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Prediction Methods for Traffic Accidents Using Formal Concept Analysis and Machine Learning 基于形式概念分析和机器学习的交通事故预测方法
Keisoku Jidō Seigyo Gakkai ronbunshū Pub Date : 2023-01-01 DOI: 10.9746/sicetr.59.440
Shogo KOTANI, Masaki NAKAMURA, Kazutoshi SAKAKIBARA, Tatsuo MOTOYOSHI, Keisuke HOSHIKAWA
{"title":"Prediction Methods for Traffic Accidents Using Formal Concept Analysis and Machine Learning","authors":"Shogo KOTANI, Masaki NAKAMURA, Kazutoshi SAKAKIBARA, Tatsuo MOTOYOSHI, Keisuke HOSHIKAWA","doi":"10.9746/sicetr.59.440","DOIUrl":"https://doi.org/10.9746/sicetr.59.440","url":null,"abstract":"Although the number of traffic accidents is decreasing in Toyama prefecture, the number of accidents related to elderly people is more than the average of Japan. Toward prevention of traffic accidents in consideration of coming high-aging society, we propose a way to analyze traffic accidents by using a data analysis method, called formal concept analysis (FCA), which is known to be useful to analyze relationships between data's attributes. We also propose a way to use FCA for a prediction of traffic accidents by using machine learning (ML). It is known that selection of features is important to obtain higher-precision ML models. We use FCA to obtain suitable features for ML.","PeriodicalId":486671,"journal":{"name":"Keisoku Jidō Seigyo Gakkai ronbunshū","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135103964","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
機体の形状を考慮した制御バリア関数の積分設計法 考虑机体形状的控制栅格函数的积分设计法
Keisoku Jidō Seigyo Gakkai ronbunshū Pub Date : 2023-01-01 DOI: 10.9746/sicetr.59.398
Masaki YAKUWA, Hisakazu NAKAMURA
{"title":"機体の形状を考慮した制御バリア関数の積分設計法","authors":"Masaki YAKUWA, Hisakazu NAKAMURA","doi":"10.9746/sicetr.59.398","DOIUrl":"https://doi.org/10.9746/sicetr.59.398","url":null,"abstract":"In recent years, control barrier functions have attracted much attention for ensuring safety in collision avoidance and human assist control. However, control laws cannot guarantee the solution of differential equations without properly considering the shape of the target system. In this study, we designed a control law that considers the shape of the control target and designs a control barrier function for non-convex safe sets. Based on this, we proposed an integral control barrier function and confirmed its effectiveness by testing it for collision avoidance between a three-link robot arm and obstacles through simulation and experiment.","PeriodicalId":486671,"journal":{"name":"Keisoku Jidō Seigyo Gakkai ronbunshū","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135549875","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
Just-In-Timeアプローチに基づくデータベース駆動型極値探索制御系の設計 基于justin - time方法的数据库驱动型极值搜索控制系统的设计
Keisoku Jidō Seigyo Gakkai ronbunshū Pub Date : 2023-01-01 DOI: 10.9746/sicetr.59.433
Yasuhiro MAKINO, Shin WAKITANI, Toru YAMAMOTO
{"title":"Just-In-Timeアプローチに基づくデータベース駆動型極値探索制御系の設計","authors":"Yasuhiro MAKINO, Shin WAKITANI, Toru YAMAMOTO","doi":"10.9746/sicetr.59.433","DOIUrl":"https://doi.org/10.9746/sicetr.59.433","url":null,"abstract":"In considering the efficiency and/or profitability of a system, a reference value should be set to maximize them. An extremum seeking (ES) control, a type of gradient method, does not require prior information related to the optimization function to find the extreme value of the optimization function. However, this scheme has a problem of taking time to reach an optimal value because the search point is updated repeatedly. This study proposes the database-driven extremum seeking control (DD-ES) method in order to solve the problem and applies the DD-ES to an anti-lock braking system (ABS) model to verify the effectiveness of the actual system case.","PeriodicalId":486671,"journal":{"name":"Keisoku Jidō Seigyo Gakkai ronbunshū","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135103934","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
