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On Generalization of Voronoi Diagram Voronoi图的推广
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-06-15 DOI: 10.5687/iscie.34.173
K. Hanahara
{"title":"On Generalization of Voronoi Diagram","authors":"K. Hanahara","doi":"10.5687/iscie.34.173","DOIUrl":"https://doi.org/10.5687/iscie.34.173","url":null,"abstract":"Voronoi diagram is a typical partitioning of plane according to a number of given points on the plane referred to as generators, based on the Euclidean distances from the points. In the current study, a generalization of such voronoi diagram is discussed from the viewpoint of various consideration on distance. On the basis of discrete voronoi decomposition approach, we take into account the various distance metrics other than the conventional Euclidean distance. The existence of a pathway network to shorten the distance gives the space a non-uniformity in distance. We propose an approach for voronoi decomposition under this non-uniformity. Different weights of generators as well as various evaluations of the distance for the voronoi decomposition are also taken into consideration. A number of calculated examples demonstrate the significance of these various conditions on the obtained voronoi diagrams.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"4 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":"122281807","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
Detection of Abnormal Signs through Analysis of Grip Failure Data 通过对握把失效数据的分析发现异常迹象
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-06-15 DOI: 10.5687/iscie.34.145
K. Kakazu, Yoshito Ito, F. Harada, H. Shimakawa
{"title":"Detection of Abnormal Signs through Analysis of Grip Failure Data","authors":"K. Kakazu, Yoshito Ito, F. Harada, H. Shimakawa","doi":"10.5687/iscie.34.145","DOIUrl":"https://doi.org/10.5687/iscie.34.145","url":null,"abstract":"Against the labor shortage in the restaurant business, automatic dishwashing robots have been being developed. Such the present robots have difficulty of grasping dishes, which causes failure by abnormal grasping. Thus, this paper proposes a method to detect a sign of abnormity from a grasping action through an acceleration sensor attached to the robot. The proposed method first applies the sliding window for each time point in the sensor time-series data and obtains plural time-subseries. By SVD of the matrix generated by these subseries, the variation of the sensor value is expressed as a linear subspace. The dissimilarity degree for each time point is calculated from the distance between the corresponding subspaces among two time-series data. By comparing the average dissimilarity between each normal data and test data with the average dissimilarity degree among normal data, the sigh of abnormity in the test data can be detected.Theexperimental result with an actual robot showed that the proposed method enabled detection of the sign of abnormity. It also showed that the cause of abnormity can be distinguished from the term detected as the sign of abnormity during the grasping action.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"19 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":"124842559","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
Dynamic Stability of the Center of Mass in the Anteroposterior Direction during Fast Walking 快走过程中前后质心的动态稳定性
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-06-15 DOI: 10.5687/iscie.34.155
Naoto Hida, M. Fujimoto, Yoshiyuki Kobayashi
{"title":"Dynamic Stability of the Center of Mass in the Anteroposterior Direction during Fast Walking","authors":"Naoto Hida, M. Fujimoto, Yoshiyuki Kobayashi","doi":"10.5687/iscie.34.155","DOIUrl":"https://doi.org/10.5687/iscie.34.155","url":null,"abstract":"The purpose of this study was to assess the difference in dynamic stability between young and older adults during normal and fast walking. Position and velocity of the center of mass (COM) were calculated in normal and fast walking in young and older adults. Boundaries of the region of stability were determined based on the COM position and velocity, and the margin to the forward boundary was calculated as the stability margin. Although no significant difference was detected in the stability margin, the COM for the older adults was significantly more anteriorly positioned during fast walking, which seems to result from their significantly shorter step length. These results suggest that older adults are dynamically unstable during fast walking as young are, although they walk with a shorter step.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"77 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":"124528036","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
Evaluation of Change Detection Systems Based on Boltzmann Machine 基于玻尔兹曼机的变化检测系统评价
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-06-15 DOI: 10.5687/iscie.34.167
