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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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A proposal of parameters setting method for artificial bee colony algorithm with network structure 提出了一种具有网络结构的人工蜂群算法的参数设置方法
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749268
T. Kaihara, N. Fujii, D. Kokuryo, Shunta Imamura
{"title":"A proposal of parameters setting method for artificial bee colony algorithm with network structure","authors":"T. Kaihara, N. Fujii, D. Kokuryo, Shunta Imamura","doi":"10.1109/SICE.2016.7749268","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749268","url":null,"abstract":"Artificial Bee Colony (ABC) algorithm which is inspired by the foraging behavior of honey bees is one of the swarm intelligence systems. This algorithm can provide the efficient exploration of the optimal solutions using three different types of the agents for optimization problems with multimodal function. However, the performance of the conventional ABC algorithm decreases for high-dimensional problems. In this study, we propose an improved algorithm to enhance the ability for global search using the network structure of agents. The efficacy of the proposed algorithm is evaluated by performing computer experiments with high-dimensional benchmark problems. We validate solution search performance to consider how to set the parameters.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115093769","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
Synergistic human-robot shared control via human goal estimation 基于人目标估计的协同人机共享控制
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749275
Negin Amirshirzad, Osman Kaya, E. Oztop
{"title":"Synergistic human-robot shared control via human goal estimation","authors":"Negin Amirshirzad, Osman Kaya, E. Oztop","doi":"10.1109/SICE.2016.7749275","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749275","url":null,"abstract":"In this paper, we propose and implement a synergistic human-robot collaboration framework, where the robotic system estimates the intent or goal of the human operator while being controlled by the human in real-time. Having an estimate of the goal of the human operator, the system augments the human control signals by its own autonomous control output based on the goal estimate. Consequently, the net control command that drives the robot becomes a mixture of human and robot commands. The motivation for such a collaborative system is to obtain an improved task execution to surpass the performance levels that each party could achieve in solo. This is possible if the developed system can take advantage of the individual skills so as to cover the weakness of the other party. To test and validate the proposed system we realized the framework by using the `ball balancing task' where an anthropomorphic robot arm was required to bring a ball on a tray attached to its end effector to a desired position. Task execution performance was quantified with completion time and positional accuracy. To test the validity of the framework, experiments were conducted in three conditions: full autonomous control, human-in-the-loop control, and shared control. Full autonomous control did not require any human subjects; whereas for the latter two conditions, 10 subjects for each condition were employed to measure task performance of naive solo operators and naive human-robot partners. The performance results indicate that the task can be completed more effectively by the human-robot system compared to human alone or autonomous robot execution in different performance measures.","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":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129786349","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
A multiple model adaptive estimation algorithm for systems with parameter change 一种参数变化系统的多模型自适应估计算法
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749088
H. Soken, S. Sakai
{"title":"A multiple model adaptive estimation algorithm for systems with parameter change","authors":"H. Soken, S. Sakai","doi":"10.1109/SICE.2016.7749088","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749088","url":null,"abstract":"This paper presents an autonomous multiple model (AMM) estimation algorithm for systems with sudden parameter changes. Estimates of a bank of Kalman filters (KFs) are merged based on a newly defined likelihood function. The function is composed of two measures, one for weighting the filters during the steady state mode and the other for weighting when there is a change in the parameters. Compared to the interacting multiple model (IMM) method, the KFs do not interact but compete on the basis of the likelihood function without any necessity for the mixing step. The proposed algorithm is demonstrated for estimating the residual magnetic moment (RMM) affecting the spacecraft dynamics. The numerical results show that the Competing AMM (CAMM) guarantees higher steady state accuracy than the IMM with a simpler algorithm structure.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130227987","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
DTM in the cloud — Device integration store DTM中的云-设备集成存储
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749178
Jiele Zhang
{"title":"DTM in the cloud — Device integration store","authors":"Jiele Zhang","doi":"10.1109/SICE.2016.7749178","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749178","url":null,"abstract":"Finding the right software artifacts for the hardware devices is a known challenge for industrial system integrators and end users. A solution named “Device Integration Store” brings the state-of-the-art IT paradigm into the automation industry world, and creates a common platform, such that the needed software artifacts can be easily reached by their users at anytime from anywhere.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"877 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123160096","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
Study on specification of attitude angle for small satellite by lunar outline extraction 基于月球轮廓提取的小卫星姿态角规范研究
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749256
Nobuto Hirakoso, K. Tajima, M. Andou, Atsushi Matsumoto, Youichi Shigematsu
{"title":"Study on specification of attitude angle for small satellite by lunar outline extraction","authors":"Nobuto Hirakoso, K. Tajima, M. Andou, Atsushi Matsumoto, Youichi Shigematsu","doi":"10.1109/SICE.2016.7749256","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749256","url":null,"abstract":"In this paper, attitude angle detection system for small satellite at eclipse is described. Recently, small satellite mission is applied to various fields and small satellite mission at eclipse is planned. Then it is necessary that such small satellite keeps to control the satellite attitude for eclipse. In this paper, the authors propose moon outline extraction method to detect the attitude angle for eclipse instead of equipping star tracker and sun sensor. The moon outline extraction capturing from the satellite is used to detect solar direction and then attitude angle is detected by analyzing solar direction. Moreover to verify effectiveness of proposing method in this paper, substitution experiment on ground is executed, and the result is estimated.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125114300","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
