduction in the peak time since 2014. In this study, based on the field test results, we analyze the changes in electric power consumption during the DR event time. Moreover, influential factors on the reduction of electric power use are hypothesized and tested against the observed data using a stepwise multiple regression analysis technique, which clarifies features of the consumers who have high potential for reduction of electric power consumption through the PTR type DR program. The ongoing deregulation of electric power industry in Japan is promoting new methods for power system control and energy management. The findings described in the paper will be very useful for controlling the power demand effectively using DR programs.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130366466","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
Estimation of corrosion rates for corrosion under insulation in petrochemical plants using self-organizing map 用自组织图估计石化装置绝缘腐蚀的腐蚀速率
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749273
S. Tateno, A. Khaled
{"title":"Estimation of corrosion rates for corrosion under insulation in petrochemical plants using self-organizing map","authors":"S. Tateno, A. Khaled","doi":"10.1109/SICE.2016.7749273","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749273","url":null,"abstract":"Over many years, External Corrosion under Insulation (CUI) scientists and engineers have been recognizing it as a very critical and serious case where inspection and maintenance of pipes are greatly needed. CUI is insidious damage mechanism which causes a large percentage of maintenance expenditures. It is the hidden external corrosion that occurs beneath the jacketed thermal insulation in pipes as a result of water penetration. Most of the petrochemical plants in Japan were built over than 40 years ago, and the problem with this kind of corrosion is localized in areas that are not detected directly by inspection programs. Thus, it is especially hazardous when the insulation covers pipes until it reaches dangerous levels that truly threaten the life of pipes. The purpose of this research is to estimate corrosion rates by using Self-Organizing Map (SOM).","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131099692","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
Capturing simulation of space debris with super multi-link space manipulator 基于超多连杆空间机械臂的空间碎片捕获仿真
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749278
S. Kuroda, T. Higuchi, Yoshito Tsujimoto, S. Ueno
{"title":"Capturing simulation of space debris with super multi-link space manipulator","authors":"S. Kuroda, T. Higuchi, Yoshito Tsujimoto, S. Ueno","doi":"10.1109/SICE.2016.7749278","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749278","url":null,"abstract":"Space debris became one of the difficulties for mankind to utilize the space environment. Among the variable efforts to the debris problem, the development of technology for the active debris removal (ADR) is especially imperative. This paper is on the motion simulation of debris capture manipulator for ADR with large number of links. Light weight actuator using hydrogen storage alloy is developed for use in outer space as an actuator for the manipulator. The controllable time with the extended resolved motion rate control was examined past study. In this paper, to research the movement of the debris in the end-effector, the simple random collision model was established. Based on the results from this model, the aspects for the control of the end-effector to lower the relative velocity of debris in the controllable time is shown.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121548548","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
On the fault tolerant control of a quadrotor manipulation system via MPC and DOb approaches 基于MPC和DOb方法的四旋翼操纵系统容错控制研究
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749189
A. Khalifa, M. Fanni, T. Namerikawa
{"title":"On the fault tolerant control of a quadrotor manipulation system via MPC and DOb approaches","authors":"A. Khalifa, M. Fanni, T. Namerikawa","doi":"10.1109/SICE.2016.7749189","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749189","url":null,"abstract":"Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that this system is very susceptible to actuators' faults. In this paper, a Passive Fault Tolerant Control System is proposed to address this issue with robust and optimal performance. The robustness is achieved using a linear Disturbance Observer (DOb) loop. Based on the linearization capability of DOb, a standard Model Predictive Control (MPC) is then used and the resulting control scheme is characterized by both a low computational load and optimal actuators' efforts with respect to conventional nonlinear robust solutions. This controller is tested to achieve the tracking of a point-to-point task space references under the effect of actuators' faults, picking/releasing a payload, changing the operating region, and measurement noise. Efficacy of the proposed technique is verified via numerical simulations.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"99 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124327511","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
A distributed optimal power dispatch control approach for environment-friendly power grids 面向环境友好型电网的分布式最优调度控制方法
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749182
D. H. Nguyen, T. Narikiyo, M. Kawanishi
{"title":"A distributed optimal power dispatch control approach for environment-friendly power grids","authors":"D. H. Nguyen, T. Narikiyo, M. Kawanishi","doi":"10.1109/SICE.2016.7749182","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749182","url":null,"abstract":"This paper aims at proposing a distributed control approach for optimal power dispatch towards environment-friendly power grids. In order to do so, both electric generation and pollutant emission costs are properly incorporated into a unique objective function of an optimization problem subjected to physical constraints of the considered power system. Consequently, we propose an approach based on the Alternating Direction Method of Multipliers (ADMM) to obtain the globally optimal solution of that optimization problem in a distributed manner under a fast convergence. As a result, each generation unit in a power system can derive by itself an optimal generated power that minimizes with compromising both fuel and emission costs while satisfying both global and local physical constraints caused by the whole system and by its own. The most distinguished feature of this approach is that the power balance constraint is always guaranteed during the execution of the algorithm. Finally, the performance of our proposed approach is illustrated through the simulation to a realistic power system and the comparison with another method.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128002552","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
A comparative study of Extended Kalman Filter and H∞ filtering for state estimation of stewart platform manipulator 扩展卡尔曼滤波与H∞滤波在stewart平台机械臂状态估计中的比较研究
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749194
S. Maged, A. Abouelsoud, Ahmed M. R. Fath El Bab, T. Namerikawa
{"title":"A comparative study of Extended Kalman Filter and H∞ filtering for state estimation of stewart platform manipulator","authors":"S. Maged, A. Abouelsoud, Ahmed M. R. Fath El Bab, T. Namerikawa","doi":"10.1109/SICE.2016.7749194","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749194","url":null,"abstract":"This paper presents the estimation of both position and velocity of Stewart Manipulator by means of limbs potentiometer measurements and MEMS inertial sensors. The estimation used the Extended Kalman Filter (EKF) and H∞ optimal filtering technique based on the combination of these sensors. The two types of filters are used as nonlinear state estimators to the Stewart platform which is modeled as a stochastic differential equations due to measurement noise in case of EKF and as a continuous time system model in case of H∞ filtering technique. The results of the both filters are compared with each other on the Stewart platform DELTALAB EX800 using MATLAB SimMechanics toolbox. The simulation results show that Kalman filters are not the best choice for parallel manipulator state estimation as they bear from the hypothesis of statistical noise with zero mean as well as known noise covariance, which may reduce its performance. For these reasons, H∞ filter may be the alternative of Kalman filter.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121539607","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
Optimal traffic signal control for alleviation of congestion based on traffic density prediction by model predictive control 基于模型预测控制的交通密度预测的最优交通信号控制
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-11-18 DOI: 10.1109/SICE.2016.7749173
Hiroaki Nakanishi, T. Namerikawa
{"title":"Optimal traffic signal control for alleviation of congestion based on traffic density prediction by model predictive control","authors":"Hiroaki Nakanishi, T. Namerikawa","doi":"10.1109/SICE.2016.7749173","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749173","url":null,"abstract":"The purpose of this paper is to propose an optimal traffic signal control in accordance with traffic density to change every moment in traffic network. We focus on calculating optimal signaling split based on traffic volume prediction by model predictive control. Therefore, we aim the achievement of alleviation of congestion in traffic network considering actual traffic situation. Finally the achievement of the purpose is evaluated by controlling of traffic signal in numerical simulations and the relationship between green time and traffic density is examined.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125525427","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: 8
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