Takanori Hashimoto, N. Matsui, T. Itami, T. Isokawa
{"title":"Evaluation of Change Detection Systems Based on Boltzmann Machine","authors":"Takanori Hashimoto, N. Matsui, T. Itami, T. Isokawa","doi":"10.5687/iscie.34.167","DOIUrl":"https://doi.org/10.5687/iscie.34.167","url":null,"abstract":"Detection of the state changes in the system, which may result in the failure of the system, would be very important in various fields of real-world engineering. We propose a novel unsupervised method for detection of changes in the framework of Energy Based Model (EBM). The proposed method incorporates the Restricted Boltzmann Machine (RBM) and Conditional Restricted Boltzmann Machine (CRBM) as EBM. The state change can be evaluated by observing the free energy in the RBM/CRBM. The proposed method is evaluated by using two sets of time series; one is a sin wave with Gaussian noises and another is the state in a CartPole system. Experimental results show that the free energy is an effective indicator for detecting the state change and that CRBM have better ability for detecting the state change than RBM.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"67 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":"126274044","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
Positioning Accuracy of Single-Frequency GNSS PPP based on GR Models by using CLAS 基于GR模型的CLAS单频GNSS PPP定位精度研究
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-05-15 DOI: 10.5687/iscie.34.139
Katsumasa Miyatake, Daichi Mimura, Y. Kubo, S. Sugimoto
{"title":"Positioning Accuracy of Single-Frequency GNSS PPP based on GR Models by using CLAS","authors":"Katsumasa Miyatake, Daichi Mimura, Y. Kubo, S. Sugimoto","doi":"10.5687/iscie.34.139","DOIUrl":"https://doi.org/10.5687/iscie.34.139","url":null,"abstract":"In this paper, we present the single frequency PPP algorithms based on our GR models with applying CLAS (Centimeter Level Augmentation Service) data from Japan Quasi-Zenith-SatelliteSystem (QZSS). Throughout the numerical experiments by using the single frequency (L1-band, only) measurement data for the static position, we have very accurate positioning results; namely the total 3D-RMS errors by applying CLAS is approximately 0.13 [m], which is the superior positioning result achieved as a single frequency GPS measurements.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114294370","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
Detection Algorithms on GNSS Millimeter Displacement using Orthogonal Functions 基于正交函数的GNSS毫米位移检测算法
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-05-15 DOI: 10.5687/iscie.34.129
Koki Asari, Ｍasayuki Saito, I. Mikami, Y. Kubo, S. Sugimoto
{"title":"Detection Algorithms on GNSS Millimeter Displacement using Orthogonal Functions","authors":"Koki Asari, Ｍasayuki Saito, I. Mikami, Y. Kubo, S. Sugimoto","doi":"10.5687/iscie.34.129","DOIUrl":"https://doi.org/10.5687/iscie.34.129","url":null,"abstract":"This paper presents mathematical algorithms to measure a noise-buried destructive displacement using GNSS (Global Navigation Satellite System) precise positioning and the orthogonal function expansion of its positioning result. In reality, there are 5.25 hundred thousand places in danger of landslide in Japan. The algorithms must retrieve a millimeter-scale displacement in the observation noise, therefore they apply the orthogonal functions from the class of Gegenbauger polynomials and the orthogonal even functions. This method informs the foreboding of a destruction, and will save many lives and infinite property of assets in catastrophic disasters from the present time.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131614732","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
Assisting Control of Electric Wheelchair for Collision Avoidance By Using a Depth Sensor 基于深度传感器的电动轮椅避碰辅助控制
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-04-15 DOI: 10.5687/iscie.34.113
Koki Kimino, Yudai Yamashita, Hisakazu Nakamura
{"title":"Assisting Control of Electric Wheelchair for Collision Avoidance By Using a Depth Sensor","authors":"Koki Kimino, Yudai Yamashita, Hisakazu Nakamura","doi":"10.5687/iscie.34.113","DOIUrl":"https://doi.org/10.5687/iscie.34.113","url":null,"abstract":"In a modern aging society, electric wheelchairs are an essential means of transportation for the elderly. In contrast, human operation errors of the electric wheelchair cause some accidents. For a control system operated by a human, human assist control to avoid accidents attracts much attention in recent years. For this problem, Hayashi et al. have proposed a human assist control of the electric wheelchair by using the control barrier function. However, the proposed method had a problem that delays human assist control due to a Laser Range Finder which needs some time to get the distance to obstacles. In this paper, we consider a depth sensor as a novel position measurement sensor. The depth sensor attracts much attention because the depth sensor is cheap and high availability. We evaluate the effectiveness of the depth sensor for human assist control of the electric wheelchair. Finally, we demonstrate the superior performance of the depth sensor by actual experiments, compared with a Laser Range Finder.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129472547","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
