巻号一覧
52 巻, 11 号
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論文
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奥谷 明大, 金子 修2016 年 52 巻 11 号 p. 581-588
発行日: 2016年
公開日: 2016/11/23
ジャーナル フリーIn this paper, we propose a data-driven approach to controller update in the generalized internal model control (GIMC) architecture, which was proposed by K. Zhou. Particularly, we focus on the update of the free parameter in this structure to maintain the performance of the controller. The update method we apply here is the fictitious reference iterative tuning (FRIT), which enables to obtain the desirable parameter with only using one-shot experiment. We also show the cost function used in the FRIT is related to the enhancement of the controller performance. To show the validity of the proposed method, we give an illustrative example.抄録全体を表示PDF形式でダウンロード (740K) -
池上 裕人, 永見 健太郎, 滑川 徹2016 年 52 巻 11 号 p. 589-596
発行日: 2016年
公開日: 2016/11/23
ジャーナル フリーThis paper deals with optimal power demand management in electricity market. First, we model the behavior of players, consumers, an aggregator, and the market. Each consumer acts to maximize his own profit. Aggregator decides how much power demand each consumer reduces if total power demand exceeds power generation constraint. We propose the way an aggregator decides it using mechanism design and matching theory. Finally, simulation results show that the algorithm can manage power demand and improve consumers' profit.抄録全体を表示PDF形式でダウンロード (1523K) -
高村 俊, 平中 拓人, 滑川 徹2016 年 52 巻 11 号 p. 597-604
発行日: 2016年
公開日: 2016/11/23
ジャーナル フリーIn this paper, frequency control problem of a power network is discussed. The control is conducted to retain power demand supply balance by controling output of generators in power network. However, it becomes harder to retain the balance because of large volume injection of renewable energy. So strengthening of power interchange is examined. Additionally power charges will rise because of introduction cost for large-volume of renewable energy and increase of fuel cost. This paper proposes more economic and efficient frequency control method based on model predictive control. In the beginning, we describe control structure then, we describe frequency control hierarchical and cooperative model predictive control for frequency control of power network that consist of economic dispatch and load frequency control. In numerical simulation, we show the effectiveness of the proposed method in comparison with the conventional method in terms of suppression of frequency variation and fuel cost. Finally, summary is described.抄録全体を表示PDF形式でダウンロード (1966K) -
佐々木 勇介, 山口 拓真, 川島 明彦, 稲垣 伸吉, 鈴木 達也2016 年 52 巻 11 号 p. 605-613
発行日: 2016年
公開日: 2016/11/23
ジャーナル フリーElectric Vehicles (EVs) and Plug-in Hybrid Vehicles (PHVs) are expected to work not only as transportation devices, but also as power storages in an Energy Management System (EMS) because of their batteries of high capacity. In order to utilize the in-vehicle battery in the EMS with considering acceptance of the users, the EMS needs to know when the vehicle is driven and when is parked, which is represented a Profile of Departure and Travel Time (PDTT). This paper presents an prediction method of the PDTT of one day ahead based on Statistics of Departure/Travel Time (SDTT) and Statistics of Arrival/Parked Time (SPAT). The prediction problem of PDTT is formulated as a maximum-likelihood estimation problem under the condition that the SDTT and SPAT are available. In order to find a global optimal solution within a reasonable computational cost, first of all, a Markov model representing time-passage of moving or parked is derived from the SDTT and SPAT. Then, the dynamic programming is applied to find the most likely PDTT of the car. The usefulness of the proposed method is evaluated by numerical experiments, wherein the SDTT and SPAT are created by real driving data of 30 vehicles.抄録全体を表示PDF形式でダウンロード (2229K) -
安孫子 優紀, 日髙 雄太, 佐藤 健次郎, 岩城 敏, 池田 徹志2016 年 52 巻 11 号 p. 614-624
発行日: 2016年
公開日: 2016/11/23
