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Theoretical Analysis of Mobile Control Method for Group Agents Motivated by Sheepdog Shepherding 牧羊犬牧养激励下群体智能体移动控制方法的理论分析
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/SICETR.55.507
Y. Tsunoda, Yuichiro Sueoka, T. Wada, K. Osuka
{"title":"Theoretical Analysis of Mobile Control Method for Group Agents Motivated by Sheepdog Shepherding","authors":"Y. Tsunoda, Yuichiro Sueoka, T. Wada, K. Osuka","doi":"10.9746/SICETR.55.507","DOIUrl":"https://doi.org/10.9746/SICETR.55.507","url":null,"abstract":"In this paper, we deal with the control problem to manipulate autonomous multiple agents (a flock of sheep) escaping from an agent (a sheepdog) according to nonlinear interaction. This work was motivated by so-called sheepdog system inspired by sheepdog shepherding: a flock of several thousands of sheep are controlled by only a few sheepdogs in the real world. It is an interesting control system because one or more sheepdogs, who act as a small number of controllers, can control many sheep that cannot be directly controlled, taking advantage of their own maneuverability. For this reason, there have been many studies about this system; however, these studies have been limited to building numerical models or performing simulation analyses. Therefore, we aim to clarify the control principle theoretically. For this purpose, we conduct theoretical analysis for a sheepdog-type navigation system which we design based on a flock control model proposed by Vaughan et.al. in the case that one sheep is controlled by a sheepdog. Moreover, we also demonstrate the results by using simulations to confirm the validity of the analysis.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121394161","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: 7
Quantitative Detection Method of Two-dimensional Distribution of the Phase State of Water Using Near-infrared Light-absorption 水相态二维分布的近红外光吸收定量检测方法
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/SICETR.55.238
T. Nakashima, Toshiyuki Hondou, Kazuki Takehana, Haruna Maki, O. Matoba
{"title":"Quantitative Detection Method of Two-dimensional Distribution of the Phase State of Water Using Near-infrared Light-absorption","authors":"T. Nakashima, Toshiyuki Hondou, Kazuki Takehana, Haruna Maki, O. Matoba","doi":"10.9746/SICETR.55.238","DOIUrl":"https://doi.org/10.9746/SICETR.55.238","url":null,"abstract":"This study estimates the phase state of water using an evaluation index, which is based on the absorbed light intensity ratio at two wavelengths. Experimental results showed that the evaluation index is a linear function of the ratio of ice. The results indicate that the index could be used to quantitatively evaluate the degree of water freezing. In this study, we apply the detection method to the two-dimensional distribution of the phase state of water using a near-infrared camera with new image-capturing optics, where two wavelength images of the same scene can be independently formed on one image element. For each pixel of the image, a value of the index is calculated from the output values of corresponding pixels of two wavelength images. Thus, a two-dimensional distribution of index values is obtained. The method is proven by experiment to be effective for two-dimensionally monitoring the water-freezing process with supercooling.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128848155","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
Preface to Special Issue on the 21st SICE System Integration Division Annual Conference
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.58.1
N. Ushimi, Ryo Kurazume, Kouji Murakami, Yuki Nishimura
{"title":"Preface to Special Issue on the 21st SICE System Integration Division Annual Conference","authors":"N. Ushimi, Ryo Kurazume, Kouji Murakami, Yuki Nishimura","doi":"10.9746/sicetr.58.1","DOIUrl":"https://doi.org/10.9746/sicetr.58.1","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128556038","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
Real-time Tuning for I-PD Controller by VIMT 基于VIMT的I-PD控制器实时整定
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.58.179
Taichi Ikezaki, O. Kaneko
{"title":"Real-time Tuning for I-PD Controller by VIMT","authors":"Taichi Ikezaki, O. Kaneko","doi":"10.9746/sicetr.58.179","DOIUrl":"https://doi.org/10.9746/sicetr.58.179","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129239792","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
LaserVAE for Feature Description and an Application of Global Self-localization 激光vae特征描述及其全局自定位应用
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/SICETR.55.476
Shohei Wakita, Takayuki Nakamura, Hirotaka Hachiya
{"title":"LaserVAE for Feature Description and an Application of Global Self-localization","authors":"Shohei Wakita, Takayuki Nakamura, Hirotaka Hachiya","doi":"10.9746/SICETR.55.476","DOIUrl":"https://doi.org/10.9746/SICETR.55.476","url":null,"abstract":"For accurate global self-localization, researches for the feature description of the laser-scan data have been actively conducted. Main approaches to the feature description are to design feature descriptor based on human knowledge regarding the specific environment, e.g., office and hallway. However, in real robot navigation tasks such as a security patrol robot, the robot would be applied to a variety of environments and it is expensive if the users need to tune the design at every environment. To alleviate such problem, we propose to extend the stateof-the-art variational auto-encoder (VAE) by introducing the step-edge detector, which detects non-continuous transition emerged frequently at the laser scan data due to the limitation of distance measurement. With our proposed method, called “LaserVAE”, the feature descriptor of the laser scan is automatically tuned given unknown environments. Through experiments with a real self-localization with a 2D laser scanner, we demonstrate the effectiveness of the proposed method.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"12 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116833406","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
