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Design and Experimental Evaluation of Self-Tuning PID Controller Using Evolutionary Computation

IFAC Proceedings Volumes 2000年第4期33卷 553-558页

作者： Yasue Mitsukura Toru Yamamoto Masahiro Kaneda Minoru Fukumi Norio Akamatsu Sirish L. Shah Department of Information Science & Intelligent Systems Faculty of Engineering University of Tokushima 2-1 Minami-josanjima Tokushima 770-8506 JAPAN Department of Information Science & Technology Education Faculty of Education Hiroshima University 1-1-1 Kagamiyama Higashi-Hiroshima Hiroshima 739-8524 JAPAN Department of Communication Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 JAPAN Department of Chemical and Materials Engineering University of Alberta Edomonton Alberta T6G 2G6 CANADA

PID control schemes have been widely used in most of process control systems for the control of chemical processes. However the selection of suitable or optimal tuning parameters for such control laws remains a challenging problem. The PID constants have a great influence on stability and control performance. In this paper, a self-tuning PID control scheme is proposed, which is able to deal with a time-varying system. The proposed scheme is derived based on the relationship between PID control and generalized minimum variance control(GMVC) laws. Furthermore, a suitable set of some user-specified parameters included in the GMVC criterion is sought by using a genetic algorithm recursively. Finally, the newly proposed scheme is evaluated on a temperature control system.

关键词： PID control self-tuning genetic algorithm process control generalized minimum variance control

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Modeling of hysteresis in deformation of rodlike objects toward their manipulation

Modeling of hysteresis in deformation of rodlike objects tow...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： T. Wada B.J. McCarragher H. Wakamatsu S. Hirai T. Yonezawa S. Tokumoto Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Eng Australian National University Canberra ACT Australia Department of Manufacturing Science Graduated School of Eng Osaka University Suita Osaka Japan Department of Robotics Ritsumeikan University Kusatsu Shiga Japan

A systematic approach to the modeling of deformable rodlike objects is presented. Various rodlike objects such as cords and wires are manipulated in many manufacturing processes. In such processes, it is important for successful manipulation to evaluate their shapes on a computer in advance because their shapes can be changed easily and their deformation often shows hysteresis properties. In this paper, we develop an analytical method to model the shape of deformable rodlike objects including hysteresis properties. First, we investigate the mechanism of hysteresis. Second, the potential energy of a rodlike object and the geometric constraints imposed on it are formulated. The shape of the object can be derived by minimizing the potential energy under the geometric constraints. Thirdly, a procedure to compute the shape of a deformed rodlike object is developed by applying a non-linear programming technique. Finally, we show some numerical examples with hysteresis using our proposed method.

关键词： Deformable models Hysteresis Shape Wires Potential energy Analytical models intelligent robots Australia History Linear programming

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Feedback picture sequence control for real-Time MPEG video transfer through ATM networks

Feedback picture sequence control for real-Time MPEG video t...

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1999 IEEE International Conference on Communications, ICC 1999

作者： Ohta, C. Morii, M. Department of Information Science and Intelligent Systems Faculty of Engineering University of Tokushima Japan

ISBN: (纸本)078035284X

This paper proposes a new feedback picture sequence control (FPSC) for providing better QOS and more effective usage of network resource in ATM networks. The FPSC utilizes the feedback mechanism of the ABR service and the flexibility of MPEG video coding in order to resolve the collision of I-pictures at switches. The FPSC requires only a very little modification of usage of RM cell in the ABR service. We also describe the MPEG encoder which can change the number of pictures in a GOP. Simulation results show that the FPSC can improve the QOS such as the cell loss ratio and mean buffering delay in the cell buffer of the switch. © 1999 IEEE.

关键词： Feedback

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A HAPTIC DEVICE DRIVEN BY GRASPING FORCE FOR HAND GESTURE TELE-COMMUNICATION

A HAPTIC DEVICE DRIVEN BY GRASPING FORCE FOR HAND GESTURE TE...

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ASME 1999 International Mechanical engineering Congress and Exposition, IMECE 1999

作者： Sawada, Hideyuki Hashimoto, Shuji Dept. of Intelligent Mechanical Systems Engineering Faculty of Engineering KAGAWA University Japan Department of Applied Physics School of Science and Engineering WASEDA University Japan

ISBN: (纸本)9780791816349

The importance of human-machine interface is widely acknowledged in accordance with the increase of the computer powers. In human to human communication, we communicate with each other by using not only verbal media but also nonverbal media. Especially information transmitted through the five senses is able to affect our emotions and feelings directly making for smooth communication. This paper introduces the development of a new haptic device driven by hand gestures. Since the device is molded with silicon-rubber with the softness of human skin, a user is able to make hand gestures with his "sense of force" by the transforming manipulations. The device is able not only to sense user's twiddling gestures but also to display reactions against the hand gestures by vibration patterns. As an experimental trial of a tele-communication system, the device was employed for terminal devices, and questionnaires were conducted to evaluate the device in the haptic communication. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Display devices

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Feedback picture sequence control for real-time MPEG video transfer through ATM networks

Feedback picture sequence control for real-time MPEG video t...

