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Nonlinear Term Compensation with Data-Driven Control and its Application for Shaking-Table 数据驱动控制的非线性项补偿及其在振动台中的应用
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-10-15 DOI: 10.5687/iscie.34.261
Shinji Ishihara, Koichi Tahara, J. Miura
{"title":"Nonlinear Term Compensation with Data-Driven Control and its Application for Shaking-Table","authors":"Shinji Ishihara, Koichi Tahara, J. Miura","doi":"10.5687/iscie.34.261","DOIUrl":"https://doi.org/10.5687/iscie.34.261","url":null,"abstract":"","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132889742","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
Grayscale Image Segmentation based on Topological Data Analysis 基于拓扑数据分析的灰度图像分割
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-09-15 DOI: 10.5687/iscie.34.243
Yugo Ogio, Y. Minami, M. Ishikawa
{"title":"Grayscale Image Segmentation based on Topological Data Analysis","authors":"Yugo Ogio, Y. Minami, M. Ishikawa","doi":"10.5687/iscie.34.243","DOIUrl":"https://doi.org/10.5687/iscie.34.243","url":null,"abstract":"In this paper, we applied topological data analysis (TDA) to the segmentation of grayscale images. TDA is a method to extract topological features such as hollows from data. It is expected that we can segment images because we can regard objects in images as hollows. In this paper, we first confirmed that the TDA based method was effective in the segmentation of halftone images by random dithering. Then, we compared the proposed method and the combination of Otsu’s method and TDA. Finally, we evaluated the performance of our method using standard images and CT-images.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121108790","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
Mobile Robot Localization Based on Questionnaire Study about Human Recognition in Outdoor 基于户外人体识别问卷的移动机器人定位研究
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-08-15 DOI: 10.5687/iscie.34.251
S. Aoyagi, T. Ono, Kyosuke Yamamoto, Tomokazu Takahashi, Masatoshi Suzuki
{"title":"Mobile Robot Localization Based on Questionnaire Study about Human Recognition in Outdoor","authors":"S. Aoyagi, T. Ono, Kyosuke Yamamoto, Tomokazu Takahashi, Masatoshi Suzuki","doi":"10.5687/iscie.34.251","DOIUrl":"https://doi.org/10.5687/iscie.34.251","url":null,"abstract":"Mobile robot localization in outdoor is difficult because of environmental change such as sunlight intensity, moving obstacles layout, etc. In this article, questionnaire study on human ability of environmental recognition was carried out and its results were applied to mobile robot localization. The result of questionnaire shows that a human relies on globally visual information such as landscape rather than information of landmarks such as signboards. Based on the result, a view-based localization method using GIST features was proposed. GIST is known to represent well the overview of outdoor scene. A capture scene image is compared all registered template images in terms of GIST, e.g., the template image, of which L2 norm of GIST between input image is minimum, is successively searched. Then, the robot is localized so as that it exists in the neighborhood of known place where the template image was captured. Experimental result in the course of Tsukuba Challenge 2015 showed the good potential of proposed method to localize a mobile robot.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128490849","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
Learning of Fuzzy Rules for Avoidance of a Moving Obstacle in a Mobile Robot 移动机器人避障模糊规则的学习
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-08-15 DOI: 10.5687/iscie.34.209
S. Aoyagi, Nobuhito Sato, Kyosuke Yamamoto, Tomokazu Takahashi, Masatoshi Suzuki
{"title":"Learning of Fuzzy Rules for Avoidance of a Moving Obstacle in a Mobile Robot","authors":"S. Aoyagi, Nobuhito Sato, Kyosuke Yamamoto, Tomokazu Takahashi, Masatoshi Suzuki","doi":"10.5687/iscie.34.209","DOIUrl":"https://doi.org/10.5687/iscie.34.209","url":null,"abstract":"To coexist with human, a robot has to avoid obstacles based on human-like flexible decisionmaking. In this article, we recorded the angle and speed when a human operates a robot to avoid a moving obstacle on a developed computer simulator. Using obtained data, fuzzy rules to decide the moving direction and speed at every moment were derived as follows: as input variables, distance to obstacle, angle to obstacle, speed of obstacles, and moving direction of obstacle, were adopted. As output variables, steering angle and moving speed of robot were adopted, where it is noted not only angle but also speed is considered compared to other prior researches. Based on fuzzy-neural networks method, two networks having 4 inputs and 1 output were prepared. A membership function of input variable has 5 isosceles triangles. Fuzzy rules, number of which is 625 (=5), were assumed. Optimal center and width of each triangle were obtained so as that the network reproduces the trajectories of simulation experiment with minimum errors. The proposed method based on obtained fuzzy rules was compared with the conventional potential method and reinforcement trajectory learning method. The robot avoided flexibly and smoothly a moving obstacle like human with both short mileage and small crash rate by using proposed method on the simulator.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"123 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133678179","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
