Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
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Volume 24, Issue 8
Displaying 1-4 of 4 articles from this issue
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Papers
  • Fault-Tolerant Control Based on Hybrid Redundancy
    Taro Takagi, Masanori Takahashi
    2011 Volume 24 Issue 8 Pages 185-192
    Published: 2011
    Released on J-STAGE: November 15, 2011
    DOIhttps://doi.org/10.5687/iscie.24.185
    JOURNAL FREE ACCESS
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    This paper presents a new fault-tolerant control system (FTCS) against actuator failures. The proposed FTCS is based on a hybrid of static and dynamic redundancies. The redundancy-mode is selected appropriately by only a switching logic which is designed from the control performance. Hence, no fault detector is utilized. For all switched modes, a unity high-gain feedback controller with a parallel feedforward compensator is introduced to attain the stabilization and the asymptotic tracking. Because the controller has high robustness with respect to uncertainties, the FTCS can cope with variations in dynamics that is caused by the failure. In this paper, several simulation results for the connected vehicles are shown to confirm the effectiveness of the FTCS.
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  • An Adaptive Rear-End Collision Warning System for Drivers That Estimates Driving Phase and Selects Training Data
    Kazushi Ikeda, Hiroki Mima, Yuta Inoue, Tomohiro Shibata, Naoki Fukaya ...
    2011 Volume 24 Issue 8 Pages 193-199
    Published: 2011
    Released on J-STAGE: November 15, 2011
    DOIhttps://doi.org/10.5687/iscie.24.193
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    The paper proposes a rear-end collision warning system for drivers, where the collision risk is adaptively set from driving signals. The system employs the inverse of the time-to-collision with a constant relative acceleration as the risk and the one-class support vector machine as the anomaly detector. The system also utilizes brake sequences for outliers detection. When a brake sequence has a low likelihood with respect to trained hidden Markov models, the driving data during the sequence are removed from the training dataset. This data selection is confirmed to increase the robustness of the system by computer simulations.
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  • Measurement of Flexed Posture for Flexible Mono-Tread Mobile Track
    —For Vertebral Structure Using Novel Flexible Displacement Sensor
    Tetsuya Kinugasa, Tetsuya Akagi, Kuniaki Ishii, Takafumi Haji, Koji Yo ...
    2011 Volume 24 Issue 8 Pages 200-206
    Published: 2011
    Released on J-STAGE: November 15, 2011
    DOIhttps://doi.org/10.5687/iscie.24.200
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    We have proposed Flexible Mono-tread mobile Track (FMT) as a mobile mechanism on rough terrain for rescue activity, environmental investigation and planetary explorer, etc. Generally speaking, one has to teleoperate robots under invisible condition. In order to operate the robots skillfully, it is necessary to detect not only condition around the robots and its position but also posture of the robots at any time. Since flexed posture of FMT decides turning radius and direction, it is important to know its posture. FMT has vertebral structure composed of vertebrae as rigid body and intervertebral disks made by flexible devices such as rubber cylinder and spring. Since the intervertebral disks flex in three dimension, traditional sensors such as potentiometers, rotary encoders and range finders can hardly use for measurement of its deformation. The purpose of the paper, therefore, is to measure flexed posture of FMT using a novel flexible displacement sensor. We prove that the flexed posture of FMT with five intervertebral disks can be detected through experiment.
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