Pub Date : 2001-07-25DOI: 10.1109/SICE.2001.977800
Myung Jin Woo, J. Choi
The paper is concerned with a relative navigation system. The previous reported relative navigation system designed for formation flight is applied to vehicle platooning. This system is based on both GPS (Global Positioning System) and millimeter-wave radar. This approach includes a federated Kalman filter. The longitudinal controller based on estimates controls a vehicle in a platoon to maintain the desired spacing. Vehicle platooning problem on the highway are presented to illustrate the proposed relative navigation system.
{"title":"A relative navigation system for vehicle platooning","authors":"Myung Jin Woo, J. Choi","doi":"10.1109/SICE.2001.977800","DOIUrl":"https://doi.org/10.1109/SICE.2001.977800","url":null,"abstract":"The paper is concerned with a relative navigation system. The previous reported relative navigation system designed for formation flight is applied to vehicle platooning. This system is based on both GPS (Global Positioning System) and millimeter-wave radar. This approach includes a federated Kalman filter. The longitudinal controller based on estimates controls a vehicle in a platoon to maintain the desired spacing. Vehicle platooning problem on the highway are presented to illustrate the proposed relative navigation system.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"405 14","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120891801","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 : 2001-07-25DOI: 10.1109/SICE.2001.977804
J. Morimoto, H. Kasamatsu, Y. Yamamoto, I. Kobayashi, N. Furumoto, T. Tabuchi
Variations of the statistical properties of system inputs may cause a fall of adaptation abilities of the adaptive algorithms. To overcome this problem, we propose a dynamically-changing method of the form of the adaptive algorithms among Kalman filter based, normalized least mean square and recursive least squares methods. The validity of our method was confirmed in the numerical experiments.
{"title":"Dynamically-variable adaptive algorithms","authors":"J. Morimoto, H. Kasamatsu, Y. Yamamoto, I. Kobayashi, N. Furumoto, T. Tabuchi","doi":"10.1109/SICE.2001.977804","DOIUrl":"https://doi.org/10.1109/SICE.2001.977804","url":null,"abstract":"Variations of the statistical properties of system inputs may cause a fall of adaptation abilities of the adaptive algorithms. To overcome this problem, we propose a dynamically-changing method of the form of the adaptive algorithms among Kalman filter based, normalized least mean square and recursive least squares methods. The validity of our method was confirmed in the numerical experiments.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121072192","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 : 2001-07-25DOI: 10.1109/SICE.2001.977823
C.A. Rabbath, N. Hori
The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex control systems; that is, the superior level of performance when subjected to finite wordlength effects. Examples demonstrate the performance limitations associated with highly complex control laws and the benefits of using properly selected, simple control schemes when implemented with fixed- and floating-point arithmetic and restricted number of bits.
{"title":"Advantage of low complexity in digital controllers with finite wordlength","authors":"C.A. Rabbath, N. Hori","doi":"10.1109/SICE.2001.977823","DOIUrl":"https://doi.org/10.1109/SICE.2001.977823","url":null,"abstract":"The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex control systems; that is, the superior level of performance when subjected to finite wordlength effects. Examples demonstrate the performance limitations associated with highly complex control laws and the benefits of using properly selected, simple control schemes when implemented with fixed- and floating-point arithmetic and restricted number of bits.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130300749","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 : 2001-07-25DOI: 10.1109/SICE.2001.977873
J. Su, C. Liang
In this paper, a novel continuous complementary sliding control was proposed to improve the tracking performance given the available control bandwidth and the extent of parameter uncertainty. With this control law, the guaranteed tracking precision has been shown to reduce at least by half, as compared with the conventional continuous sliding control. The error transient response during the reaching phase has also been remarkably improved by the proposed control. To illustrate its superiority, we presented a composite complementary sliding control scheme for a cascade uncertain nonlinear system, which includes the benchmark nonlinear problem, TORA. Simulation results on TORA showed excellent responses to any initial conditions and to single-frequency sinusoidal disturbances.