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IEEE International Conference on Communications (ICC)

作者： C. Ohta M. Morii Department of Information Science and Intelligent Systems Faculty of Engineering University of Tokushima Japan

关键词： Feedback Traffic control Asynchronous transfer mode Switches Communication system traffic control Contracts Telecommunication traffic Control systems Video compression Transform coding

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Multi-objective cellular neural networks

Multi-objective cellular neural networks

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International Joint Conference on Neural Networks (IJCNN)

作者： G. Liu S. Oe Department of Information Science and Intelligent Systems Faculty of Engineering University of Tokushima Tokushima Japan

This paper presents a new kind of cellular neural network (CNN) called multi-objective cellular neural network (MCNN). Like CNN, it is a large-scale nonlinear analog circuit which processes signals in real time, and it is made of a massive aggregate of regularly spaced circuit clones, called cells, which communicate with each other directly only through their nearest neighbors. Unlike CNN, each cell of MCNN has multiple vectors denoting different cell feature, and one vector will represent the meaning of that cell against other vectors when the network reaches the equilibrium state. Multi-objective cellular neural networks have some characteristics of CNN like: its continuous time feature allows real-time signal processing found wanting in the digital domain, its local interconnection feature makes it ideal for VLSI implementation and its multiple vector characteristic makes it applicable in many fields like image processing.

关键词： Cellular neural networks Large-scale systems Analog circuits Signal processing Aggregates Cloning Nearest neighbor searches Digital signal processing Integrated circuit interconnections Very large scale integration

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Vision

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Journal of Robotics and Mechatronics 1999年第2期11卷 87-87页

作者： Oe, Shunichiro Department of Information Science and Intelligent Systems Faculty of Engineering University of Tokushima 2-1 Minamijosanjima Tokushima770-8506 Japan

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A new approach to the KANSEI coordinates: automatic color arrangements

A new approach to the KANSEI coordinates: automatic color ar...

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IEEE International Conference on systems, Man and Cybernetics

作者： T. Sakamoto T. Kato Intelligent Systems Division Electro Technical Laboratory Tsukuba Japan Department of Industrial and Systems Engineering Faculty of Science and Engineering Chuo University Bunkyo Tokyo Japan

This paper deals with a problem to coordinate objects according to their impressions. First, the authors propose and define a KANSEI coordination problem, especially the color harmonization and arrangement for color combinations, and then formulate this problem. They simplify the practical complicated problem of arranging and coordinating colors for interior coordinates. This simplification enables one to formulate and finally resolve the problem into an optimization of the evaluation function under some constraint formulas. Therefore, it is expected that many kinds of constraint satisfaction methods can be used. The authors also point out that the evaluation function can be considered as a KANSEI model which can represent the relationship between subjectivity (the degrees of color harmony) and coloring styles.

关键词： Humans Information processing intelligent systems systems engineering and theory Constraint optimization Painting Image retrieval Clothing Atmosphere Atmospheric measurements

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Grasp planning for precision manipulation by multifingered robotic hand

Grasp planning for precision manipulation by multifingered r...

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IEEE International Conference on systems, Man and Cybernetics

作者： T. Hasegawa K. Murakami T. Matsuoka Department of Intelligent Systems Graduate School of Information Science and Electrical Engineering Kyushu University Fukuoka Japan Department of Electrical Engineering Faculty of Engineering Fukuoka University Fukuoka Japan

This paper describes a model-based grasp planner for an articulated multi-fingered robotic hand. The planner searches for an initial grasp from which a required continuous motion of an object is achieved using fingertips alone while keeping rolling contact with the object. An adaptive search strategy has been developed and implemented: the error analysis of the failed grasp is made to find the most promising search direction. A quality measure of manipulation is newly introduced and evaluated to select a better grasp among possible candidates. Simulation results are demonstrated.

关键词： Fingers Robot kinematics Shape intelligent robots Error analysis Grasping intelligent systems Information science Motion planning Actuators

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Gesture recognition for human-friendly interface in designer-consumer cooperate design system

Gesture recognition for human-friendly interface in designer...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： H. Sawada S. Hata S. Hashimoto Department of Intelligent Mechanical Systems Engineering Faculty of Engineering KAGAWA University Takamatsu Kagawa Japan Department of Applied Physics School of Science and Engineering WASEDA University Shinjuku Tokyo Japan

ISBN: (纸本)0780358414

A future system for flexible manufacturing must be a sensor-complex for multi-modality with high intelligence, since such a system should work with a human who has a variety of expression methods and acceptance channels. The paper describes three topics from our researches on gesture and haptic interfaces which can be introduced for a human-friendly interface in a designer-consumer cooperative production system. The first one is a gesture information acquisition method using an image processing technique. The second one is another gesture recognition system by employing accelerometers to measure the forces applied to the body. A haptic-communication device is introduced as the third topic of the paper. It is able not only to detect grasping force and the device orientation, but also to display the tactile sensation using the vibration motors to realize human-machine and human-human haptic communications.

关键词： Haptic interfaces Flexible manufacturing systems intelligent sensors Humans Production systems Image processing Accelerometers Force measurement Grasping Displays

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