Pub Date : 2023-01-21DOI: 10.1080/18824889.2023.2167540
Tomotaka Nii, M. Inoue
{"title":"Personalized control system via reinforcement learning: maximizing utility based on user ratings","authors":"Tomotaka Nii, M. Inoue","doi":"10.1080/18824889.2023.2167540","DOIUrl":"https://doi.org/10.1080/18824889.2023.2167540","url":null,"abstract":"","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126916370","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 : 2023-01-18DOI: 10.1080/18824889.2022.2162749
Masaya Shigemoto, K. Natsume
{"title":"Detection of circadian rhythm disturbance of carbachol-induced beta wave dynamics in rat hippocampal slices using neural networks","authors":"Masaya Shigemoto, K. Natsume","doi":"10.1080/18824889.2022.2162749","DOIUrl":"https://doi.org/10.1080/18824889.2022.2162749","url":null,"abstract":"","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121055664","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 : 2022-12-28DOI: 10.1080/18824889.2022.2157194
T. Murayama
{"title":"Distributed control for bi-connectivity of multi-robot network","authors":"T. Murayama","doi":"10.1080/18824889.2022.2157194","DOIUrl":"https://doi.org/10.1080/18824889.2022.2157194","url":null,"abstract":"","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126669619","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 : 2022-06-16DOI: 10.1080/18824889.2022.2136910
Yasushi Iwatani, T. Kinugasa
Legged robots can walk stably down slopes without any actuation or control. The locomotion is called passive dynamic walking. Its dynamics at foot strike are governed by impact forces. The impulsive dynamics have been modelled in several approaches, where all the approaches assume that the stance leg instantaneously loses contact with the ground at foot strike. The loss-of-contact assumption has been introduced so as to guarantee conservation of angular momentum at foot strike; however, it is shown in this paper that the loss-of-contact assumption is neither necessary nor sufficient for that purpose. This paper provides a necessary and sufficient condition for conservation of angular momentum at foot strike in a modelling framework for multibody dynamics with impact. A compass-like biped robot is considered in this paper. Its impulsive dynamics are modelled by the relationship between impact forces and change of momentum with constraints. A necessary and sufficient condition for conservation of angular momentum is derived by examining the validity of foot velocities and impact forces in the impulsive model.
{"title":"A necessary and sufficient condition for conservation of angular momentum at foot strike during passive dynamic walking","authors":"Yasushi Iwatani, T. Kinugasa","doi":"10.1080/18824889.2022.2136910","DOIUrl":"https://doi.org/10.1080/18824889.2022.2136910","url":null,"abstract":"Legged robots can walk stably down slopes without any actuation or control. The locomotion is called passive dynamic walking. Its dynamics at foot strike are governed by impact forces. The impulsive dynamics have been modelled in several approaches, where all the approaches assume that the stance leg instantaneously loses contact with the ground at foot strike. The loss-of-contact assumption has been introduced so as to guarantee conservation of angular momentum at foot strike; however, it is shown in this paper that the loss-of-contact assumption is neither necessary nor sufficient for that purpose. This paper provides a necessary and sufficient condition for conservation of angular momentum at foot strike in a modelling framework for multibody dynamics with impact. A compass-like biped robot is considered in this paper. Its impulsive dynamics are modelled by the relationship between impact forces and change of momentum with constraints. A necessary and sufficient condition for conservation of angular momentum is derived by examining the validity of foot velocities and impact forces in the impulsive model.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124730349","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 : 2022-06-16DOI: 10.1080/18824889.2022.2079327
Hirofumi Arai, Masaya Shigemoto, K. Natsume
It is widely hypothesized that there is a seizure-free state, termed the “latent period,” between brain injury and the onset of symptomatic epilepsy. During the latent period, structural and functional alterations gradually mediate epileptogenesis. Kainate (KA) induces epilepsy in rats in a manner similar to that induced by human epilepsy. During the model's latent period, rats administered KA-exhibited innate behaviour such as self-grooming. We previously reported that self-grooming bouts are facilitated during the latent period in this model. Here, we investigated self-grooming changes during the latent period of the KA rat model. We analysed various parameters of self-grooming – including duration, number, and percentage of correct transitions (CT%). Self-grooming bouts included a syntactic chain consisting of CT. CT% was defined as the ratio of the number of CT scans to the total number of transitions. The results showed that CT%, number, and duration were significantly increased during the latent period in KA rats. We attempted to mine the features that detect the latent period using a neural network. Our results suggest that the CT% of self-grooming will detect changes in the latent period in the KA rat epilepsy model.
