Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788681
L. Deman, A. Konno, Masaru Uchiyama
A discrete-time formulation of Cartesian-based iterative learning control with input preshaping method is developed in which partial knowledge of the flexible robot kinematic model is utilized. An advantage of this control method in real implementation is that it does not require the derivative of the end-effector's position, i.e. the velocity of the end-effector. From the characteristics and implementation points of view, it appears to be more attractive than existing control schemes. The convergence analysis is particularly addressed.
{"title":"Flexible manipulator trajectory learning control with input preshaping method","authors":"L. Deman, A. Konno, Masaru Uchiyama","doi":"10.1109/SICE.1999.788681","DOIUrl":"https://doi.org/10.1109/SICE.1999.788681","url":null,"abstract":"A discrete-time formulation of Cartesian-based iterative learning control with input preshaping method is developed in which partial knowledge of the flexible robot kinematic model is utilized. An advantage of this control method in real implementation is that it does not require the derivative of the end-effector's position, i.e. the velocity of the end-effector. From the characteristics and implementation points of view, it appears to be more attractive than existing control schemes. The convergence analysis is particularly addressed.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122637583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788683
Y. Takahashi, Y. Kikuchi, T. Ibaraki, S. Ogawa
A food feeder robot to assist elderly patients to eat food is proposed. A patient can bring the food into his mouth easily by using the man-machine interface with a CRT display and a mouse. The robot has a structure of a 3-DOF arm and a hand with a spoon and fork. A CCD camera is attached to the tip of the robot arm. By using a fabricated 1-DOF robot, the validity of the proposed control scheme using the man-machine interface is confirmed.
{"title":"Robotic food feeder","authors":"Y. Takahashi, Y. Kikuchi, T. Ibaraki, S. Ogawa","doi":"10.1109/SICE.1999.788683","DOIUrl":"https://doi.org/10.1109/SICE.1999.788683","url":null,"abstract":"A food feeder robot to assist elderly patients to eat food is proposed. A patient can bring the food into his mouth easily by using the man-machine interface with a CRT display and a mouse. The robot has a structure of a 3-DOF arm and a hand with a spoon and fork. A CCD camera is attached to the tip of the robot arm. By using a fabricated 1-DOF robot, the validity of the proposed control scheme using the man-machine interface is confirmed.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128315891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788718
N. Dagdee, N.S. Chaudhari
Multilayer feedforward networks have been found suitable for applications in which they need to learn binary-to-binary mappings. We propose a design methodology to simulate sequential functions using neural networks. The combinational function is implemented by a perceptron network with single hidden layer trained using an ETL algorithm. Design of neural storage elements similar to flip-flops is also proposed, which are used as memory elements to store the internal states. Use of the ETL algorithm guarantees convergence for any binary-to-binary mapping, and generally leads to faster convergence than the backpropagation algorithm. The resulting network only consists of neural elements, with all the neurons having integer valued weights and activation thresholds making the network more suitable for hardware implementation using digital VLSI technology.
{"title":"Design methodology for neural network simulation of sequential circuits using neural storage elements","authors":"N. Dagdee, N.S. Chaudhari","doi":"10.1109/SICE.1999.788718","DOIUrl":"https://doi.org/10.1109/SICE.1999.788718","url":null,"abstract":"Multilayer feedforward networks have been found suitable for applications in which they need to learn binary-to-binary mappings. We propose a design methodology to simulate sequential functions using neural networks. The combinational function is implemented by a perceptron network with single hidden layer trained using an ETL algorithm. Design of neural storage elements similar to flip-flops is also proposed, which are used as memory elements to store the internal states. Use of the ETL algorithm guarantees convergence for any binary-to-binary mapping, and generally leads to faster convergence than the backpropagation algorithm. The resulting network only consists of neural elements, with all the neurons having integer valued weights and activation thresholds making the network more suitable for hardware implementation using digital VLSI technology.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115127706","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788717
Chen Xianzhang, Wang Chengyao
This paper addresses the problem of scheduling n grouped jobs on m identical parallel machines with objective of minimizing the sum tardiness, subject to the constraints that each model number is only one and has different matching with each machine. A heuristic approach based on list scheduling is presented. Some conditions are presented which can break the sequence of assigning jobs. The results show that it can get a satisfactory solution.
