Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526717
Hong Chen, Y. Okuyama, F. Takemori
In this paper, we describe a graphical method of composing frequency responses for cascade connected plants of control system with model uncertainty and the robust stability of feedback control for such systems, i.e., multiloop control systems. The composition of frequency responses is represented sequentially by a recurrent inequality, and the evaluation of the robust stability is expressed by a series of inequalities provided in the reduction process of the block diagram. A computer-aided system for control system design is constructed on a workstation by using the C language.
{"title":"Composition of frequency responses and robust stability for multi-loop control system with model uncertainty","authors":"Hong Chen, Y. Okuyama, F. Takemori","doi":"10.1109/SICE.1995.526717","DOIUrl":"https://doi.org/10.1109/SICE.1995.526717","url":null,"abstract":"In this paper, we describe a graphical method of composing frequency responses for cascade connected plants of control system with model uncertainty and the robust stability of feedback control for such systems, i.e., multiloop control systems. The composition of frequency responses is represented sequentially by a recurrent inequality, and the evaluation of the robust stability is expressed by a series of inequalities provided in the reduction process of the block diagram. A computer-aided system for control system design is constructed on a workstation by using the C language.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130531302","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 : 1995-07-26DOI: 10.1109/SICE.1995.526651
M. Noto, M. Kurihara, A. Ohuchi
A laboratory assignment algorithm is a procedure that assigns each of the m students to one of the n laboratories. In this paper, we prove the completeness (i.e., termination and confluence) of the algorithm by using the abstract reduction systems theory. Termination guarantees that the computation will not proceed indefinitely, and confluence guarantees that the computational result is unique even in the presence of indeterminacy.
{"title":"Analysis of completeness of laboratory assignment algorithm by abstract reduction systems theory","authors":"M. Noto, M. Kurihara, A. Ohuchi","doi":"10.1109/SICE.1995.526651","DOIUrl":"https://doi.org/10.1109/SICE.1995.526651","url":null,"abstract":"A laboratory assignment algorithm is a procedure that assigns each of the m students to one of the n laboratories. In this paper, we prove the completeness (i.e., termination and confluence) of the algorithm by using the abstract reduction systems theory. Termination guarantees that the computation will not proceed indefinitely, and confluence guarantees that the computational result is unique even in the presence of indeterminacy.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130934582","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 : 1995-07-26DOI: 10.1109/SICE.1995.526728
Y. Yamauchi, J. Tan, S. Ishikawa, K. Kato
This paper describes an architecture of realizing an intelligent robots system. First, a multiple robots system is abstracted as an intelligent mechanical system and an architecture of the system is proposed for realizing various intelligent work. The architecture is then applied to a two mobile robots system, and a method of conveying a box in a cooperative way is shown with experimental results.
{"title":"On the development of a cooperative work strategy - carrying a box with mutual communication and image data","authors":"Y. Yamauchi, J. Tan, S. Ishikawa, K. Kato","doi":"10.1109/SICE.1995.526728","DOIUrl":"https://doi.org/10.1109/SICE.1995.526728","url":null,"abstract":"This paper describes an architecture of realizing an intelligent robots system. First, a multiple robots system is abstracted as an intelligent mechanical system and an architecture of the system is proposed for realizing various intelligent work. The architecture is then applied to a two mobile robots system, and a method of conveying a box in a cooperative way is shown with experimental results.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"8 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132893785","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 : 1995-07-26DOI: 10.1109/SICE.1995.526643
N. Murata, H. Matsuno, A. Morán, M. Hayase
This paper presents the dynamical modeling and nonlinear controller design of inverted pendulum-wheeled cart systems. The controller is a nonlinear observer-based compensator with linear feedback gains. Using a linearized model, the linear feedback gains were determined according to H/sub /spl infin// and H/sub 2/ control theories. A Luenberger-like nonlinear observer was designed to estimate the unmeasured variables required for the control. The performance of the proposed controller was experimentally verified. It was found that the nonlinear controller is able to stabilize the pendulum in a short period of time. Also the controller with H/sub /spl infin// gains requires shorter range of variations of pendulum angle and cart displacement than the controller with H/sub 2/ gains.