{"title":"Detection of the change in characteristics of self-grooming by the neural network in the latent period of the Rat Kainate Epilepsy model","authors":"Hirofumi Arai, Masaya Shigemoto, K. Natsume","doi":"10.1080/18824889.2022.2079327","DOIUrl":"https://doi.org/10.1080/18824889.2022.2079327","url":null,"abstract":"It is widely hypothesized that there is a seizure-free state, termed the “latent period,” between brain injury and the onset of symptomatic epilepsy. During the latent period, structural and functional alterations gradually mediate epileptogenesis. Kainate (KA) induces epilepsy in rats in a manner similar to that induced by human epilepsy. During the model's latent period, rats administered KA-exhibited innate behaviour such as self-grooming. We previously reported that self-grooming bouts are facilitated during the latent period in this model. Here, we investigated self-grooming changes during the latent period of the KA rat model. We analysed various parameters of self-grooming – including duration, number, and percentage of correct transitions (CT%). Self-grooming bouts included a syntactic chain consisting of CT. CT% was defined as the ratio of the number of CT scans to the total number of transitions. The results showed that CT%, number, and duration were significantly increased during the latent period in KA rats. We attempted to mine the features that detect the latent period using a neural network. Our results suggest that the CT% of self-grooming will detect changes in the latent period in the KA rat epilepsy model.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121204357","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 : 2022-06-16DOI: 10.1080/18824889.2022.2112528
H. Sano, M. Wakaiki
This paper is concerned with the observer design problem for a nonlinear hyperbolic system with a modified van der Pol boundary condition in which an integral term is included. The observer plays a role of a chaotic synchronizing system when applying it to secure communication. In our previous work (Sano et al. Secure communication systems using distributed parameter chaotic synchronization. SICE Trans. 2021;57(2):78–85), a nonlinear hyperbolic system without the integral term was treated and a simple synchronizing system was constructed, where the constant coefficients of system played a role of encryption keys. But the keys were vulnerable from a safety standpoint. On the other hand, in the case where the integral term is included in the boundary condition, we need to construct observers. The weighted function contained in the integral term gives a new encryption key of distributed type. An application to image encryption is also discussed and numerical simulation results are given.
研究一类具有修正van der Pol边界条件且包含积分项的非线性双曲型系统的观测器设计问题。将观测器应用于保密通信时，它起到了混沌同步系统的作用。在我们之前的工作中(Sano et al.)。使用分布式参数混沌同步的安全通信系统。SICE Trans. 2021;57(2): 78-85)，处理了一个没有积分项的非线性双曲系统，构造了一个简单的同步系统，其中系统的常系数起到加密密钥的作用。但从安全的角度来看，钥匙是脆弱的。另一方面，在边界条件中包含积分项的情况下，我们需要构造观察者。该积分项所包含的加权函数给出了一种新的分布式加密密钥。讨论了该算法在图像加密中的应用，并给出了数值仿真结果。
{"title":"Synchronizing chaotic PDE system using backstepping and its application to image encryption","authors":"H. Sano, M. Wakaiki","doi":"10.1080/18824889.2022.2112528","DOIUrl":"https://doi.org/10.1080/18824889.2022.2112528","url":null,"abstract":"This paper is concerned with the observer design problem for a nonlinear hyperbolic system with a modified van der Pol boundary condition in which an integral term is included. The observer plays a role of a chaotic synchronizing system when applying it to secure communication. In our previous work (Sano et al. Secure communication systems using distributed parameter chaotic synchronization. SICE Trans. 2021;57(2):78–85), a nonlinear hyperbolic system without the integral term was treated and a simple synchronizing system was constructed, where the constant coefficients of system played a role of encryption keys. But the keys were vulnerable from a safety standpoint. On the other hand, in the case where the integral term is included in the boundary condition, we need to construct observers. The weighted function contained in the integral term gives a new encryption key of distributed type. An application to image encryption is also discussed and numerical simulation results are given.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"2006 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125825082","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 : 2022-06-16DOI: 10.1080/18824889.2022.2125242
Tatsuya Ibuki, Hirotoshi Yoshioka, M. Sampei
This paper presents a robust position/attitude tracking control method for a fully-actuated hexarotor unmanned aerial vehicle (UAV) based on Gaussian processes. Multirotor UAVs suffer from modelling errors due to their structure complexity and aerodynamical disturbances whose perfect mathematical formulation is intractable. To handle this issue, this paper incorporates a data-based learning technique with model-based control. The hexarotor UAV dynamical model, considering modelling errors and aerodynamic disturbances as unknown dynamics, is first derived. Gaussian process regression is next introduced as a learning method for the unknown dynamics, which provides probabilistic distributions of the predicted values. The predicted means are regarded as deterministic information and cancelled out by feedforward control inputs. The predicted variances are considered as the bounds of the model uncertainties with high probability, and a robust control method to ensure ultimate boundedness of the tracking control error is proposed for the uncertain system. The effectiveness of the proposed method is demonstrated via experiments with a self-developed hexarotor UAV testbed.
