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SICE Annual Conference 2005

作者： Watanabe, Keigo Liu, Guang Lei Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Hojomachi Saga 840-8502 Japan

For worm robots applied to pipe inspection and colonoscopy, earthworm-like robots with a locomotion pattern in backward wave or green caterpillar-like robots with a locomotion pattern in forward wave have been studied widely. It should be noted, however, that a method using a single and fixed locomotion pattern is not desirable in the sense of mobility cost, if there are various changes in pipe diameter. In this paper, locomotion patterns are considered for a semi-looper-like robot, which adopts a locomotion pattern of green caterpillars as the basic motion and sometimes can realize a locomotion pattern of looper, whose motion approximately consists of two rhythms or relatively low rhythm. © 2005 SICE.

关键词： Robot applications

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On tuning of ADRC with competing design indices:a quantitative study

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control Theory and Technology 2023年第1期21卷 16-33页

作者： Yutao Zhao Yi Huang Zhiqiang Gao Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Department of Electrical Engineering and Computer Science Center for Advanced Control TechnologiesCleveland State UniversityClevelandOH 44115USA

controller optimization has mostly been done by minimizing a certain single cost *** practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this *** to account for such complexity and nuances is detrimental to the applications of any advanced control *** paper addresses this challenge heads on,in the context of active disturbance rejection controller(ADRC)and with four competing DIs:stability margins,tracking,disturbance rejection,and noise *** this end,the lower bound for the bandwidth of the extended state observer is first established for guaranteed closed-loop ***,one by one,the mathematical formula is meticulously derived,connecting each DI to the set of controller *** our best knowledge,this has not been done in the context of *** formulas allow engineers to see quantitatively how the change of each tuning parameter would impact all of the DIs,thus making the guesswork *** example is given to show how such analytical methods can help engineers quickly determine controller parameters in a practical scenario.

关键词： Uncertain systems Active disturbance rejection control(ADRC) Design indices(DIs) Extended state observer(ESO)

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Adaptive threshold determination for automatic detection of EEG arousals in PSG records proceedings 10th

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10th World Congress on Medical Physics and Biomedical engineering, WC 2006

作者： Sugi, Takenao Horita, K. Kawana, F. Nakamura, M. Department of Electrical and Electronic Engineering Saga University Japan Department of Advanced Systems Control Engineering Saga University Japan Department of Clinical Physiology Toranomon Hospital Japan

ISBN: (纸本)9783540368397

Recent years, increase of patients with a sleep apnea syndrome (SAS) becomes a serious problem. The EEG arousals appeared in the sleep EEG of whole night recording gives specific information for clinical diagnosis on sleep disorders. In this paper, the automatic detection of EEG arousals in PSG record was proposed. EEG arousals originating from the external stimuli such as sleep apnea, periodic leg movement and so on are clinically important, so the respiratory information, increase of electromyographic (EMG) activities of subject were considered for determining the threshold values. In order to restrain the differences of characteristics of EEG between subjects, the normalization procedures were adopted for calculating parameters. The proposed method was applied to the data acquired from eight subjects and the accuracy was investigated by comparing the visual inspection. Proposed automatic detection method will be an powerful assistant tool for visual inspection of whole night PSG recordings. © International Federation for Medical and Biological engineering 2007.

关键词： Sleep research

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Feature extraction for mental fatigue and relaxation states based on systematic evaluation considering individual difference

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and systems 2009年第2期129卷 302-307+16页

作者： Chen, Lanlan Sugi, Takenao Shirakawa, Shuichiro Zou, Junzhong Nakamura, Masatoshi Department of Automation East China University of Science and Technology Shanghai 200237 China Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan National Center of Neurology and Psychiatry Tokyo Japan

Feature extraction for mental fatigue and relaxation states is helpful to understand the mechanisms of mental fatigue and search effective relaxation technique in sustained work environments. Experiment data of human states are often affected by external and internal factors, which increase the difficulties to extract common features. The aim of this study is to explore appropriate methods to eliminate individual difference and enhance common features. Mental fatigue and relaxation experiments are executed on 12 subjects. An integrated and evaluation system is proposed, which consists of subjective evaluation (visual analogue scale), calculation performance and neurophysiological signals especially EEG signals. With consideration of individual difference, the common features of multi-estimators testify the effectiveness of relaxation in sustained mental work. Relaxation technique can be practically applied to prevent accumulation of mental fatigue and keep mental health. The proposed feature extraction methods are widely applicable to obtain common features and release the restriction for subjection selection and experiment design. © 2009 The Institute of Electrical Engineers of Japan.

