システム制御情報学会論文誌

論文

EEGを用いた繰り返し学習制御による快適マッサージの実現

―力センサレス化と実機による制御実験

寺前達也, 櫛田大輔, 竹森史暁, 北村章

2011 年 24 巻 6 号 p. 127-133
発行日: 2011年
公開日: 2011/09/15

DOIhttps://doi.org/10.5687/iscie.24.127

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Recently the massage chair is used by a lot of people because they are able to use it easily at home. However a present massage chair only realizes the massage motion. Moreover the massage chair can not consider the user’s condition and massage force. On the other hand, the professional masseur is according to presume the mental condition by patient’s reaction. Then this paper proposes the method of applying masseur’s procedure for the massage chair using iterative learning control based on EEG. And massage force is estimated by acceleration sensor. The realizability of the proposed method is verified by the experimental works using the massage chair.

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Recursive Construction of Optimal Smoothing Splines Generated by Linear Control Systems

藤岡寛之, 狩野弘之

2011 年 24 巻 6 号 p. 134-143
発行日: 2011年
公開日: 2011/09/15

DOIhttps://doi.org/10.5687/iscie.24.134

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This paper considers the problem of constructing smoothing spline curves recursively each time when a new set of data is observed. The spline curves are constituted by employing an approach based on linear control systems. Based on the basic problem of optimal smoothing splines and an idea of recursive least squares method, a recursive design algorithm of optimal smoothing splines is developed. Assuming that the data for smoothing is obtained by sampling a curve, we analyze asymptotical and statistical properties of smoothing spline curve when the number of iterations tends to infinity. The algorithm and analyses are extended to the case of periodic splines. We demonstrate the effectiveness and usefulness by numerical examples.

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離散時間線形マルコフジャンプシステムに対する状態フィードバックによる予見H_∞追従制御

名倉剛

2011 年 24 巻 6 号 p. 144-153
発行日: 2011年
公開日: 2011/09/15

DOIhttps://doi.org/10.5687/iscie.24.144

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In order to design tracking control systems for a class of systems with rapid or abrupt changes, it is effective in improving tracking performance to construct preview control systems considering future information of reference signals. In this paper we study the H_∞ tracking problems with preview for a class of linear discrete-time Markovian jump systems by game theoretic approach. The systems are described by a class of switching systems with Markovian mode transitions. The necessary and sufficient conditions for the solvability of the H_∞ tracking problems are given by coupled Riccati difference equations with terminal conditions. Correspondingly feedforward compensators introducing future information are given by coupled difference equations with terminal conditions. We consider three different tracking problems depending on the property of the reference signals. Finally we give numerical examples and verify the effectiveness of the theory presented in this paper.

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