行動変容効果を考慮した電力·交通システムの動的最適化と環境負荷評価 考虑行为改变效果的电力和交通系统的动态优化和环境负荷评估
Keisoku Jidō Seigyo Gakkai ronbunshū Pub Date : 2023-01-01 DOI: 10.9746/sicetr.59.410
Taito WATANABE, Yasuaki WASA, Yoshihiko SUSUKI, Kenji HIRATA, Kenta TANAKA
{"title":"行動変容効果を考慮した電力·交通システムの動的最適化と環境負荷評価","authors":"Taito WATANABE, Yasuaki WASA, Yoshihiko SUSUKI, Kenji HIRATA, Kenta TANAKA","doi":"10.9746/sicetr.59.410","DOIUrl":"https://doi.org/10.9746/sicetr.59.410","url":null,"abstract":"","PeriodicalId":486671,"journal":{"name":"Keisoku Jidō Seigyo Gakkai ronbunshū","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135549890","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
Stabilization Control for Differentially Flat System under Constant Disturbances 恒定扰动下差分平面系统的镇定控制
Keisoku Jidō Seigyo Gakkai ronbunshū Pub Date : 2023-01-01 DOI: 10.9746/sicetr.59.385
Takehiro KANAMORI, Hisakazu NAKAMURA
{"title":"Stabilization Control for Differentially Flat System under Constant Disturbances","authors":"Takehiro KANAMORI, Hisakazu NAKAMURA","doi":"10.9746/sicetr.59.385","DOIUrl":"https://doi.org/10.9746/sicetr.59.385","url":null,"abstract":"The differentially flat system, a class of nonlinear systems, contains many mechanical systems. However, few control laws for differentially flat systems are tolerant of disturbances despite many mechanical systems suffer from some disturbances. We aim to design a stabilization control law for differentially flat systems under constant disturbances by using its linearizability and the minimum projection method. First, we design a static control Lyapunov function (CLF) that includes a disturbance for the nonlinear system via a CLF for the linearized system. After that, we prove the designed CLF satisfies the condition of an adaptive control Lyapunov function (ACLF). Finally, we demonstrate an example of designing the proposed adaptive controller for a PVTOL system under winds and verify the effectiveness of the proposed method.","PeriodicalId":486671,"journal":{"name":"Keisoku Jidō Seigyo Gakkai ronbunshū","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135549888","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
可視領域の異方性を考慮した移動ロボット群の広域持続被覆制御 考虑可视区域各向异性的移动机器人群的广域持续覆盖控制
Keisoku Jidō Seigyo Gakkai ronbunshū Pub Date : 2023-01-01 DOI: 10.9746/sicetr.59.419
Hayate SUGAHARA, Akira KOJIMA
{"title":"可視領域の異方性を考慮した移動ロボット群の広域持続被覆制御","authors":"Hayate SUGAHARA, Akira KOJIMA","doi":"10.9746/sicetr.59.419","DOIUrl":"https://doi.org/10.9746/sicetr.59.419","url":null,"abstract":"A persistent coverage control problem in a complex geometry environment is considered for two-wheeled mobile robots with anisotropic sensor ranges. The persistent coverage control is one of the coverage control methods, which covers the region persistently along the gradient of the time-varying density function. In this paper, we first focus on the persistent coverage control for the two-wheeled mobile robots assuming that the sensing region is anisotropic, and derive a control law which coordinates the rotation and the forward motion. In order to achieve coverage control in the environments with complex geometry, we propose a region assignment planning by employing Monte Carlo tree search for the area allocation. The strength and limitation of the proposed method are discussed based on simulation and experimental results.","PeriodicalId":486671,"journal":{"name":"Keisoku Jidō Seigyo Gakkai ronbunshū","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135103949","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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