A segmented mirror system is essential to realize extremely large telescopes. In this paper, we discuss the conceptual design for the control system of the segmented primary mirror in the SEIMEI telescope employing 18 segments, 72 sensors, and 54 actuators. Two types of control algorithms, Centralized Control System (CCS) and Distributed Control System (DCS), are presented. CCS drives all the segments by integrated information of all sensors and DCS drives each segment by individual information of local sensors, and they are expected to play complementary roles. The effectiveness of CCS and DCS are demonstrated by numerical simulations.
In eye tracking methods, near-infrared image or color image has been used separately. In this research, we propose a hybrid eye tracking method using an RGB-IR camera, which can capture a color image and a near-infrared image simultaneously, to compensate for the weakness of each technique. Pupil detection can be worked better than iris detection because the eyelid often occludes iris. On the other hand, iris area can be used for model fitting because iris size is constant. Therefore, the hybrid eye tracking method works as a glint-free model-based approach in our proposed method. The model fitting can be automated as initialization, and the relationship between the 3D eyeball model and eye camera is solved. Additionally, 3D eyeball pose can be estimated without using first Purkinje image, and the pupil size can be measured quantitatively. We evaluated the accuracy of the estimated point-of-gaze and the pupil size, and we confirmed the feasibility of the proposed method through experiments.
In recent years, the number of the accident has increased, in which underground lifeline such as gas pipes, optical fiber cables or electric cables is damaged while excavating by a bucket of the underground construction equipment. GPR imaging system integrated with a bucket is a promising tool for detecting buried objects under the bucket. But, the estimation accuracy of antenna position is expected to be within 1cm. In this paper, we propose an estimation algorithm of 6 degrees of freedom of the bucket position and posture with 4 Tx and 4 Rx US transducer array system. We develop a down looking imaging radar system with a bucket integrated with the antennas and US transducer array. We experimentally show that a buried object under the moving bucket is successfully detected by the developed system.
In this paper, we deal with the control problem to manipulate autonomous multiple agents (a flock of sheep) escaping from an agent (a sheepdog) according to nonlinear interaction. This work was motivated by so-called sheepdog system inspired by sheepdog shepherding: a flock of several thousands of sheep are controlled by only a few sheepdogs in the real world. It is an interesting control system because one or more sheepdogs, who act as a small number of controllers, can control many sheep that cannot be directly controlled, taking advantage of their own maneuverability. For this reason, there have been many studies about this system; however, these studies have been limited to building numerical models or performing simulation analyses. Therefore, we aim to clarify the control principle theoretically. For this purpose, we conduct theoretical analysis for a sheepdog-type navigation system which we design based on a flock control model proposed by Vaughan et.al. in the case that one sheep is controlled by a sheepdog. Moreover, we also demonstrate the results by using simulations to confirm the validity of the analysis.
A consensus problem is discussed for networked double-integrator systems with communication delays. Based on the eigenvalue problem of the delayed network systems, the achievable consensus is characterized in terms of the network structure and the communication delays.