{"title":"Complementary sliding mode control of a class of nonlinear cascade systems","authors":"J. Su, C. Liang","doi":"10.1109/SICE.2001.977873","DOIUrl":"https://doi.org/10.1109/SICE.2001.977873","url":null,"abstract":"In this paper, a novel continuous complementary sliding control was proposed to improve the tracking performance given the available control bandwidth and the extent of parameter uncertainty. With this control law, the guaranteed tracking precision has been shown to reduce at least by half, as compared with the conventional continuous sliding control. The error transient response during the reaching phase has also been remarkably improved by the proposed control. To illustrate its superiority, we presented a composite complementary sliding control scheme for a cascade uncertain nonlinear system, which includes the benchmark nonlinear problem, TORA. Simulation results on TORA showed excellent responses to any initial conditions and to single-frequency sinusoidal disturbances.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130976939","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 : 2001-07-25DOI: 10.1109/SICE.2001.977833
T. Emura, M. Kumagai, R. Nomura
There are several types of motion capture system for virtual reality. The authors propose a new type of motion capture system that uses rotating magnetic field for angular position detection and differential magnetic field for linear position detection. The detection is based on calculation of correlation that makes accuracy of measurement and tolerance to noise high enough, and it is also based on frequency multiplex method that enables 6-axis measurement simultaneously. The experiments were carried out and results showed efficiently good performance for virtual reality.
{"title":"Development of motion capture system using rotating magnetic field and differential magnetic field","authors":"T. Emura, M. Kumagai, R. Nomura","doi":"10.1109/SICE.2001.977833","DOIUrl":"https://doi.org/10.1109/SICE.2001.977833","url":null,"abstract":"There are several types of motion capture system for virtual reality. The authors propose a new type of motion capture system that uses rotating magnetic field for angular position detection and differential magnetic field for linear position detection. The detection is based on calculation of correlation that makes accuracy of measurement and tolerance to noise high enough, and it is also based on frequency multiplex method that enables 6-axis measurement simultaneously. The experiments were carried out and results showed efficiently good performance for virtual reality.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130248870","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 : 2001-07-25DOI: 10.1109/SICE.2001.977801
S. Jeon, J. Choi
The objective of automated highway systems (AHS) is to increase the safety and throughput of the existing highway infrastructure by introducing traffic automation. AHS is an example of a large scale, multiagent complex dynamical system and is ideally suited for a hierarchical hybrid controller. We discuss the design of efficient hybrid controllers for the platoon maneuvers on an AHS. For the modeling of a hybrid system including the merge and split operations, we introduce the safety distance policy for the merge and split operations. Then, the platoon system is modeled by a hybrid system. In addition, the hybrid controller for the proposed merge and split operation models is presented. Finally, we demonstrate our scenarios for platoon maneuvers using the hybrid control scheme.
{"title":"Design of a hybrid controller for the platoon maneuvers","authors":"S. Jeon, J. Choi","doi":"10.1109/SICE.2001.977801","DOIUrl":"https://doi.org/10.1109/SICE.2001.977801","url":null,"abstract":"The objective of automated highway systems (AHS) is to increase the safety and throughput of the existing highway infrastructure by introducing traffic automation. AHS is an example of a large scale, multiagent complex dynamical system and is ideally suited for a hierarchical hybrid controller. We discuss the design of efficient hybrid controllers for the platoon maneuvers on an AHS. For the modeling of a hybrid system including the merge and split operations, we introduce the safety distance policy for the merge and split operations. Then, the platoon system is modeled by a hybrid system. In addition, the hybrid controller for the proposed merge and split operation models is presented. Finally, we demonstrate our scenarios for platoon maneuvers using the hybrid control scheme.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115097150","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 : 2001-07-25DOI: 10.1109/SICE.2001.977825
J. Song, Jang-Gyu Lee, T. Kang, S. Sung
Frequency weighted Gramians and a state weighted model reduction algorithm are proposed. The frequency weighted Gramians are defined in the frequency domain which have frequency weighting factors to accentuate the input-output behavior of the interested states in some frequency range. The algorithm is basically based on a state weighting technique due to frequency weighted Gramians differently from other algorithms that weights inputs or outputs. The concerned state has more influence on the reduced system in the range of the frequency weighted, resulting in small model reduction errors with little sacrifice in performance.
