Proceedings of the Japan Joint Automatic Control Conference
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THE 54TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Displaying 1-50 of 473 articles from this issue
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Special Lecture 1
Special Lecture 2
  • Mechatronics for Walking Support
    Masayoshi Tomizuka
    Session ID: SL2
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.2.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    Modern sensing, decision making and actuation technologies may help humans who are impaired by replacing the lost functions. Sensors may identify human-environment interaction, decision making algorithms decide the right amount of assistance to the human and actuation technologies provide forces and torques to selected human joints. If the device is interacting with normal and healthy humans, the design may take advantages of robust and intelligent controllability of a human. In case of assistive devices for elderly and people with impairments, such approaches will not be appropriate, and the controller is required to be predictable, precise, robust and intelligent. Smart shoes and series elastic actuators are attractive components to construct such assistive systems.
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Special Program
Toward a break-through for Researches of Joint Automatic Control from "Social and Human friendly" to "Save the Society and People"
  • Automatic Control Strategy learn from the Systems of Life
    Yoshiyuki Sakaki
    Session ID: SP1
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.3.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    Biological organisms can be considered as intelligent machines constructed through the biological evolution of 3.8 billion years, which are maintained upon sophisticated automatic control systems. Such biological systems may provide us valuable and useful ideas or hints to develop intelligent artificial automatic control systems. I will present regulatory mechanisms of biological clock system as an example, in which positive and negative feedback controls are beautifully cooperated.
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  • Medical Support and Human Assistive Robots
    Masakatsu G. Fujie
    Session ID: SP2
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.4.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    Medicals support and human assistive robots will require the break through control technologies with four mechanical dynamics. Those are strength of materials, thermal dynamics, fluid dynamics, and mechanics.
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  • Monitoring and Control of Process Systems
    Yoshiyuki Yamashita
    Session ID: SP3
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.6.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    Monitoring and control are essential technology for the operation of industrial process systems. The technology is contributing to realize efficient, stable and safe operation of such systems. Almost the same technology will be applied to various kind of systems to achieve sustainable society. Predictive monitoring, dependable control, and green technology will be some example of future important study on process monitoring and control.
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  • Some Topics on Food, Agriculture and Environment
    Masahiko Saigusa
    Session ID: SP4
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.5.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    Agricultural production is very flexible in their harvest timing, yield and quality etc. compared to industrial production, because of unstable production environment such as climate, soil, coexists exist living things etc and the occurrence of the growth of agricultural product themselves. Therefore, the monitoring and control of agricultural environment such as temperature, air humidity, wind strength and direction, light intensity, soil moisture and nutrients are very important to get stable agricultural production. Some topics such as land based agriculture, glasshouse horticulture; Plant factory and human resources development in university are talked in this lecture.
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General Papers
Instrument and Control on Enviromental and Energy Systems (1: Environment recognition and instrumentation)
Instrument and Control on Enviromental and Energy Systems (2: Evaluation and Design of Environmental and Energy Systems)
Theory and Appication on System and Control (3: Optimal Control Design)
Symbiotic Mobile Robot with human (1)
Symbiotic Mobile Robot with human (2)
  • Atitude Angle Control by using Air Cylinder system for Inverted Pendulum Type Mobile Robot with Self-Righting Mechanism
    MASAHIRO KATOH, MASAYUKI OKUGAWA, YOSIMITU KOBAYASI, NOBORU KOZIMA
    Session ID: 1B201
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.24.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    Safety and reliability is important for the design of the service robot in the symbiosis space. This study addresses the two wheeled inverted pendulum type mobile robot with self-righting mechanism in order to adopt a mobile unit of a tour guide robot. The center of gravity movement mechanism using an air cylinder system was adopted in order to solve the safety problems in this paper. The experimental results indicated that the adjustment of the center of gravity position can be achieved adaptively for the attitude angle of the robot, and the effectiveness of the proposed mechanism for the attitude control of inverted pendulum type mobile robot with self-righting mechanism.
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  • Demonstrations of Mobile Robot
    Momotaro's Dog and Hachiko Modes
    Masahiro Tanaka, Takashi Kuwata, Tatsuya Sakai, Akimasa Kojima, Naoki ...
    Session ID: 1B202
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.25.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    We are developing a robot that moves autonomously in the university campus by using the attached sensors to the robot. The objective of the development is to nd various technical problems related to mobile robots and to solve them as well as to acquire sensing technology. We also aim to expand its ability by using network communication equipment so that it can get various external knowledge needed for the detected environmental information. As the rst step of its development, we tried two demonstration modes: Momotaro's dog and Faith Hachiko, which will be described in this report.
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  • Target Tracking based on Sensor Fusion of Thermal Imaging Sensor and Vision System
    Naomichi Kuga, Tomohiro Umetani, Masahiro Tanaka, Masahiro Wada, Minor ...
    Session ID: 1B203
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.26.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    This paper describes a method for sensor data fusion of thermal imaging sensor and a vision system for probabilistic target tracking for autonomous robots. This method uses asynchronous updating the model of the tracking target by measurement data of the vision system and the thermal imaging sensor. Experimental results indicate the feasibility of the proposed method.
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  • Improvement of a SIFT-based people identification for a people following robot
    Use of a distance-dependent appearance model
    Masaya Chiba, Junji Satake, Jun Miura
    Session ID: 1B204
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.27.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    This paper describes person identification technique for a mobile robot which performs specific person following under dynamic complicated environment like a school canteen where many persons exist. Although the SIFT feature is used for identification of a person, the distance dependence appearance model which expects the number of collation of the SIFT feature based on the distance to a person is created and used for the improvement in reliability of identification. Moreover, improvement in the speed of identification processing was also considered. The person following experiment was actually conducted using the mobile robot, and the quality assessment of person identification was performed.
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Theory and Appication on System and Control (4: Vibration, Acoustic and Motion Control)
Recognition Technology for Environment and Behavior and Human-Robot Interaction (1)
Recognition Technology for Environment and Behavior and Human-Robot Interaction (2)
Theory and Appication on System and Control (5: H-infinity Control, Robust Control)
Mechanical Dynamics and Control (1)
Mechanical Dynamics and Control (2)
  • Active Control of Mechanical Vibration by the use of Fractional Calculus
    Masaharu Kuroda
    Session ID: 1D201
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.49.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    For the dynamics described by an equation of motion including fractional-order-derivative terms, the fractional-order-derivative responses cannot be measured directly through experiments. In the present study, three solutions are proposed that enable the fractional-order-derivative responses to be measured by a combination of signals obtained by existing sensors. Specialized sensors or complicated signal processing are not necessary. Fractional-order-derivative responses at a certain point on a structure can be expressed through linear combinations of the displacement signal and the velocity signal at each point on the structure.
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  • Feedforward disturbance attenuation control of flexible beam with a directional actuator
    Tomoaki Nishikubo, Yasuhide Kobayashi
    Session ID: 1D202
    Published: 2011
    Released on J-STAGE: March 09, 2012
    DOIhttps://doi.org/10.11511/jacc.54.0.50.0
    CONFERENCE PROCEEDINGS FREE ACCESS
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    This paper deals with feedforward disturbance attenuation control problem of flexible beam with a directional actuator to show the advantage against non-directional actuator case. First, by a comparison of the open-loop transfer functions from the first principle modeling and frequency response experiments, it is shown that a phase-lag is increased by the directional actuator. Secondly, based on H infinity controllers designed without considering modeling errors and the ideal controllers that perfectly cancels the disturbance, it is shown that the less number of peak gains in controller's gain is achieved by the directional actuator.
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