ジャーナル フリーThis paper discusses an intuitive interface for a care receiver with limited mobility to teach a life-support robot in a cluttered living environment. With a TOF (time-of-flight) laser sensor on a pan-tilt actuator handled by a PC mouse, the care receiver can “click” a physical object to be manipulated by the robot. By this “real world click”, 3D coordinates of the object can be obtained by measuring the pan-tilt actuator's angles and the laser beam length. This technology enables a seamless “drag & drop” operation between PC world and physical world and automatically generates an instruction for a robot. The care receiver can look all around the room through the image obtained from a camera near the laser sensor. We implemented an experimental “real world click” interface by which the usability and the capability were evaluated in terms of the throughput and the measurement accuracy. Finally we applied our proposed method to a mobile robot with a multi-degree of freedom manipulator and confirmed its validity in conveying tasks.抄録全体を表示PDF形式でダウンロード (4841K) -
向井 正和, 野口 凌介, 川邊 武俊2016 年 52 巻 11 号 p. 625-630
発行日: 2016年
公開日: 2016/11/23
ジャーナル フリーThis paper proposes a trajectory generation method for merging of automobiles on a single-lane. The proposed method can consider a feasibility of the merging. The trajectory generation problem is formulated as a mixed integer programming (MIP) problem. The method is implemented based on receding horizon philosophy. The MIP is solved at each sampling instance then a first element of the optimal input is applied to system. Computer simulation is conducted to show the effectiveness of the proposed method. Furthermore it is shown that a design of the merging trajectory is possible by tuning of weights of the penalty functions.抄録全体を表示PDF形式でダウンロード (916K) -
小河 守正, 加納 学2016 年 52 巻 11 号 p. 631-638
発行日: 2016年
公開日: 2016/11/23
ジャーナル フリーThis paper provides a direct tuning method for a generalized two-degrees of freedom PID (G2DOF-PID) control system. The developed two-stages method is based on the data-driven approach E-FRIT (extended-fictitious reference iterative tuning) which utilizes the data set of set-point change test in closed-loop. The first-stage is to obtain the PID settings to satisfy the desired disturbance rejection. In the second-stage, the G2DOF parameters are determined to provide the specified set-point tracking response. We present the simulation results to illustrate proper applicability of the developed method.抄録全体を表示PDF形式でダウンロード (1907K) -
—進行波，後退波，わき出し波の存在—安部 祐一, 青井 伸也, 土屋 和雄, 松野 文俊2016 年 52 巻 11 号 p. 639-652
発行日: 2016年
公開日: 2016/11/23
ジャーナル フリーMulti-legged animals show several types of ipsilateral interlimb coordination. Millipedes show the direct wave gait in which the swing leg movements propagate from posterior to anterior. On the other hand, some centipedes show the retrograde wave gait in which the swing leg movements propagate from anterior to posterior. Interestingly, when some millipede walks in a specific way, it is reported that both direct and retrograde waves of the leg movements can coexist with a source part of the waves (we call it as source wave gaits). However, the mechanism behind the gait generation is still unclear because of the complex nature of the interaction between neural control and body dynamic systems. In this paper, we propose a simple model to gain a better understanding of the mechanism, especially how a local sensory feedback affects multi-legged locomotion. We design a planar multi-legged model and its locomotion control system based on biologically-inspired oscillators with a local sensory feedback, phase resetting. Each oscillator controls each leg, and there are no direct interactions among oscillators. Our simulation results reveal three types of gaits, which have different ipsilateral phase relationships (Direct, retrograde and source wave gaits like animals). These gaits are neither predesigned or predetermined, but emerge through the interaction between the neural control and body dynamic systems through phase resetting. These results suggest that the local sensory feedback is important to form proper interlimb coordination and thereby effectively generates multi-legged gaits. In addition, our mathematical analysis with the simple model successfully extracts the essential feature of these gaits, and suggests that these types of locomotion can exist regardless of the number of legs in our system.抄録全体を表示PDF形式でダウンロード (1678K)
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