In this research, it paid attention to that system of stepping over the obstacle by biped robot same as HDS, where continuous and discrete event exist together. And it was made to return to optimal control problem after it had expressed by MLDS in consideration of various constraint conditions. In a general ZMP control, because it is necessary to consider the constraint condition and the optimality separately, it complicates by coexistence of two or more control theories. On the other hand, the stepping over excess of the obstacle with biped robot based on the hybrid control can systematically achieve optimum control because it can treat them in the same way. In this paper, it was shown that the stepping over excess of the obstacle with biped robot was able to return in optimal control problem, and the effect was confirmed by the simulation work.
We propose a new method for measuring the entire surfaces of a 3D object by light stripe range finding. Most of light striping measurements assume that the positions of a camera and light sources are calibrated previously. The propose method can utilize not known positions of light sources but unconstraint free wands. In the case of plural parallel planes, there is a geometric constraint between the plane generated by the freehand light stripe and the intersected points with the parallel light stripes, so that the 3D geometry of the freehand light source can be determined analytically. Once hand-sweeping the slit light source over the object, we can obtain the entire 3D shapes of the object. It can expand the variety of applications on shape measurements.
About studies of optimal location problem with competitiveness to other facilities, the distance between facilities and their customers is usually represented as Euclid distance. However, there are often cases that facility location given for facility location model with Euclid distance does not suit the actual condition of facility location in city area. In this paper, we suggest a new location model by introducing A-distance, proposed by Widmayer etc., which is the distance that directions that customers can move is limited. Because the formulated optimal location problem is difficult to solve immediately, we reformulate the problem to combinational problem to find one of the optimal solutions for the problem. The reformulated problem can be solved strictly, but it requires enormous computational time and costs for large scale problems. We construct an efficient solving method by applying genetic algorithm for non-linear 0-1 programming problem. Moreover, we show efficiency of the algorithm by using some numerical examples.
This paper presents a new method for tracking the moving target by controlling a pan-tilt camera. Our method can capture motion-blur-free images of a moving target, because this method automatically synchronizes the target motion with the camera motion. We employed Fixed Viewpoint Pan Tilt Camera (FV-PTZ Camera) as an active camera, which does not produce motion parallax by the camera rotation. For the target tracking on image space, we use K-means Tracker algorithm. As for the pan-tilt control, we employ the PID control scheme. This is because if by assigning the P component as the angular velocity of the object, the I and D components can be corresponded to the angular position and the angular acceleration, respectively. This means the PID control is suitable for controlling the angular speed and position of the pan-tilt unit simultaneously. PID based pan-tilt control is effective for the motion synchronization between the target and camera.
This paper presents an optimal dynamic quantizer synthesis for controlling linear time-invariant systems by the discrete-valued input. The quantizers considered here are in the form of a difference equation, for which we find a quantizer such that the system composed of a given linear plant and the quantizer is an optimal approximation of the given linear plant in the sense of the input-output relation. First, we derive a closed form expression for the performance of the dynamic quantizers in control systems. Next, based on this, an optimal dynamic quantizer and its performance, corresponding to the performance limitation of the dynamic quantizers, are provided. Finally, the relation among the optimal dynamic quantizer and the existing quantizers, the receding horizon quantizers and the ΔΣ modulators, is discussed.