{"title":"Scheduling on the parallel machines with mould constraint","authors":"Chen Xianzhang, Wang Chengyao","doi":"10.1109/SICE.1999.788717","DOIUrl":"https://doi.org/10.1109/SICE.1999.788717","url":null,"abstract":"This paper addresses the problem of scheduling n grouped jobs on m identical parallel machines with objective of minimizing the sum tardiness, subject to the constraints that each model number is only one and has different matching with each machine. A heuristic approach based on list scheduling is presented. Some conditions are presented which can break the sequence of assigning jobs. The results show that it can get a satisfactory solution.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116360144","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788729
M. Onda, M. Misawa, T. Kojima, N. Aya, A. Seto, T. Yamane
Even though satellite, balloons, and aircraft have served admirably as aerospace platforms for remote sensing and telecommunication, requirements for a new kind of platforms-an easily modifiable, sub-orbital platform-have been widely identified. The High-Altitude Long-Range Observational Platform is a solar power driven LTA vehicle to maintain a station-keeping position in the lower stratosphere for long duration and to carry out missions such as high-resolution, real-time remote sensing, environmental monitoring, disaster evaluation, co-ordination of relief efforts, and high-speed telecommunications relays. Alternative power sources are surface-to-air transmission of microwave energy and high-power laser beams. The authors discuss analytical designs of the platform.
{"title":"A stratospheric LTA stationary platform for telecommunication and environmental protection","authors":"M. Onda, M. Misawa, T. Kojima, N. Aya, A. Seto, T. Yamane","doi":"10.1109/SICE.1999.788729","DOIUrl":"https://doi.org/10.1109/SICE.1999.788729","url":null,"abstract":"Even though satellite, balloons, and aircraft have served admirably as aerospace platforms for remote sensing and telecommunication, requirements for a new kind of platforms-an easily modifiable, sub-orbital platform-have been widely identified. The High-Altitude Long-Range Observational Platform is a solar power driven LTA vehicle to maintain a station-keeping position in the lower stratosphere for long duration and to carry out missions such as high-resolution, real-time remote sensing, environmental monitoring, disaster evaluation, co-ordination of relief efforts, and high-speed telecommunications relays. Alternative power sources are surface-to-air transmission of microwave energy and high-power laser beams. The authors discuss analytical designs of the platform.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123570412","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788705
Wei Dai, K. Sasaki
We have designed and constructed a prototype of computer-aided microphone systems with analog devices. It consists of 24 microphone channels. Each is equipped with 47 microphones arranged symmetrically around the array center on each of 4 arcs. By calibrating the mean relative gains and time delays of the microphones used, the experimentally evaluated sensitivity distributions of the constructed system for sinusoidal and band-passed signals of various frequency and bandwidth, and the SNR of the system well coincide with the theoretically expected result, while the relative RMS error of the received signals exhibits slightly large values compared with the theoretical one, which shows the necessity of further compensation of the relative frequency amplitude and time delay characteristics of the microphones used.
{"title":"Concrete construction of a telescopic microphone system equipped with a spherical array and its experimental evaluation","authors":"Wei Dai, K. Sasaki","doi":"10.1109/SICE.1999.788705","DOIUrl":"https://doi.org/10.1109/SICE.1999.788705","url":null,"abstract":"We have designed and constructed a prototype of computer-aided microphone systems with analog devices. It consists of 24 microphone channels. Each is equipped with 47 microphones arranged symmetrically around the array center on each of 4 arcs. By calibrating the mean relative gains and time delays of the microphones used, the experimentally evaluated sensitivity distributions of the constructed system for sinusoidal and band-passed signals of various frequency and bandwidth, and the SNR of the system well coincide with the theoretically expected result, while the relative RMS error of the received signals exhibits slightly large values compared with the theoretical one, which shows the necessity of further compensation of the relative frequency amplitude and time delay characteristics of the microphones used.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134434317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788695
Li Ling-qi, K. Hanasaki, Wei Xiangyu, Pang Yanbin, Liu Zheng, Wu Youhua
Control systems have evolved from local control to centralized control to today's distributed control. With the emergence of fieldbus, new control strategies and architectures using this new concept will revolutionize instrumentation and control systems. The paper discusses the advantages of fieldbus, describe its benefits and impacts on distributed control systems (DCSs) and predict the next architectural transformation of control systems based on the current driving force. Also, some of the technical challenges and three approaches of integrating fieldbus into existing DCSs are presented.