A Proposal of Remaining Useful Time Prediction Utilizing Operation Data of Construction Machinery 一种利用工程机械运行数据进行剩余使用时间预测的方法
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-04-15 DOI: 10.5687/iscie.34.107
Shota Oguma, S. Omatsu, S. Ohno, Kazuhiro Iwasaki, Yoshiaki Shishido
{"title":"A Proposal of Remaining Useful Time Prediction Utilizing Operation Data of Construction Machinery","authors":"Shota Oguma, S. Omatsu, S. Ohno, Kazuhiro Iwasaki, Yoshiaki Shishido","doi":"10.5687/iscie.34.107","DOIUrl":"https://doi.org/10.5687/iscie.34.107","url":null,"abstract":"For users to carry out various jobs according to the construction plan, if unexpected machine failures occur and their machines go down for an extended time, they will be huge losses. Therefore, machine maintenances are required for their machines to prevent from machine failures. However, due to operation in severe environment condition such as high load or long time use and in unexpected use, they often fail earlier than expected. For the maintenance of construction machinery, we propose to detect early indications of failure by predicting remaining useful times. Thereby, their machines can be performed maintenance before their failures and prevent unexpected machine failures. We propose to predict the machine failures of lower traveling bodies of hydraulic excavators by estimating their remaining useful times. Moreover, we also propose a practical example of maintenance activity using remaining useful times prediction in addition to failure prediction by neural network for hydraulic excavators and its effectiveness is shown.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129459003","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
Identification of Rotary Axis Location Errors under Spindle Rotation by using a Laser Barrier Tool Measurement System 用激光阻挡刀具测量系统识别主轴旋转下的旋转轴定位误差
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-03-15 DOI: 10.5687/iscie.34.81
S. Ibaraki, Eita Yanai
{"title":"Identification of Rotary Axis Location Errors under Spindle Rotation by using a Laser Barrier Tool Measurement System","authors":"S. Ibaraki, Eita Yanai","doi":"10.5687/iscie.34.81","DOIUrl":"https://doi.org/10.5687/iscie.34.81","url":null,"abstract":"Position and orientation errors of rotary axis average lines are often dominant error sources in the five-axis machining. Many schemes have been studied, and some are now commercially available, such that they can be identified on-machine, and then numerically compensated, by a machine tool user. Many conventional schemes install a measuring instrument or a measured target in a machine spindle, and thus cannot be performed when the spindle is rotating. Rotary axis location errors are often influenced by the machine’s thermal deformation. When the spindle is not rotating, they can be different from actual machining operations. This paper presents the application of a non-contact laser barrier tool measurement system to the identification of rotary axis location errors, when the spindle rotates in the same speed as in actual machining applications. An experimental thermal test is presented to observe the change in rotary axis location errors under continuous machine warm-up by spindle rotation and reciprocal linear axis motions. Experimental comparison with the R-Test, a typical conventional scheme that can be performed only when the spindle does not rotate, shows that rotary axis location errors change quickly after the machine warm-up is terminated.","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"189 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128647733","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
Automation of Foci-Cell-State Judgement with Regression Models 基于回归模型的焦点-细胞-状态判断自动化
Transactions of the Institute of Systems, Control and Information Engineers Pub Date : 2021-03-15 DOI: 10.5687/iscie.34.69
Keiko Itano, Koji Ochiai, T. Matsushima, H. Asahara, Koichi Takahashi
{"title":"Automation of Foci-Cell-State Judgement with Regression Models","authors":"Keiko Itano, Koji Ochiai, T. Matsushima, H. Asahara, Koichi Takahashi","doi":"10.5687/iscie.34.69","DOIUrl":"https://doi.org/10.5687/iscie.34.69","url":null,"abstract":"","PeriodicalId":403477,"journal":{"name":"Transactions of the Institute of Systems, Control and Information Engineers","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123702357","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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