{"title":"Robust pose tracking control for a fully-actuated hexarotor UAV based on Gaussian processes","authors":"Tatsuya Ibuki, Hirotoshi Yoshioka, M. Sampei","doi":"10.1080/18824889.2022.2125242","DOIUrl":"https://doi.org/10.1080/18824889.2022.2125242","url":null,"abstract":"This paper presents a robust position/attitude tracking control method for a fully-actuated hexarotor unmanned aerial vehicle (UAV) based on Gaussian processes. Multirotor UAVs suffer from modelling errors due to their structure complexity and aerodynamical disturbances whose perfect mathematical formulation is intractable. To handle this issue, this paper incorporates a data-based learning technique with model-based control. The hexarotor UAV dynamical model, considering modelling errors and aerodynamic disturbances as unknown dynamics, is first derived. Gaussian process regression is next introduced as a learning method for the unknown dynamics, which provides probabilistic distributions of the predicted values. The predicted means are regarded as deterministic information and cancelled out by feedforward control inputs. The predicted variances are considered as the bounds of the model uncertainties with high probability, and a robust control method to ensure ultimate boundedness of the tracking control error is proposed for the uncertain system. The effectiveness of the proposed method is demonstrated via experiments with a self-developed hexarotor UAV testbed.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129030567","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 : 2022-06-16DOI: 10.1080/18824889.2022.2080471
Y. Matsuda, Daiki Suyama, T. Sugi, S. Goto, T. Morisaki, T. Yasunaga, Y. Ikegami
Recently, the importance of sustainable energy using renewable resources has been recognized. As one of the sustainable energy resources, ocean thermal energy conversion (OTEC) is important for the development of a next-generation energy source. This paper proposes a method to construct a state-space model for an OTEC plant using the Rankine cycle. The state-space model is constructed based on a linear approximation of a simple dynamic model. The flow rates of warm seawater, cold seawater, and working fluid are considered as inputs to the model, and the power output is selected as the output of the model. The state-space model, described as a time-invariant system, is derived numerically. The constructed model is evaluated through numerical simulations of the step response; the power generation control is verified using proportional integral controllers, and the advantage as a state-space model is verified using a linear quadratic regulator. The simulation results demonstrate the effectiveness and limitation of the proposed model. Because the simple dynamic model to be approximated is constructed based on the physical laws, various kinds of state-space models corresponding to the physical parameters can be obtained easily.