{"title":"Control of inverted pendulum-wheeled cart systems using nonlinear observers","authors":"N. Murata, H. Matsuno, A. Morán, M. Hayase","doi":"10.1109/SICE.1995.526643","DOIUrl":"https://doi.org/10.1109/SICE.1995.526643","url":null,"abstract":"This paper presents the dynamical modeling and nonlinear controller design of inverted pendulum-wheeled cart systems. The controller is a nonlinear observer-based compensator with linear feedback gains. Using a linearized model, the linear feedback gains were determined according to H/sub /spl infin// and H/sub 2/ control theories. A Luenberger-like nonlinear observer was designed to estimate the unmeasured variables required for the control. The performance of the proposed controller was experimentally verified. It was found that the nonlinear controller is able to stabilize the pendulum in a short period of time. Also the controller with H/sub /spl infin// gains requires shorter range of variations of pendulum angle and cart displacement than the controller with H/sub 2/ gains.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131572093","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 : 1995-07-26DOI: 10.1109/SICE.1995.526704
M. Nour, E. Abed, N. Hegazi
Tutoring is a linguistic exchange whose goal is to clarify a body of knowledge to which the student has already been exposed. Tutoring also involves directly a dialog so that the responses remain appropriate even when facing errors. This paper presents a proposed algorithm for the student model which can be considered as one of the main modules existing in an intelligent tutoring system. The proposed algorithm takes care of transferring knowledge to the student, pointing out the student errors, and understanding the student belief. This can be done by keeping track of the student status. The student model will also monitor the student behaviour. The monitoring process can be done by analyzing the student answers, comparing them with the correct system generated answers. This comparison will predict the student level of understanding or to recognize the student particular learning style. The student model is supported by a powerful structured knowledge base (KB) which contains a large number of facts and rules of the selected domain. The KB contains diagnostic hypotheses which are able to explain the student behaviour. The student model using that KB can perform logical inference operations to detect the student exploration direction, the student weak points, the student belief, and others.
{"title":"A proposed student model algorithm for an intelligent tutoring system","authors":"M. Nour, E. Abed, N. Hegazi","doi":"10.1109/SICE.1995.526704","DOIUrl":"https://doi.org/10.1109/SICE.1995.526704","url":null,"abstract":"Tutoring is a linguistic exchange whose goal is to clarify a body of knowledge to which the student has already been exposed. Tutoring also involves directly a dialog so that the responses remain appropriate even when facing errors. This paper presents a proposed algorithm for the student model which can be considered as one of the main modules existing in an intelligent tutoring system. The proposed algorithm takes care of transferring knowledge to the student, pointing out the student errors, and understanding the student belief. This can be done by keeping track of the student status. The student model will also monitor the student behaviour. The monitoring process can be done by analyzing the student answers, comparing them with the correct system generated answers. This comparison will predict the student level of understanding or to recognize the student particular learning style. The student model is supported by a powerful structured knowledge base (KB) which contains a large number of facts and rules of the selected domain. The KB contains diagnostic hypotheses which are able to explain the student behaviour. The student model using that KB can perform logical inference operations to detect the student exploration direction, the student weak points, the student belief, and others.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128363894","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 : 1995-07-26DOI: 10.1109/SICE.1995.526660
K. Sato, M. Oya, Jiachun Fan, T. Kobayashi
A simple adaptive output feedback controller is given for a class of SISO linear systems which are minimum phase and relative degree two or less, with an output-dependent nonlinear disturbance. It is shown that the controller achieves stabilization and output tracking for such a class of systems.
{"title":"Adaptive control of a class of nonlinearly perturbed linear systems of relative degree two or less","authors":"K. Sato, M. Oya, Jiachun Fan, T. Kobayashi","doi":"10.1109/SICE.1995.526660","DOIUrl":"https://doi.org/10.1109/SICE.1995.526660","url":null,"abstract":"A simple adaptive output feedback controller is given for a class of SISO linear systems which are minimum phase and relative degree two or less, with an output-dependent nonlinear disturbance. It is shown that the controller achieves stabilization and output tracking for such a class of systems.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121860223","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 : 1995-07-26DOI: 10.1109/SICE.1995.526739
H. Yamane, M. Kaneko, T. Oyobe
The start of service use of an indigenous FADEC system in a manned aircraft is approaching. The TRDI's FADEC technology has been matured within the JEC-series FADEC R&D programs. Topics are described that have involved Third Research Center, TRDI in the process of the JEC-series programs. The status of the TRDI's technology research and development, which determines the role of the engine control systems group and its research objectives, is briefly overviewed. Some important topics are described that are absorbing the group's research effort in accordance with such status.