Modeling and Control of Engine Knock Using Gaussian Process Regression 基于高斯过程回归的发动机爆震建模与控制
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/SICETR.55.418
Hiroyuki Oyama, M. Yamakita, K. Sata, A. Matsunaga
{"title":"Modeling and Control of Engine Knock Using Gaussian Process Regression","authors":"Hiroyuki Oyama, M. Yamakita, K. Sata, A. Matsunaga","doi":"10.9746/SICETR.55.418","DOIUrl":"https://doi.org/10.9746/SICETR.55.418","url":null,"abstract":"Knock limit control is necessary for high efficient operation of automotive engines. In this paper, we propose an identification and control method of the engine knock using a Gaussian process. Feedforward input is designed by the Gaussian process model approximating knock probability, and its model is updated online by a feedback of the knock intensity value. As modeling methods using the Gaussian process, we apply a heteroscedastic Gaussian process and a recursive Gaussian process. The effectiveness of the proposed method is demonstrated by a numerical simulation.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116983140","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 Curriculum for Learning Control Theory Using a Mobile Robot 利用移动机器人学习控制理论的实验课程
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/SICETR.55.457
S. Yamakawa
{"title":"Experimental Curriculum for Learning Control Theory Using a Mobile Robot","authors":"S. Yamakawa","doi":"10.9746/SICETR.55.457","DOIUrl":"https://doi.org/10.9746/SICETR.55.457","url":null,"abstract":"Many experimental devices employing DC motors have been used to study control engineering. The model of them can be approximated as a linear system and we can control the angle or the angular velocity of a DC motor sufficiently by using classical control theory, like PID control. However, just rotating a motor does not seem to attract the attention of students in mechanical engineering classes. Thus, an experimental curriculum employing a mobile robot is proposed to learn control theory. The kinematic model of the mobile robot includes non-linearity. In this paper, two representations are used to analyze and design a controller for the nonlinear mobile robot: a linear approximated model and a linear model obtained by a strict linearization method. The responses when a PID controller is applied are analyzed based on the linear approximated model, and the limits for controlling the mobile robot using a PID controller are shown. When the nonlinear controller designed based on a strict linearization method is used, the control gains can be adjusted based on linear control theory, that is, the pole assignment method. Students can recognize the relationship between the poles and responses of the controlled system as the traveling path of a mobile robot. The proposed experiments were actually performed in some classes and attracted the attention of the students.","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117244869","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
Development and Evaluation of Operation Assist System for Remote Control by Using the Method of Generating Multiple Viewpoints 基于多视点生成方法的遥控操作辅助系统开发与评价
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.57.526
Rei Hojo, Akira Sakata, Masahiro Munemoto, Y. Hada, Yoshito Takeshita, Tsubasa Asuma, Shigeo Kitahara
{"title":"Development and Evaluation of Operation Assist System for Remote Control by Using the Method of Generating Multiple Viewpoints","authors":"Rei Hojo, Akira Sakata, Masahiro Munemoto, Y. Hada, Yoshito Takeshita, Tsubasa Asuma, Shigeo Kitahara","doi":"10.9746/sicetr.57.526","DOIUrl":"https://doi.org/10.9746/sicetr.57.526","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116653945","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
Frame Filtering Device for Improving Security and Maintaining Low Latency of Control Network with Coexistence of Real-time and Non-real-time Data 一种实时和非实时数据共存下提高控制网络安全性和保持低时延的帧过滤装置
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.57.391
H. Endoh, H. Iwasawa, T. Maruyama, Noritaka Matsumoto, Tsutomu Yamada
{"title":"Frame Filtering Device for Improving Security and Maintaining Low Latency of Control Network with Coexistence of Real-time and Non-real-time Data","authors":"H. Endoh, H. Iwasawa, T. Maruyama, Noritaka Matsumoto, Tsutomu Yamada","doi":"10.9746/sicetr.57.391","DOIUrl":"https://doi.org/10.9746/sicetr.57.391","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116078912","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
Asymmetry of Ties in Performance within Organizations 组织内部绩效关系的不对称性
Transactions of the Society of Instrument and Control Engineers Pub Date : 1900-01-01 DOI: 10.9746/sicetr.57.399
Hitomi Inagaki, S. Kurahashi
{"title":"Asymmetry of Ties in Performance within Organizations","authors":"Hitomi Inagaki, S. Kurahashi","doi":"10.9746/sicetr.57.399","DOIUrl":"https://doi.org/10.9746/sicetr.57.399","url":null,"abstract":"","PeriodicalId":416828,"journal":{"name":"Transactions of the Society of Instrument and Control Engineers","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116232486","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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