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}
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.1999.788712
H. Lee, J. Choi
This work is concerned with the decoupling and tracking control for linear time-varying systems such as missiles, rockets, fighters, etc. Despite its well-known limitations, gain-scheduling control appeared to be focus of the research efforts. Scheduling of frozen-time, frozen-state controller for fast time-varying dynamics is known to be mathematically fallacious, and practically hazardous. Therefore, recent research efforts are being directed towards applying time-varying controllers. In this paper, i) we introduce a differential algebraic eigenvalue theory for linear time-varying systems, and ii) a novel decoupling and tracking control scheme is proposed by using the PD-eigenstructure assignment scheme via differential Sylvester equation and CGT (command generator tracker) for linear time-varying systems. The presented method is illustrated by numerical examples.
{"title":"Decoupling and tracking control for linear time-varying systems using eigenstructure assignment and CGT","authors":"H. Lee, J. Choi","doi":"10.1109/SICE.1999.788712","DOIUrl":"https://doi.org/10.1109/SICE.1999.788712","url":null,"abstract":"This work is concerned with the decoupling and tracking control for linear time-varying systems such as missiles, rockets, fighters, etc. Despite its well-known limitations, gain-scheduling control appeared to be focus of the research efforts. Scheduling of frozen-time, frozen-state controller for fast time-varying dynamics is known to be mathematically fallacious, and practically hazardous. Therefore, recent research efforts are being directed towards applying time-varying controllers. In this paper, i) we introduce a differential algebraic eigenvalue theory for linear time-varying systems, and ii) a novel decoupling and tracking control scheme is proposed by using the PD-eigenstructure assignment scheme via differential Sylvester equation and CGT (command generator tracker) for linear time-varying systems. The presented method is illustrated by numerical examples.","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":"133365004","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.1999.788682
Y. Takahashi, Y. Kikuchi, T. Ibaraki, S. Ogawa
A food tray carrying robot with a three-dimensional drive system and a man-machine interface is proposed. No electrical power is required to maintain the horizontal position of a food tray since a parallel link mechanism is used in the radial direction drive mechanism. The three-dimensional man-machine interface using strain gages is set under the food tray. A patient needs only small finger force to move the food tray because of the use of the three-dimensional man-machine interface. In the paper, the concept of the food tray carrying robot, the mechanical construction, the three-dimensional man-machine interface using strain gages, the control system, some of the experimental results, and the modeling of the robot arm are presented.
{"title":"Food tray carrying robot with man-machine interface","authors":"Y. Takahashi, Y. Kikuchi, T. Ibaraki, S. Ogawa","doi":"10.1109/SICE.1999.788682","DOIUrl":"https://doi.org/10.1109/SICE.1999.788682","url":null,"abstract":"A food tray carrying robot with a three-dimensional drive system and a man-machine interface is proposed. No electrical power is required to maintain the horizontal position of a food tray since a parallel link mechanism is used in the radial direction drive mechanism. The three-dimensional man-machine interface using strain gages is set under the food tray. A patient needs only small finger force to move the food tray because of the use of the three-dimensional man-machine interface. In the paper, the concept of the food tray carrying robot, the mechanical construction, the three-dimensional man-machine interface using strain gages, the control system, some of the experimental results, and the modeling of the robot arm are presented.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"34 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":"133372985","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.1999.788668
Y. Pang, Xiangyu Wei, Youhua Wu
This paper presents a sensor network based on LonWorks technology. The network structure, its protocol and the sensor nodes in it are discussed. Also, the implementation method of such network, including its hardware and software is given. Because of the characteristic of the sensor network based on LonWorks, such as the protocol consistent with the ISO/OSI model, the interoperability and the multiple medium support etc., the sensor network will get more applications in the future.
{"title":"The sensor network based on LONWORKS technology","authors":"Y. Pang, Xiangyu Wei, Youhua Wu","doi":"10.1109/SICE.1999.788668","DOIUrl":"https://doi.org/10.1109/SICE.1999.788668","url":null,"abstract":"This paper presents a sensor network based on LonWorks technology. The network structure, its protocol and the sensor nodes in it are discussed. Also, the implementation method of such network, including its hardware and software is given. Because of the characteristic of the sensor network based on LonWorks, such as the protocol consistent with the ISO/OSI model, the interoperability and the multiple medium support etc., the sensor network will get more applications in the future.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"3 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":"131889124","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.1999.788674
T.S. Cho, S. Choi, Y.C. Kim
We consider the problem of designing P, PI and PID controllers for interval plants. It is known from the area of parametric robust control that the stabilization problem for an interval plant are reduced to the equivalent problem of stabilizing either a finite set of certain extremal plants. This paper shows that under special conditions imposed on controller parameters and the order of plant, the number of extremal plants required for stabilization on PID controllers are reduced. Thereafter, using Ho's method, it allows one to obtain all the stabilizing set of PID gains for a interval plant family. We assure that the coefficient diagram method (CDM) is very useful for designing a controller because the design in CDM is not only carried out directly in the parameter space but also easy to meet the time domain specification, as shown in a numerical example.
