Mathematical modeling of the crowd behavior is inevitable for evaluating the safety and comfort of social systems. In this study, we focus on a dynamical flow model of the crowd behavior, which reflects the subjective behavior of the pedestrians in the crowd, and construct a pedestrian flow model of the route-selection introducing the effect of subjective satisfaction. The features of the proposed model are investigated based on the simulation of pedestrian flows with route selection.

This paper proposes an generative adversarial network with U-Net type generators to complement large-scale 3D point cloud data obtained by measuring the surrounding environment. Conventional 3D point cloud completion methods based on deep learning have a problem that the spatial computational complexity becomes enormous when processing large 3D point cloud data, making them difficult to implement in a general-purpose computer environment. The proposed network has been devised to solve this problem. Several distance measures have been used in the past to evaluate the performance of 3D point cloud data completion, but they simply calculate the distance between two point clouds without considering the correspondence between the two points. Therefore, it is not possible to calculate a similarity that reflects whether a point with respect to an input point is generated in the neighborhood of the input point or not. In this paper, we also propose a new criterion to evaluate the performance of complementing 3D point clouds obtained from mechanical scanning type LIDAR, and use this criterion as a loss function when training the proposed network.

This paper investigates discrete-time pose (position and attitude) synchronization for a group of networked rigid bodies in three dimensions. The challenge is how to deal with 3D attitude motion dynamics on the Special Orthogonal group: SO(3) or the Special Eucledian group: SE(3) in the discrete-time domain. To cope with this issue, in this study, attitude dynamics are rigorously considered by employing exponential mapping. The rigid body network consisting of multiple bodies with discrete-time pose dynamics, relative pose measurements, and directed interconnection topology between the bodies is defined. Then, attitude synchronization is first investigated for the rigid body network. As the main feature of this work, it is shown that attitude dynamics of each rigid body have a passivity shortage-like property, and a distributed attitude synchronization law based on the property is proposed. Pose synchronization is next investigated with Euler approximations for position dynamics. Here, a passivity shortage-like property is also derived for approximated pose dynamics, and passivity shortage-based distributed pose synchronization laws are presented. The proposed techniques are verified via convergence analysis and simulations.

Industrial Ethernet has been widely spread and applied to industrial applications thanks to its good connectivity with ICT systems, high communication performance, and economical advantages, and it becomes a dominant element for enhancing industrial automation. The performance of Industrial Ethernet is mainly characterized by delivery time, time synchronization accuracy, and redundancy recovery time. EtherCAT, an Industrial Ethernet, employs unique features to achieve high level performance for each index. However, to balance those indexes at the same time is difficult for EtherCAT. To solve the issue, the author proposes a communication control architecture for a controller based on EtherCAT features such as loopback function and logical addressing. The architecture determines routes for frames inside the controller based on the network condition and corrects timestamps on the frames conveying reference clock time by adding a changed delay in case of link-down. The processing is executed without buffering the frames, thus the architecture can provide low latency, accurate time synchronization, and communication redundancy simultaneously. The architecture is evaluated by measuring synchronization accuracy of periodical synchronized output of 100µs among four EtherCAT devices for more than ten seconds under reference time delivery at intervals of 1ms. The maximum synchronization error was 290ns after a cable was disconnected. Therefore, the effectiveness of the proposed architecture was confirmed.

This paper aims to keep blood glucose levels within an acceptable range for any prior announced meal scenarios by a model predictive control approach. However, due to the nonlinearity of the system and the necessity to set decision variables for each meal scenario, a straightforward formulation of a mathematical optimization problem to determine insulin dose becomes a nonlinear optimization problem with many decision variables. To formulate the mathematical optimization problem as a convex quadratic programming problem, we approximate the nonlinear system with a linear one and apply a tube method by considering the linearization error as a disturbance. Furthermore, we suppress the increase in blood glucose levels due to meals by discrete-time LQ control for systems with exogenous inputs, which makes the number of decision variables independent of the number of the meal scenarios.

Despite extensive research on the optimal design of dynamic quantizers for discrete-valued input systems, the design problem concerning sampled-data quantizers for continuous-time systems remains unexplored. Thus, this paper formulated the design problem of a sampled-data dynamic quantizer composed of a discrete-time dynamic quantizer, a sampler, and a holder. Then we presented a model-tuning approach for solving the problem. In the proposed method, we assume the design procedure: (i) to discretize a continuous-time model and (ii) to derive an optimal discrete-time dynamic quantizer for the discrete-time model obtained by (i). Then, we find a continuous-time model, which enables us to design a satisfactory dynamic quantizer. Finally, we evaluated and discussed the proposed method with several examples.

The forbidden state problem is one of control problem for discrete event system as follows: given a Petri net as controlled system and forbidden markings on the net, construct a controller which prevents the system from entering the forbidden markings. Previous studies have proposed methods for obtaining a maximally permissive controller by which the set of reachable markings becomes maximum. However, a control in real systems does not necessarily require a maximally permissive controller and prefers a simple controller with decreasing permissive markings in consideration of control cost and safety. This paper proposes a method for constructing such a controller based on a two-objective integer linear programming problem. The formulated problem increases the computation time drastically. Therefore, the paper considers a reduction of Petri nets by removing redundant transitions to reduce the computation time. The paper also presents the usefulness of the proposed approach by applying to a sequential control system.