{"title":"Construction of a state-space model with multiple flow rate inputs for an OTEC plant using Rankine cycle","authors":"Y. Matsuda, Daiki Suyama, T. Sugi, S. Goto, T. Morisaki, T. Yasunaga, Y. Ikegami","doi":"10.1080/18824889.2022.2080471","DOIUrl":"https://doi.org/10.1080/18824889.2022.2080471","url":null,"abstract":"Recently, the importance of sustainable energy using renewable resources has been recognized. As one of the sustainable energy resources, ocean thermal energy conversion (OTEC) is important for the development of a next-generation energy source. This paper proposes a method to construct a state-space model for an OTEC plant using the Rankine cycle. The state-space model is constructed based on a linear approximation of a simple dynamic model. The flow rates of warm seawater, cold seawater, and working fluid are considered as inputs to the model, and the power output is selected as the output of the model. The state-space model, described as a time-invariant system, is derived numerically. The constructed model is evaluated through numerical simulations of the step response; the power generation control is verified using proportional integral controllers, and the advantage as a state-space model is verified using a linear quadratic regulator. The simulation results demonstrate the effectiveness and limitation of the proposed model. Because the simple dynamic model to be approximated is constructed based on the physical laws, various kinds of state-space models corresponding to the physical parameters can be obtained easily.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131437672","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 : 2022-06-16DOI: 10.1080/18824889.2022.2090801
Y. Ebihara
ABSTRACT In this study, we focus on the Hankel norms of linear time-invariant (LTI) discrete-time positive systems across a single switching. The Hankel norms are defined as the induced norms from vector-valued past inputs to vector-valued future outputs across a system switching and a state transition at the time instant zero. A closed-form characterization of the Hankel norm in this switching setting for general LTI systems can readily be derived as the natural extension of the standard Hankel norm. Thanks to the strong positivity property, we show that we can successfully characterize the Hankel norms for the positive system switching case even in some combinations of p, q being . In particular, some of them are given in the form of linear programming (LP) and semidefinite programming (SDP). These LP- and SDP-based characterizations are particularly useful for the analysis of the Hankel norms where the systems of interest are affected by parametric uncertainties.
{"title":"The lq/lp Hankel norms of discrete-time positive systems across switching","authors":"Y. Ebihara","doi":"10.1080/18824889.2022.2090801","DOIUrl":"https://doi.org/10.1080/18824889.2022.2090801","url":null,"abstract":"ABSTRACT In this study, we focus on the Hankel norms of linear time-invariant (LTI) discrete-time positive systems across a single switching. The Hankel norms are defined as the induced norms from vector-valued past inputs to vector-valued future outputs across a system switching and a state transition at the time instant zero. A closed-form characterization of the Hankel norm in this switching setting for general LTI systems can readily be derived as the natural extension of the standard Hankel norm. Thanks to the strong positivity property, we show that we can successfully characterize the Hankel norms for the positive system switching case even in some combinations of p, q being . In particular, some of them are given in the form of linear programming (LP) and semidefinite programming (SDP). These LP- and SDP-based characterizations are particularly useful for the analysis of the Hankel norms where the systems of interest are affected by parametric uncertainties.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133327595","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 : 2022-06-16DOI: 10.1080/18824889.2022.2103631
Shoichiro Togo, H. Ukida
In this study, we discuss a unmanned aerial vehicle operation system by recognizing human gestures. Here, we focus on both dynamic and static gestures, such as moving the right hand repeatedly or holding it in a certain position. And, we propose two methods, one is a feature-based (FB) method to detect the position of the right hand in an image and identify the gesture form features estimated by FFT, and the other is a machine learning (ML) method to detect the position of the right hand in an image and identify the gesture by the framework of the ML. In experiments, we compare the results of gesture recognition by each method. As a result, the recognition rate of the FB method is higher than that of the ML method under the conditions assumed in the FB method. But, in other cases, the ML method is higher than that of the FB method. The ML method is also effective in terms of extensibility, such as adding more types of gestures.
{"title":"UAV manipulation by hand gesture recognition","authors":"Shoichiro Togo, H. Ukida","doi":"10.1080/18824889.2022.2103631","DOIUrl":"https://doi.org/10.1080/18824889.2022.2103631","url":null,"abstract":"In this study, we discuss a unmanned aerial vehicle operation system by recognizing human gestures. Here, we focus on both dynamic and static gestures, such as moving the right hand repeatedly or holding it in a certain position. And, we propose two methods, one is a feature-based (FB) method to detect the position of the right hand in an image and identify the gesture form features estimated by FFT, and the other is a machine learning (ML) method to detect the position of the right hand in an image and identify the gesture by the framework of the ML. In experiments, we compare the results of gesture recognition by each method. As a result, the recognition rate of the FB method is higher than that of the ML method under the conditions assumed in the FB method. But, in other cases, the ML method is higher than that of the FB method. The ML method is also effective in terms of extensibility, such as adding more types of gestures.","PeriodicalId":413922,"journal":{"name":"SICE journal of control, measurement, and system integration","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129662809","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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