巻号一覧
49 巻, 7 号
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論文
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山崎 公俊, 稲葉 雅幸2013 年 49 巻 7 号 p. 661-669
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーThis paper describes about a method of clothing classification using a single image. The method assumes to be used for building autonomous systems, with the purpose of recognizing day-to-day clothing thrown casually on a floor. A set of Gabor filters is applied to an input image, and then several image features that are invariant to translation, rotation and scale are generated. In this paper, we propose the descriptions of the features with focusing on clothing fabrics, wrinkles and cloth overlaps. Experiments of state description and classification using real clothing show the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (4379K) -
川口 貴弘, 丸田 一郎, 馬場 厚志, 足立 修一2013 年 49 巻 7 号 p. 670-677
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーIt is important to estimate State Of Charge (SOC) of rechargeable batteries for electric vehicles. To estimate SOC accurately, it is required to construct a model that can capture the dynamics of batteries and predict their behavior with sufficient accuracy. However, conventional system identification techniques cannot take into account the characteristics of batteries such as relationship of SOC and Open Circuit Voltage (OCV) and diffusion phenomena. To address such an issue, this paper proposes an estimation method of parameters in the model that reflects the characteristics of batteries using continuous-time system identification technique. This method can achieve high accuracy in the parameter estimation. Its effectiveness is examined through numerical simulations and an experiment under the electric vehicle operating environment.抄録全体を表示PDF形式でダウンロード (1413K) -
郭 亜南, 向井 正和, 川邊 武俊2013 年 49 巻 7 号 p. 678-687
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーWe compare a proposed ecological vehicle platooning control system using centralized model predictive control with other platooning control systems from the point of fuel economy. A model of the vehicles in the platoon considering vehicular aerodynamic drag is established. In the proposed control system, fuel consumption of the vehicles is considered in the performance index, and information of the road topography is used for prediction to reduce the fuel consumption of the vehicles. These control systems were simulated in the case of platoon formation, driving with varying target velocity and driving on road with grade. From the results of the comparison among these control systems, since the prediction based road geography information was used for fuel saving, the significant improvement in fuel economy was shown by the proposed control system.抄録全体を表示PDF形式でダウンロード (2782K) -
島 圭介, 丸元 崇弘, 芝軒 太郎, 栗田 雄一, 辻 敏夫, 神鳥 明彦, 佐野 佑子, 吉栖 正生, 佐古田 三郎2013 年 49 巻 7 号 p. 688-695
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーThis paper proposes the CPG synergy model, which can generate rhythmic signals with nonstationary characteristics, to enable evaluation of rhythmic motions such as human finger tapping movements. The model consists of multiple central pattern generators (CPGs) that generates basic rhythm patterns, and can approximate nonstationary rhythmic signals, in which the waveform in each cycle of the signal drastically changes depending on time, by combining the basic rhythm patterns generated by the CPGs with weight coefficients and time-shift parameters. The validity of the proposed model was verified by numerical experiments for artificially generated rhythmic signals using multiple sinusoidal signals. Comparison experiments were then performed using the model parameters (i.e., basic rhythm patterns, weight coefficients and time-shift parameters) extracted from finger tapping movements performed by individuals in a healthy subject group and a Parkinson's disease patient group. The number of CPGs and the coefficients of variation of maximum weight coefficients showed significant differences between each group at the 0.1% level. These outcomes indicate that the proposed model has the potential to allow evaluation of abnormal movements in patients with motor function impairments.抄録全体を表示PDF形式でダウンロード (1811K) -
泉田 啓, 服部 俊, 幸田 武久2013 年 49 巻 7 号 p. 696-702
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーTypical methods for solving reinforcement learning problems iterate two steps, policy evaluation and policy improvement. This study proposes algorithms for the policy evaluation to improve learning efficiency. The proposed algorithms, based on the Krylov Subspace Method (KSM), are tens to hundreds times more efficient than existing algorithms based on the Stationary Iterative Methods (SIM). Algorithms based on KSM are far more efficient than they have been generally expected. This study clarifies what makes algorithms based on KSM makes more efficient with numerical examples and theoretical discussions.抄録全体を表示PDF形式でダウンロード (652K) -
—つくばチャレンジ参加ロボットMG-11—小暮 和重, 塩谷 敏昭, 太田 直哉2013 年 49 巻 7 号 p. 703-712
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーFor autonomous mobile robots, a design policy is widely accepted such that we should use as many sensors and powerful recognition hardware as possible to realize reliable robot operation. However, if we aim at using the developed technology for commercial products, another design policy is favorable such that minimum sensors and recognition hardware, but still enough for reliable operation, are used. We named the robot designed under this design policy Minimal Autonomous Mover (MAM), and built a MAM to participate a competition for autonomous mobile robots, named Tsukuba Challenge. In the competition, the robot successfully reached the goal and fulfilled the designated mission. We report on this robot in this paper.抄録全体を表示PDF形式でダウンロード (1819K) -
重政 隆, 根岸 靖典, 馬場 泰2013 年 49 巻 7 号 p. 713-719
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーThis paper discusses a PD feedback loop design method based on Fictitious Reference Iterative Tuning (FRIT) from one set of closed loop input and output test data, and also discusses an estimation method for the process model and a design application for a MD-PID control system and a TDOF PID control system. Numerical examples show the effectiveness of the approach.抄録全体を表示PDF形式でダウンロード (981K) -
泉 晋作, 東 俊一, 杉江 俊治2013 年 49 巻 7 号 p. 720-726
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーThis paper addresses a problem of finding distributed controllers for the robotic mass games, that is, to let robots organize themselves into a formation displaying a given grayscale image, over r-disk proximity networks. For solving this problem, we first extend the existing performance index representing the achievement degree of the mass games to the mass games over r-disk proximity networks. Based on this, we propose a solution to the problem and prove that the resulting formation locally minimizes the extended performance index. By numerical experiments with the standard image, it is demonstrated that the proposed controllers achieve the mass games.抄録全体を表示PDF形式でダウンロード (1220K) -
稲垣 聡, 丸田 一郎, 杉江 俊治2013 年 49 巻 7 号 p. 727-732
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーThis paper is concerned with applicability of intelligent PID control which is proposed by Fliess and Join recently. First, we analyze the stability of intelligent PID control systems. It is clarified that the intelligent PID controllers stabilize any linear plants provided that they are minimum phase and their relative degrees are known. Simulation results are given to verify the analysis. Second, an experiment of positioning control is performed to verify the effectiveness of the intelligent PID control method.抄録全体を表示PDF形式でダウンロード (1017K)
ショート・ペーパー
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仁田 佳宏, 西谷 章, 渡壁 守正, 稲井 慎介, 岩崎 充実2013 年 49 巻 7 号 p. 733-735
発行日: 2013年
公開日: 2013/08/01
ジャーナル フリーThis paper presents the basic concept of a structural health monitoring scheme for ceiling elements utilizing a mobile-agent with a wireless camera. The validity of the proposed scheme is demonstrated by the inspection of the actual building in Tochigi.抄録全体を表示PDF形式でダウンロード (720K)
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