Analysing the Dealing Rights to Speak with a Large Number of Participants 多参与者交易话语权分析
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-08-15 DOI: 10.5687/iscie.34.219
Hirofumi Masui, Takahiro Oshima, K. Nakabayashi, Eisuke Nagahashi, T. Taniguchi
{"title":"Analysing the Dealing Rights to Speak with a Large Number of Participants","authors":"Hirofumi Masui, Takahiro Oshima, K. Nakabayashi, Eisuke Nagahashi, T. Taniguchi","doi":"10.5687/iscie.34.219","DOIUrl":"https://doi.org/10.5687/iscie.34.219","url":null,"abstract":"Dealing Rights to Speak (DRS) is a communication-field mechanism enabling people to manage speech order in a decentralized manner. However, the method was evaluated only in small face-toface meetings where less than five people attended. In this paper, we analyze the effect of DRS when it is applied to a meeting where a large number of people, e.g., more than 10, are attending. For this purpose, we first developed a mobile application with which many people can use DRS in their discussions. We performed an experiment with four conditions, i.e., 4 participants with and without DRS and 16 participants with and without DRS. We compared the four conditions in both a subjective and an objective manner. The results show that the effect of DRS on a large number of people is similar to that of a small number of people. Also, some other findings were newly observed. It was shown that the number of “filler” is increased when people use DRS. It was shown that the quality of the meetings tends to degrade when the number of participants increases without any communication-field mechanism though DRS can mitigate the negative effect.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132121860","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
Stabilizing Switching Law for Reducing Switching Frequency in Switched Linear Systems 降低开关线性系统开关频率的稳定开关律
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-08-15 DOI: 10.5687/iscie.34.231
Yamato Mihara, N. Hara, K. Konishi
{"title":"Stabilizing Switching Law for Reducing Switching Frequency in Switched Linear Systems","authors":"Yamato Mihara, N. Hara, K. Konishi","doi":"10.5687/iscie.34.231","DOIUrl":"https://doi.org/10.5687/iscie.34.231","url":null,"abstract":"スイッチドシステムは,ハイブリッドシステムの一種 であり,有限個のサブシステムと,それらの切り替え を規定するスイッチング則からなる [1,2].連続時間線 形スイッチドシステムに対する一安定化手法としては, average matrixによりサブシステム間で共通なリアプノ フ関数を構成することで,系の安定化を達成するスイッ チング則の設計法が報告されている (参考文献 [1], 3.4 節).この手法では,リアプノフの安定性理論に基づく 切り替えが行われるため,安定化のために必要な切り替 えの回数は必要十分よりも多くなり,過剰になる傾向が ある. 一方で,IoT時代の到来により,通信負荷や消費電力 などのリソースの軽減を意識した制御系の設計が求めら れている [3].そこで,計算と通信のリソースをより効率 的に利用するための一制御手法として,イベントトリガ 制御 [4]が注目を集めている.近年のイベントトリガ制 御の研究では,線形スイッチドシステムに対し,リアプ ノフの安定性理論を緩和する手法を適用することにより, データの送信や制御入力の更新頻度の大幅な削減が達成 されている [5]. 本速報では,リアプノフの安定性理論を緩和する手法 を応用した安定化スイッチング則を提案する.さらに, 状態駆動スイッチング則 [1]と比較し,スイッチング回 数が削減されることを確認する.なお,本速報は発表文 献 [6]をもとに,その内容を拡充しまとめ直したもので ある.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123836827","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
Hierarchical Decentralized Management for Virtual Power Plants using Real-time Pricing Strategy 基于实时定价策略的虚拟电厂分级分散管理
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-07-15 DOI: 10.5687/iscie.34.181
Hikaru Akutsu, K. Hirata, Akihiro Ohori, Nobuyuki Hattori, Y. Ohta
{"title":"Hierarchical Decentralized Management for Virtual Power Plants using Real-time Pricing Strategy","authors":"Hikaru Akutsu, K. Hirata, Akihiro Ohori, Nobuyuki Hattori, Y. Ohta","doi":"10.5687/iscie.34.181","DOIUrl":"https://doi.org/10.5687/iscie.34.181","url":null,"abstract":"This paper considers a hierarchical decentralized management of virtual power plants. Virtual power plants serve as aggregator of energy resources, including generators, storage and controllable loads, to support their balancing market integration. A virtual power plant becomes a largescale distributed system having a large number of power equipment, and a centralized management methodology may not be suitable for its operation. We investigate the real-time pricing strategy and individual optimization by each participants. The proposed hierarchical decentralized management methodology can mitigate the effects of uncertainties in the power generation and load profiles and allow plug-and-play type operation of power equipment. The effectiveness of the proposed hierarchical decentralized management methodology is evaluated through numerical experiments of the virtual power plant consisting 58 power equipment.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"57 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120851571","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