Experimental verification of the evaluation method of creep uncertainty from reversibility error prescribed in ISO 376:2011 ISO 376:2011规定的可逆性误差蠕变不确定度评定方法的实验验证
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749176
T. Hayashi, K. Ueda
{"title":"Experimental verification of the evaluation method of creep uncertainty from reversibility error prescribed in ISO 376:2011","authors":"T. Hayashi, K. Ueda","doi":"10.1109/SICE.2016.7749176","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749176","url":null,"abstract":"ISO 376:2011 prescribes two ways of evaluating creep uncertainty in calibrations of force proving instruments: (a) one is to evaluate it from the relative creep error and (b) the other from the reversibility error. The reversibility error is a function of calibration forces, while the creep error is one single value and is not depend on the calibration forces, because the creep test is performed only once during the calibration procedure and the test result is applicable to all of the calibration forces. When the creep uncertainty is simply calculated from the reversibility error as a function of calibration forces, the creep uncertainty becomes zero at the maximum calibration force even though creep phenomenon surely appears at that force in practice. The authors proposed to revise uncertainty estimation method in ISO 376:2011 that the relative creep uncertainty calculated from the reversibility error should be uniform over the calibration range and be calculated from the maximum reversibility error expressed in terms of deflection. This report gives an experimental verification of the authors' proposition.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125212809","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
User-safe orthosis based on compliant actuators: Mechanical design and control framework 基于柔性执行器的用户安全矫形器:机械设计和控制框架
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749223
G. Durandau, W. Suleiman
{"title":"User-safe orthosis based on compliant actuators: Mechanical design and control framework","authors":"G. Durandau, W. Suleiman","doi":"10.1109/SICE.2016.7749223","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749223","url":null,"abstract":"This paper deals with designing, developing and building one degree of freedom orthosis based on an active compliant actuator. To know human's intentions and the desired movements beforehand, we opted for electromyogram (EMG) signals collected by surface electrodes. Processing the EMG signals and controlling the orthosis are integrated into a unified framework that combine OpenSim and Robotic Operating System (ROS) frameworks, the developed unified framework would be also particularly useful for more complex orthosis. The proposed control framework has been successfully used to dynamically compensate the gravity and assist the orthosis user.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133567031","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
A novel 3D reconstruction method from a single uncalibrated camera 一种新的从单个未校准相机进行三维重建的方法
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749274
X. Han, Wei Jiang
{"title":"A novel 3D reconstruction method from a single uncalibrated camera","authors":"X. Han, Wei Jiang","doi":"10.1109/SICE.2016.7749274","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749274","url":null,"abstract":"In this paper, we describe a simple, low-cost and compact three-dimensional reconstruction system based on monocular vision and propose an algorithm that can be used to obtain an object's three-dimensional shape. This method requires very little hardware besides a web camera, a hand-held linear red laser, and three spatial background boards that are pairwise orthogonal, such as the corner of a room. The object to be reconstructed is placed on the background boards with the camera facing the object. The operator holds the linear laser, and slowly and uniformly scans the object from top to bottom or vice versa. The three-dimensional object information can be extracted from a collection of images. The most innovative part of this algorithm is that the camera does not require calibration, and the background boards do not need to be marked or annotated. Experimental results show this 3D reconstruction method is robust, effective, and precise.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133604039","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
Extending a robot controller's capabilities with FDT 用FDT扩展机器人控制器的功能
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749215
Florian Manfred Gratz, Richard Waschhauser
{"title":"Extending a robot controller's capabilities with FDT","authors":"Florian Manfred Gratz, Richard Waschhauser","doi":"10.1109/SICE.2016.7749215","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749215","url":null,"abstract":"Most industrial robots have to communicate with programmable logic controllers (PLCs), sensors, and actuators. If customers have specific requirements, such as operation without a PLC or direct sensor-robot-communication, they need a way of adapting the fieldbus configuration originally shipped with a robot to integrate their own components. This paper discusses, how the FDT/DTM technology can be used to integrate peripheral devices into a robot controller. The entire process from the creation of an initial FDT projection during the production of a robot controller to the adaption by robot users to their specific needs is covered. Furthermore, the process of integrating a robot controller into a user-specific fieldbus network is described, regardless of the fieldbus protocol used.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115014118","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
The bereitschaftspotential for rise of stand-up towards robot-assist device preparation 从站立式机器人到机器人辅助装置的发展潜力
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2016-09-01 DOI: 10.1109/SICE.2016.7749192
Balbir Singh, H. Wagatsuma, K. Natsume
{"title":"The bereitschaftspotential for rise of stand-up towards robot-assist device preparation","authors":"Balbir Singh, H. Wagatsuma, K. Natsume","doi":"10.1109/SICE.2016.7749192","DOIUrl":"https://doi.org/10.1109/SICE.2016.7749192","url":null,"abstract":"Recently, many researchers have been exploiting brain computer interface systems that provide a path to assist neurocognitive disorder and motor-disabled persons. In this study, the electroencephalography and electromyography were recorded in the complex, dynamic and voluntary behavior, the rise of stand-up. The negative-going potential, Bereitschaftspotential (BP), was induced before the onset of the rise. Before the onset of the movement BP had the negative peak. After the peak, the motor- and post motor-related potential were evoked. BP negative peak values significantly correlated with the latency from the start-cue to the onset of the movement. BP could be used for the support devices for the rise of stand-up. This is the first step toward developing the robot-assisted device for the motor-disabled persons to stand up.","PeriodicalId":167635,"journal":{"name":"2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121228245","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
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