{"title":"Integration of fieldbus into DCS","authors":"Li Ling-qi, K. Hanasaki, Wei Xiangyu, Pang Yanbin, Liu Zheng, Wu Youhua","doi":"10.1109/SICE.1999.788695","DOIUrl":"https://doi.org/10.1109/SICE.1999.788695","url":null,"abstract":"Control systems have evolved from local control to centralized control to today's distributed control. With the emergence of fieldbus, new control strategies and architectures using this new concept will revolutionize instrumentation and control systems. The paper discusses the advantages of fieldbus, describe its benefits and impacts on distributed control systems (DCSs) and predict the next architectural transformation of control systems based on the current driving force. Also, some of the technical challenges and three approaches of integrating fieldbus into existing DCSs are presented.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"161 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115831181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788689
A. Kawakami
We propose a method for realizing separable-denominator two-dimensional transfer function matrices (2DTFM), and we present an upper bound of the realization dimension. Moreover, we suggest that, in the case that the input number is equal to the output number, it is possible that it can be realized with a minimal dimension with respect to both of the two variables. Also, we present two types of state-space realization form. They can be directly obtained from each coefficient of the separable-denominator 2DTFM.
{"title":"A method for realizing separable-denominator two-dimensional transfer function matrices","authors":"A. Kawakami","doi":"10.1109/SICE.1999.788689","DOIUrl":"https://doi.org/10.1109/SICE.1999.788689","url":null,"abstract":"We propose a method for realizing separable-denominator two-dimensional transfer function matrices (2DTFM), and we present an upper bound of the realization dimension. Moreover, we suggest that, in the case that the input number is equal to the output number, it is possible that it can be realized with a minimal dimension with respect to both of the two variables. Also, we present two types of state-space realization form. They can be directly obtained from each coefficient of the separable-denominator 2DTFM.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"266 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123290902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788710
Y. Kosuge, M. Kojima, S. Tsujimichi
The problem of multiple-target tracking in a dense environment using the MHT (multiple hypothesis tracking) or the JPDA (joint probabilistic data association) has received a lot of attention in recent years. This paper provides a new technique for manoeuvring target tracking in a dense environment, using the track-oriented MHT which is a significant improvement of the original measurement-oriented MHT. This paper has shown the condition that this technique is equivalent to the M/sup 3/JPDA (multiple manoeuvre model JPDA). Here, the M/sup 3/JPDA for manoeuvring multitarget tracking is the extension and improvement of the conventional JPDA.
{"title":"Multiple manoeuvre model track-oriented MHT (multiple hypothesis tracking)","authors":"Y. Kosuge, M. Kojima, S. Tsujimichi","doi":"10.1109/SICE.1999.788710","DOIUrl":"https://doi.org/10.1109/SICE.1999.788710","url":null,"abstract":"The problem of multiple-target tracking in a dense environment using the MHT (multiple hypothesis tracking) or the JPDA (joint probabilistic data association) has received a lot of attention in recent years. This paper provides a new technique for manoeuvring target tracking in a dense environment, using the track-oriented MHT which is a significant improvement of the original measurement-oriented MHT. This paper has shown the condition that this technique is equivalent to the M/sup 3/JPDA (multiple manoeuvre model JPDA). Here, the M/sup 3/JPDA for manoeuvring multitarget tracking is the extension and improvement of the conventional JPDA.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127039529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-28DOI: 10.1109/SICE.1999.788711
T. Matsuzaki, H. Kameda, S. Tsujimichi, Y. Kosuo
A constant velocity model and a constant acceleration model are often used as a dynamic model of a tracking filter. If a target turns, these filters cannot give full performance due to the disagreement between the real target and these models. To solve the problem, in this paper, we propose the tracking filter using the constant velocity and constant angular velocity model. This model has better agreements with actual dynamics. In this paper, the effectiveness has been confirmed through computer simulations.
{"title":"Manoeuvring target tracking using constant velocity and constant angular velocity model","authors":"T. Matsuzaki, H. Kameda, S. Tsujimichi, Y. Kosuo","doi":"10.1109/SICE.1999.788711","DOIUrl":"https://doi.org/10.1109/SICE.1999.788711","url":null,"abstract":"A constant velocity model and a constant acceleration model are often used as a dynamic model of a tracking filter. If a target turns, these filters cannot give full performance due to the disagreement between the real target and these models. To solve the problem, in this paper, we propose the tracking filter using the constant velocity and constant angular velocity model. This model has better agreements with actual dynamics. In this paper, the effectiveness has been confirmed through computer simulations.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126674336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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