Estimation of Parameter Space Representation for Projection Type Iterative Learning Identification Method 投影型迭代学习识别方法的参数空间表示估计
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-07-15 DOI: 10.5687/iscie.34.199
F. Sakai
{"title":"Estimation of Parameter Space Representation for Projection Type Iterative Learning Identification Method","authors":"F. Sakai","doi":"10.5687/iscie.34.199","DOIUrl":"https://doi.org/10.5687/iscie.34.199","url":null,"abstract":"The projection type iterative learning identification method has several advantages such as: (i) no time-derivatives of input/output signals are required and (ii) it gives unbiased estimations. However, this identification method requires a parameterized model obtained by projecting a tracking error signal onto a finite-dimensional subspace, and the parameterized model must be estimated in advance. The model is called a parameter space representation in this paper. This paper presents an approach for estimating the parameter space representation required for the projection type iterative learning identification method. The proposed method is based on the projection of the estimated error signal onto the finite-dimensional signal subspace whose basis is determined by the closed-loop system with the estimated model. The benefits of the proposed method in comparison with existing method are illustrated with simulation studies.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122840487","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
Design of Mobile Control for Multiple Agents Inspired by Sheepdog Shepherding and its Verification 基于牧羊犬牧养的多智能体移动控制设计及验证
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-07-15 DOI: 10.5687/iscie.34.191
Y. Tsunoda, Yuichiro Sueoka, T. Wada, K. Osuka
{"title":"Design of Mobile Control for Multiple Agents Inspired by Sheepdog Shepherding and its Verification","authors":"Y. Tsunoda, Yuichiro Sueoka, T. Wada, K. Osuka","doi":"10.5687/iscie.34.191","DOIUrl":"https://doi.org/10.5687/iscie.34.191","url":null,"abstract":"This paper constructs a control system in which one highly mobile agent navigates autonomous multiple agents escaping from the agent according to nonlinear interaction. This study is motivated by the sheepdog system: a flock of thousands of sheep are controlled by only a few sheepdogs. Inspired by the sheepdog system, we have proposed a control law of a sheepdog to solve the problem of one sheep converging on a circular trajectory around a goal by one sheepdog, which is called the mobile control. In this paper, we extend this controller to applicable to a flock of sheep by treating multiple sheep as “a disc with a certain flock radius”. This paper deals with the problem of navigating a flock of sheep to converge their centers of gravity on a circular trajectory around a goal position. For this problem, we propose a flock model of sheep and an extended mobile control designed by considering the suitable distance between a sheepdog and a center of the flock. Finally, we verified the validity of the proposed method through numerical simulation and robot demonstrations.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133807695","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
Autonomous Parallel Travelling of a Robot Tractor for Automatic Harvesting and Unloading of an Onion Harvester 洋葱收割机自动收卸机器人拖拉机的自主平行行驶
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-06-15 DOI: 10.5687/iscie.34.160
Hiroyuki Onoyama, Shuto Sugaya, Hiroya Aoyama, Daichi Fujita, T. Fukao, N. Murakami
{"title":"Autonomous Parallel Travelling of a Robot Tractor for Automatic Harvesting and Unloading of an Onion Harvester","authors":"Hiroyuki Onoyama, Shuto Sugaya, Hiroya Aoyama, Daichi Fujita, T. Fukao, N. Murakami","doi":"10.5687/iscie.34.160","DOIUrl":"https://doi.org/10.5687/iscie.34.160","url":null,"abstract":"This paper proposes an autonomous parallel travelling system for an onion harvester and a tractor. Path following control via sliding mode control is applied to each vehicle. The velocity of the tractor is also controlled using the velocity and position of the onion harvester to maintain their relative position. As the result of experiments, the lateral, longitudinal and orientation errors between the tractor and the onion harvester were less than 0.07 m, 0.11 m and 2◦, respectively. It was sufficient for the actual onion harvesting.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125663346","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
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