{"title":"Model reduction via frequency weighting approach","authors":"J. Song, Jang-Gyu Lee, T. Kang, S. Sung","doi":"10.1109/SICE.2001.977825","DOIUrl":"https://doi.org/10.1109/SICE.2001.977825","url":null,"abstract":"Frequency weighted Gramians and a state weighted model reduction algorithm are proposed. The frequency weighted Gramians are defined in the frequency domain which have frequency weighting factors to accentuate the input-output behavior of the interested states in some frequency range. The algorithm is basically based on a state weighting technique due to frequency weighted Gramians differently from other algorithms that weights inputs or outputs. The concerned state has more influence on the reduced system in the range of the frequency weighted, resulting in small model reduction errors with little sacrifice in performance.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115139219","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 : 2001-07-25DOI: 10.1109/SICE.2001.977834
M.M. Rahman, H.S. Kim, S. Ishikawa
An approach to recognize a human posture automatically is presented in this paper along with the investigation of a dress effect due to change of wearing dresses. The approach uses an appearance-based eigenspace technique, and augments it by employing blurred-edge operations over original images for reducing dress effect in eigenspace. The proposed blurred-edge operations confirm the expected recognition rate overcoming the dress effect, and related experiment is performed employing a human model wearing various dresses.
{"title":"Solving a dress problem for a human model recognition","authors":"M.M. Rahman, H.S. Kim, S. Ishikawa","doi":"10.1109/SICE.2001.977834","DOIUrl":"https://doi.org/10.1109/SICE.2001.977834","url":null,"abstract":"An approach to recognize a human posture automatically is presented in this paper along with the investigation of a dress effect due to change of wearing dresses. The approach uses an appearance-based eigenspace technique, and augments it by employing blurred-edge operations over original images for reducing dress effect in eigenspace. The proposed blurred-edge operations confirm the expected recognition rate overcoming the dress effect, and related experiment is performed employing a human model wearing various dresses.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128633000","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 : 2001-07-25DOI: 10.1109/SICE.2001.977866
K. Kubo
An under-sampling technique for estimating fundamental parameters of a sine wave is proposed. An algorithm for finding excess factor, direction of sampling, and final estimates including signal frequency, amplitude, initial phase angle and magnitude of pedestal, is shown in detail. The technique combined with non-uniform sampling and the Prony method is evaluated by numerical experiments. The technique gives accuracy on each estimate, showing higher precision especially on higher frequency up to an extraordinary higher limit. Thus, the technique enables us to utilize slower A/D converters for higher frequency measurement, or to achieve extremely high frequency measurement with using faster A/D converters.
{"title":"Under-sampling technique for sine wave frequency estimation","authors":"K. Kubo","doi":"10.1109/SICE.2001.977866","DOIUrl":"https://doi.org/10.1109/SICE.2001.977866","url":null,"abstract":"An under-sampling technique for estimating fundamental parameters of a sine wave is proposed. An algorithm for finding excess factor, direction of sampling, and final estimates including signal frequency, amplitude, initial phase angle and magnitude of pedestal, is shown in detail. The technique combined with non-uniform sampling and the Prony method is evaluated by numerical experiments. The technique gives accuracy on each estimate, showing higher precision especially on higher frequency up to an extraordinary higher limit. Thus, the technique enables us to utilize slower A/D converters for higher frequency measurement, or to achieve extremely high frequency measurement with using faster A/D converters.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122164609","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 : 2001-07-25DOI: 10.1109/SICE.2001.977820
Wu Weiguo, Y. Hasegawa, T. Fukudai
A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.
{"title":"Walking mode shifting control from biped standing to quadruped walking for a gorilla robot","authors":"Wu Weiguo, Y. Hasegawa, T. Fukudai","doi":"10.1109/SICE.2001.977820","DOIUrl":"https://doi.org/10.1109/SICE.2001.977820","url":null,"abstract":"A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122252489","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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