{"title":"Recent topics of aircraft engine control systems R&D at TRDI, JDA","authors":"H. Yamane, M. Kaneko, T. Oyobe","doi":"10.1109/SICE.1995.526739","DOIUrl":"https://doi.org/10.1109/SICE.1995.526739","url":null,"abstract":"The start of service use of an indigenous FADEC system in a manned aircraft is approaching. The TRDI's FADEC technology has been matured within the JEC-series FADEC R&D programs. Topics are described that have involved Third Research Center, TRDI in the process of the JEC-series programs. The status of the TRDI's technology research and development, which determines the role of the engine control systems group and its research objectives, is briefly overviewed. Some important topics are described that are absorbing the group's research effort in accordance with such status.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123504713","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 : 1995-07-26DOI: 10.1109/SICE.1995.526712
Li Jin, A. Watanabe, S. Kawata
By using the Walsh functions an approximate solution is obtained for the linear-quadratic-Gaussian control design problem. An improved formula of Walsh functions is derived for giving a simple expression of products of two or more arbitrary matrix time functions. It is shown that the Riccati matrix equation can directly be solved with the improved formula. Calculation results are presented to illustrate the validity and applicability of this method.
{"title":"The linear-quadratic-Gaussian control design using an improved product formula of Walsh functions","authors":"Li Jin, A. Watanabe, S. Kawata","doi":"10.1109/SICE.1995.526712","DOIUrl":"https://doi.org/10.1109/SICE.1995.526712","url":null,"abstract":"By using the Walsh functions an approximate solution is obtained for the linear-quadratic-Gaussian control design problem. An improved formula of Walsh functions is derived for giving a simple expression of products of two or more arbitrary matrix time functions. It is shown that the Riccati matrix equation can directly be solved with the improved formula. Calculation results are presented to illustrate the validity and applicability of this method.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114160341","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 : 1995-07-26DOI: 10.1109/SICE.1995.526722
T. Saito, Y. Baba, K. Nakagawa, Y. Fuwa, Y. Shimokawa
We have developed an accelerator device "MULTINEURO-A" which incorporates multiple processors (one master node and plural slave nodes) dedicated to neural network high-speed computing realized on an engineering workstation. Nodes are connected by two data paths, broadcast bus and ring bus. Processing speed is in proportion to the number of processors. It is built in two boards (master and slave) having 64 VLSI processors that offers to 1.5 billion connections per seconds. It processes forward/backward calculation of multilayer perceptron type neural networks, feedback type neural networks such as Hopfield model, and any other types by programming for parallel processing.
{"title":"A MULTINEURO computer system by using high performance digital neuro processor","authors":"T. Saito, Y. Baba, K. Nakagawa, Y. Fuwa, Y. Shimokawa","doi":"10.1109/SICE.1995.526722","DOIUrl":"https://doi.org/10.1109/SICE.1995.526722","url":null,"abstract":"We have developed an accelerator device \"MULTINEURO-A\" which incorporates multiple processors (one master node and plural slave nodes) dedicated to neural network high-speed computing realized on an engineering workstation. Nodes are connected by two data paths, broadcast bus and ring bus. Processing speed is in proportion to the number of processors. It is built in two boards (master and slave) having 64 VLSI processors that offers to 1.5 billion connections per seconds. It processes forward/backward calculation of multilayer perceptron type neural networks, feedback type neural networks such as Hopfield model, and any other types by programming for parallel processing.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122047598","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 : 1995-07-26DOI: 10.1109/SICE.1995.526975
T. Mizuno, K. Araki, H. Bleuler
A comparison between the controllers using a full-order observer and the reduced-order observer are made from the viewpoint of strong stabilization in self-sensing active magnetic bearings. It is shown that any reduced-order observer based controller stabilizing the plant is unstable while full-order observer based controllers are stable. The self-sensing suspension in magnetic bearings with solid cores is also discussed. It is shown that the controllers are destabilized by a modification of the eddy currents flowing through the cores. It gives the reason for the difficulty of actual self-sensing suspension in the solid-cored magnetic bearing.
{"title":"On the stability of controllers for self-sensing magnetic bearings","authors":"T. Mizuno, K. Araki, H. Bleuler","doi":"10.1109/SICE.1995.526975","DOIUrl":"https://doi.org/10.1109/SICE.1995.526975","url":null,"abstract":"A comparison between the controllers using a full-order observer and the reduced-order observer are made from the viewpoint of strong stabilization in self-sensing active magnetic bearings. It is shown that any reduced-order observer based controller stabilizing the plant is unstable while full-order observer based controllers are stable. The self-sensing suspension in magnetic bearings with solid cores is also discussed. It is shown that the controllers are destabilized by a modification of the eddy currents flowing through the cores. It gives the reason for the difficulty of actual self-sensing suspension in the solid-cored magnetic bearing.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"29 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131878379","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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