{"title":"Robust design of PID controller for interval plants","authors":"T.S. Cho, S. Choi, Y.C. Kim","doi":"10.1109/SICE.1999.788674","DOIUrl":"https://doi.org/10.1109/SICE.1999.788674","url":null,"abstract":"We consider the problem of designing P, PI and PID controllers for interval plants. It is known from the area of parametric robust control that the stabilization problem for an interval plant are reduced to the equivalent problem of stabilizing either a finite set of certain extremal plants. This paper shows that under special conditions imposed on controller parameters and the order of plant, the number of extremal plants required for stabilization on PID controllers are reduced. Thereafter, using Ho's method, it allows one to obtain all the stabilizing set of PID gains for a interval plant family. We assure that the coefficient diagram method (CDM) is very useful for designing a controller because the design in CDM is not only carried out directly in the parameter space but also easy to meet the time domain specification, as shown in a numerical example.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"81 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":"124647132","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.1999.788593
K. Yunoki, Y. Tanaka, T. Yoshino, H. Hirakawa
A probe microphone has a thin, empty and long probe tube. Therefore, frequency characteristics of a probe microphone are not good. In this paper, we analyze a probe microphone constructed by a probe, a spacer and a regular microphone. In this microphone, the sound wave is attenuated by viscosity of air. So, sound solution is given with the attenuation constant /spl delta/ and the phase constant K. As a result, frequency characteristics of a probe microphone were obtained for the size of the probe tube, /spl delta/ and K. In the experiment, applying a white noise or a rectangular signal to the speaker,sound from the probe microphone was compared with that of the regular microphone. Experimental results agreed well with the theoretical ones.
{"title":"Theoretical study and experiment on frequency characteristics of a probe microphone","authors":"K. Yunoki, Y. Tanaka, T. Yoshino, H. Hirakawa","doi":"10.1109/SICE.1999.788593","DOIUrl":"https://doi.org/10.1109/SICE.1999.788593","url":null,"abstract":"A probe microphone has a thin, empty and long probe tube. Therefore, frequency characteristics of a probe microphone are not good. In this paper, we analyze a probe microphone constructed by a probe, a spacer and a regular microphone. In this microphone, the sound wave is attenuated by viscosity of air. So, sound solution is given with the attenuation constant /spl delta/ and the phase constant K. As a result, frequency characteristics of a probe microphone were obtained for the size of the probe tube, /spl delta/ and K. In the experiment, applying a white noise or a rectangular signal to the speaker,sound from the probe microphone was compared with that of the regular microphone. Experimental results agreed well with the theoretical ones.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"132 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":"114372403","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.1999.788676
U. Park, Joo Ho Kim, Sin Jong Kim, J. Choi, Jong Shik Kim
We develop a parallel inverted pendulum system that has the characteristics of the strongly coupled dynamics of motion by an elastic spring, the time-varying system parameters, and inherent instability, etc. Hence, it is possible to approximate some kinds of a physical system into this representative system and apply the various control theories to this system in order to verify their fidelity and efficiency. For this purpose, an experimental system of the parallel inverted pendulum is implemented, and a control scheme using the eigenstructure assignment in the decoupling control is presented in comparison with the LQR optimal control method. Furthermore, this system can be utilized as a testbed to develop and evaluate new control algorithms through various setups. Finally, results of the experiment are compared with those of numerical simulations for validation.
{"title":"Development of a parallel inverted pendulum system and its control","authors":"U. Park, Joo Ho Kim, Sin Jong Kim, J. Choi, Jong Shik Kim","doi":"10.1109/SICE.1999.788676","DOIUrl":"https://doi.org/10.1109/SICE.1999.788676","url":null,"abstract":"We develop a parallel inverted pendulum system that has the characteristics of the strongly coupled dynamics of motion by an elastic spring, the time-varying system parameters, and inherent instability, etc. Hence, it is possible to approximate some kinds of a physical system into this representative system and apply the various control theories to this system in order to verify their fidelity and efficiency. For this purpose, an experimental system of the parallel inverted pendulum is implemented, and a control scheme using the eigenstructure assignment in the decoupling control is presented in comparison with the LQR optimal control method. Furthermore, this system can be utilized as a testbed to develop and evaluate new control algorithms through various setups. Finally, results of the experiment are compared with those of numerical simulations for validation.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"41 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":"124900159","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.1999.788691
Cuijing Ding, Xueqing Wang, J. Nan
Introduces a multi-function monitoring and analysis system. By using real data acquired from the field, the system can carry out real-time simulation of the boiler's dynamic characteristic and online analysis of the unit's dynamic thermal effectiveness, thus providing valuable information for the unit's operation.
{"title":"Online analysis of dynamic characteristic for 410t/h boiler","authors":"Cuijing Ding, Xueqing Wang, J. Nan","doi":"10.1109/SICE.1999.788691","DOIUrl":"https://doi.org/10.1109/SICE.1999.788691","url":null,"abstract":"Introduces a multi-function monitoring and analysis system. By using real data acquired from the field, the system can carry out real-time simulation of the boiler's dynamic characteristic and online analysis of the unit's dynamic thermal effectiveness, thus providing valuable information for the unit's operation.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"13 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":"125141241","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.1999.788700
K. Kubo
New method of estimating instantaneous parameters from sine wave samples in differential domain is proposed and studied. Performances, errors caused by quantization and by sampling delay, and application to the time-frequency distribution are evaluated. Comparison with the ordinary techniques including Prony's method is made. The proposed method is not under constraints of the Gabor uncertainty principle, and the estimated results have ultimate instantaneousness.
{"title":"Instantaneous parameter estimation of sine wave by differential domain sampling","authors":"K. Kubo","doi":"10.1109/SICE.1999.788700","DOIUrl":"https://doi.org/10.1109/SICE.1999.788700","url":null,"abstract":"New method of estimating instantaneous parameters from sine wave samples in differential domain is proposed and studied. Performances, errors caused by quantization and by sampling delay, and application to the time-frequency distribution are evaluated. Comparison with the ordinary techniques including Prony's method is made. The proposed method is not under constraints of the Gabor uncertainty principle, and the estimated results have ultimate instantaneousness.","PeriodicalId":103164,"journal":{"name":"SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)","volume":"3 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":"129456041","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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