关键词： Feature extraction

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Computational algorithm for fish schooling using bitmap image

Computational algorithm for fish schooling using bitmap imag...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Kushida, Kana Fukuda, Koji Sugino, Ryuzaburo Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Department Systems and Control Engineering Anan National College of Technology Tokushima Japan

Some kinds of living creatures like fish, form groups and show aggregate movements. Although there are many papers about the model of fish-like behavior, the comparison with behavior of model and actual fish has not been reported in almost papers. The purpose of this study is to build the model which generates the action similar to behavior of actual fish. The model will be represented as the computer algorithms. And if the algorithm is implemented to the artificial system, the behavior of the system is in agreement with actual fish. In this paper, it is proposed the simple fish behavior model, and built the simulation system to check and evaluate the model. The system simulates the behavior of virtual small robots, and the robots is controlled by the proposed simple fish behavior model. The virtual robot will be received the force from the environment, and every robot which is a part of the environment will exert an influence on the behavior of other robots. To realize this simulation system, bitmap image is used as the force potential field. The value of one place in the potential field is represented by the one pixel's color intensity in the bitmap image. On the other hand, the water tank experiment was conducted using Japanese Horse Mackerel in Tokushima Fisheries Research Institute. The results of the simulation, the robots behave like a school of fish, however the trajectories of robots have the some kind of differences to actual fish swimming. The statistical, chaos and fractal analysis are tried to find the characteristics of robot and fish trajectories. As the results of these analyses of the simulation and experiment, the very interesting trends were recognized about the differences of the trajectories and swimming/moving speed.

关键词： Fish

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Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： Zhongbo Sun Shijun Tang Jiliang Zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware

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Automatic spike detection based on real-time multi-channel template

Automatic spike detection based on real-time multi-channel t...

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2011 4th International Conference on Biomedical engineering and Informatics, BMEI 2011

作者： Ji, Zhanfeng Wang, Xingyu Sugi, Takenao Goto, Satoru Nakamura, Masatoshi Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Ministry of Education Shanghai China Department of Advanced Systems Control Engineering Saga University Saga Japan Research Institute of Systems Control Saga University Saga Japan

ISBN: (纸本)9781424493524

Automatic EEG spike detection provide valuable information for diagnosis of epilepsy. In the past 30 years, a number of algorithms were proposed. However, the basic idea of most algorithms is to identify spike activities. We have developed an algorithm based on identify non-spike activities for off-line analysis. In this paper, we improved the algorithm for online application using real-time template. Template method is a typical spike detection method. It was not widely employed because of the difficulty of making template. Our results suggested that multi-channel template is meaningful and effective for real-time detection. Spike activities can be detected with a delay of about 2 s. We also designed an simple user-friendly monitor interface for monitor and review spike events in real-time. © 2011 IEEE.

关键词： multi-channel template real-time spike detection Spike spike spikes jigs(templates) Real time algorithms MONITOR analysis of flowline

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Research on the virtual space system used for learning of autonomous robots

Research on the virtual space system used for learning of au...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Yano, Hirotsugu Douzono, Hiroshi Fujiwara, Ryouhei Department of Advanced Systems Control Engineering Saga University Saga Japan Oki Software Co. Ltd. Japan

ISBN: (纸本)9784907764333

Recently, the applications of the virtual space become more popular. In some cases, the experiments in real space require huge time and huge costs. For such cases, experiments in the virtual space are applied. We have developed virtual space system for learning of autonomous robot controlled with visual information in OpenGL space. The purpose of this study is to develop the more realistic virtual space which can compensate the difference between real space and virtual space. For this purpose, we introduced the texture mapping to the object in virtual space and the additional virtual sensors which can use for controlling the robot. We made some experiments of autonomous robots controlled by SOM-RL algorithm and examine the effectiveness of proposed system. © 2009 SICE.

关键词： Robots

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Development of measurement system and complexity analysis for three-dimensional fish swimming behavior

Development of measurement system and complexity analysis fo...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Morimoto, Maki Sugino, Ryuzaburo Fukuda, Koji Itami, Shin Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Department of Systems and Control System Engineering Anan National College of Technology Tokushima Japan

Understanding of fish's behavior is one of the big subjects in fishery in order to catch the fish effectively. It is important to improve the efficiency of fishery and we must develop the new effective fishing method. The aim of this study is to extract the three-dimensional trajectory of fish swimming behavior. We develop the one of stereo camera system to extract fish trajectory from motion picture images. Furthermore, the chaos and fractal analyses are introduced to explain the complexity of fish behavior as intellectual animal behavior. We show the obtained results of the time series of swimming velocity using its reconstructed data and the effectiveness of 3D chaos and fractal analysis.

关键词： Fish

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A Novel Adaptive Iterative Learning control via Data-driven Approach 35

A Novel Adaptive Iterative Learning Control via Data-driven ...

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第35届中国控制会议

作者： CHI Ronghu LIU Xiaohe HOU Zhongsheng CHIEN Chiang-Ju School of Automation & Electrical Engineering Qingdao University of Science & Technology Advanced Control Systems Lab School of Electronics & Information EngineeringBeijing Jiaotong University Department of Electronic Engineering Huafan University

ISBN: (纸本)9781509009107

A novel adaptive ILC approach is proposed for the control tasks of tracking iteration-varying desired trajectory. The output the controlled system is reformulated as a function of initial states and control inputs only. Then, an iteration-dynamical linearization is proposed for the controlled system. With the identical initial conditions, the system output is finally formulated by the input series only. Then, a learning control law is designed according to the iteration dynamical linearization, where the unknown system parameter is estimated by an iterative updating law. Simulation study confirms the efficiency and application of the proposed method.

关键词： Adaptive ILC Iteration-varying reference trajectory Dynamical linearization Data-driven control

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