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Volume 52, Issue 1
Displaying 1-6 of 6 articles from this issue
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Paper
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Hitoshi IYAMA, Takatoshi SUDA, Masaaki NISHITO, Hiroki SETO, Masakazu ...2016 Volume 52 Issue 1 Pages 1-10
Published: 2016
Released on J-STAGE: January 30, 2016
JOURNAL FREE ACCESSIn this paper, we propose a fuel consumption optimization technique for a power-split HEV via gain-scheduled model predictive control. The control algorithms for the powertrain choose the power split between engine and electric motor in order to minimize the fuel consumption. Operating conditions of the HEV change during driving in real time by road conditions and driver demand. Therefore, it is necessary to have optimal control in real time and to consider the time-varying motor condition. We model the HEV and propose a gain-scheduled model predictive control. Using the proposed technique, we succeeded in optimizing fuel consumption for a power-split HEV. Finally, the proposed approach was validated by numerical simulations.View full abstractDownload PDF (2100K) -
Yuma ABE, Masaki INOUE, Ayaka MATSUBAYASHI, Shuichi ADACHI2016 Volume 52 Issue 1 Pages 11-18
Published: 2016
Released on J-STAGE: January 30, 2016
JOURNAL FREE ACCESSIn this paper, we propose a subspace identification method that involves a priori information of a system characterized in the frequency domain. We first transform the characteristics of the system over all frequency range into matrix inequalities that are linear in system matrices, by using the well-known Kalman-Yakubovich-Popov (KYP) lemma. To construct a model containing the specified frequency characteristics, we propose a subspace identification method under the matrix inequality constraints. Furthermore, the proposed method is extended to that involving with a priori information characterized only in a certain frequency range. Finally, we verify effectiveness of the proposed method in a numerical simulation.View full abstractDownload PDF (903K) -
Kohei SEGAWA, Kenta HAMADA, Naoki HAYASHI, Shigemasa TAKAI2016 Volume 52 Issue 1 Pages 19-27
Published: 2016
Released on J-STAGE: January 30, 2016
JOURNAL FREE ACCESSIn recent years, there has been considerable interest in Camera Sensor Networks (CSNs) as the next-generation monitoring systems due to their ability of processing large amount of data. In this paper, we propose a 2-level hierarchical architecture for tracking multiple targets using Pan-Tilt-Zoom (PTZ) cameras. In this method, each camera can track moving targets by local communications with other cameras and the global communication with a coordinator which assigns a camera to a target to be monitored. The camera assignment problem is formulated by a 0-1 integer programming problem. In order to reduce the computational load of the camera assignment problem, we consider an event-triggered method where the coordinator assigns cameras only when they fail to track the current targets. We conduct a simulation to show that the proposed method successfully achieves multiple tracking.View full abstractDownload PDF (1658K) -
Atsushi SHINNOH, NakYoung CHONG, Geunho LEE2016 Volume 52 Issue 1 Pages 28-36
Published: 2016
Released on J-STAGE: January 30, 2016
JOURNAL FREE ACCESSThis paper addresses a position estimation problem for communication packet loss of a swarm of autonomous mobile robots. To complete assigned geometric patterns, these robots move while communicating each other. As is often the case in wireless communication, the robots cannot receive other robots' position data reliably. For the end, the robots need to overcome the packet-loss problem and the missed position data in near real-time. As the use of several generalized filer approaches (e.g., extended Kalman filter and particle filter) is considered, it would be difficult to be applied to low-cost robot swarms with limited computational capabilities and resources. Formally, as our solution to this problem, positional extrapolation schemes with reduced computational cost yet high estimation accuracy. By using the proposed scheme, our scheme enables the robot swarms to improve the accurate coverage performance despite less computation burdens. Other features include decentralization, convergence, and stabilization, which are proved mathematically and verified through extensive simulations. Our analysis and simulation results show that the scheme is a simple and efficient approach to the deployment of mobile robots.View full abstractDownload PDF (1033K) -
Kenta TOMINAGA, Taiki IIMURA, Mitsunori UEMURA, Hiroaki HIRAI, Fumio M ...2016 Volume 52 Issue 1 Pages 37-45
Published: 2016
Released on J-STAGE: January 30, 2016
JOURNAL FREE ACCESSThe problem of motor redundancy has been known as the Bernstein problem. This paper investigates the problem in motor control from the viewpoint of functional cooperativeness of muscles through a novel concept so called the “A-A ratio” and “A-A sum”. The former is defined as a normalized electromyogrphic (EMG) ratio of agonist-antagonist muscle pairs, whereas their nomalized EMG sum. We then apply a muscle synergy extraction method based on a physical model to EMG signals during human lower movements such as walking and running. The muscle synergy analysis specifies that muscle activities during these human lower movements can be described as a superposition of two muscle synergies invariant across subjects and across tasks. Furthermore we characterized the kinematic motor functions of the extracted muscle synergies. These findings indicate flexibility of muscle synergies across various tasks.View full abstractDownload PDF (1439K) -
Yuki MINAMI, Kenji KASHIMA2016 Volume 52 Issue 1 Pages 46-51
Published: 2016
Released on J-STAGE: January 30, 2016
JOURNAL FREE ACCESSIn this paper, a novel quantizer design method for discrete-valued input control is proposed. The key technique of the proposed method is a serial decomposition of systems whose input is discrete-valued. More specifically, we perform an inner-outer like factorization, and a dynamic quantizer is analytically derived for the outer part. The proposed method enables us to design stable dynamic quantizers for non-minimum phase systems and fixed-order dynamic quantizers.View full abstractDownload PDF (815K)
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