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IEEE International Conference on Robotics and Biomimetics

作者： Kazuya Nishigai Kazuyuki Ito Graduate School of Systems and Control Engineering Hosei University Department of Electrical and Electronics Engineering Faculty of Science and Engineering Hosei University

ISBN: (纸本)9781457721366

We address the autonomous control of a 6-legged robot using reinforcement learning. In general, a robot can be made to learn adaptive behavior through reinforcement learning. However, reinforcement learning, presents a serious problem when it is applied to robots with many degrees of freedom, namely the state explosion problem. In our previous works, we proposed reinforcement learning with body image and discussed its effectiveness in applying the method to a multi-legged robot However, this was restricted to an ideal simulated world, and we did not address its effectiveness for real robots. In this paper, we report upon an actual 6-legged robot we developed, and discuss the effectiveness of applying reinforcement learning with body image to it. We conducted the learning process in a simulated world and then applied the obtained policy to the real robot The result was that effective locomotion was realized.

关键词： learning (artificial intelligence) Robot Body Image Learning Real number autonomous control Adaptive Behavior Standing Orders Learning processes

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Patterned Garnet Films on Substrates with Ion-Beam Bombarded Micropatterns

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MRS Online Proceedings Library 2011年第1期517卷 487-492页

作者： Okamura, Yasuyuki Yamamoto, Sadahiko Division of Advanced Electronics and Optical Science Osaka University Graduate School of Engineering Science Toyonaka Osaka Japan Department of Optomechatronics Wakayama University Faculty of Systems Engineering Wakayama Japan

We report the selected-area epitaxy of rare-earth iron garnet crystalline and amorphous straight ridge patterns, from 4μm to 8μm in width, deposited on Gd3Ga5O12 single crystal substrates. These samples were fabricated via a sputter epitaxial method on substrates that were partially etched by ion-beam bombardment. The strip pattern direction has given the considerable influence on the crystal-graphic formation of the sidewall of the grown ridge. The ridge shapes were similar to results that have been reported for the dissolution forms of garnet crystals in phosphoric acid and the facet of garnet crystals grown from flux. Furthermore, we have successfully grown both an epitaxial garnet film onto an amorphous film and an amorphous straight ridge with a triangular shape surrounded by crystal.

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Experimental study on the 300W class planar type solid oxide fuel cell stack: Investigation for appropriate fuel provision control and the transient capability of the cell performance

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Journal of Physics: Conference Series 2012年第1期395卷

作者： Y Komatsu G Brus S Kimijima J S Szmyd Division of Regional Environment Systems Graduate School of Engineering Shibaura Institute of Technology 307 Fukasaku Minuma-ku Saitama-city Saitama 337-8570 Japan Department of Fundamental Research in Energy Engineering Faculty of Energy and Fuels AGH – University of Science and Technology 30 Mickiewicza Ave. Krakow 30-059 Poland Department of Machinery and Control Systems College of Systems Engineering and Science Shibaura Institute of Technology 307 Fukasaku Minuma-ku Saitama-city Saitama 337-8570 Japan

The present paper reports the experimental study on the dynamic behavior of a solid oxide fuel cell (SOFC). The cell stack consists of planar type cells with standard power output 300W. A Major subject of the present study is characterization of the transient response to the electric current change, assuming load-following operation. The present studies particularly focus on fuel provision control to the load change. Optimized fuel provision improves power generation efficiency. However, the capability of SOFC must be restricted by a few operative parameters. Fuel utilization factor, which is defined as the ratio of the consumed fuel to the supplied fuel is adopted for a reference in the control scheme. The fuel flow rate was regulated to keep the fuel utilization at 50%, 60% and 70% during the current ramping. Lower voltage was observed with the higher fuel utilization, but achieved efficiency was higher. The appropriate mass flow control is required not to violate the voltage transient behavior. Appropriate fuel flow manipulation can contribute to moderate the overshoot on the voltage that may appear to the current change. The overshoot on the voltage response resulted from the gradual temperature behavior in the SOFC stack module.

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Distributed vision-aided cooperative localization and navigation based on three-view geometry

Distributed vision-aided cooperative localization and naviga...

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2011 IEEE Aerospace Conference, AERO 2011

作者： Indelman, Vadim Gurfil, Pini Rivlin, Ehud Rotstein, Hector Faculty of Aerospace Engineering Technion - Israel Institute of Technology Haifa 32000 Israel Department of Computer Science Technion - Israel Institute of Technology Haifa 32000 Israel RAFAEL - Advanced Defense Systems Limited Haifa 31021 Israel

ISBN: (纸本)9781424473502

This paper presents a new method for distributed vision-aided cooperative localization and navigation for multiple autonomous platforms based on constraints stemming from the three-view geometry of a general scene. Each platform is assumed to be equipped with a standard inertial navigation system and an on-board, possibly gimbaled, camera. The platforms are also assumed to be capable of intercommunicating. No other sensors, or any a priori information is required. In contrast to the traditional approach for cooperative localization that is based on relative pose measurements, the proposed method formulates a measurement whenever the same scene is observed by different platforms. Each such measurement is constituted upon three images, which are not necessarily captured at the same time. The captured images, attached with some navigation parameters, are stored in repositories by each, or some, of the platforms in the group. A graph-based approach is applied for calculating the correlation terms between the navigation parameters associated to images participating in the same measurement. The proposed method is examined using a statistical simulation in a leader-follower scenario, and is demonstrated in an experiment that involved two vehicles in a holding pattern scenario. © 2011 IEEE.

关键词： Inertial navigation systems

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control of an Omnidirectional Walking Support Walker by Forearm Pressures

Control of an Omnidirectional Walking Support Walker by Fore...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Yinlai Jiang Shuoyu Wang Kenji Ishida Takeshi Ando Masakatsu G. Fujie School of Systems Engineering Kochi University of Technology Department of Physical Medicine and Rehabilitation Kochi University Graduate School of Advanced Science and Engineering and the Faculty of Science and Engineering Waseda University Faculty of Science and Engineering Waseda University

ISBN: (纸本)9781424441211

We have been developing an omnidirectional walker (ODW) for walking support. In walking support, it is necessary control the ODW following the user's direction and velocity intentions. In this paper, a novel interface is proposed to recognize the user's intentions according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by 4 force sensors embedded in the ODW's armrest. The relationship between forearm pressure and user intentions was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance-type fuzzy reasoning method. We conduct a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW.

关键词： walking support Forearm Walkers Standing Orders force sensors Wrist Fuzzy rules

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Development of JAUS-compliant controller using Python

Development of JAUS-compliant controller using Python

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SICE Annual Conference

作者： Takumi Cho Kazuyuki Kobayashi Kajiro Watanabe Tomoyuki Ohkubo Yosuke Kurihara Department of Systems and Control Engineering Faculty of Engineering Hosei University Tokyo Japan Faculty of Engineering Hosei University Tokyo Japan Faculty of Science and Technology Seikei University Tokyo Japan

ISBN: (纸本)9784907764388

JAUS was originally defined by the United States department of Defense for enhanced interoperability between different types of unmanned systems and controllers. In order for unmanned systems to accomplish various missions, messages are defined based on the JAUS Reference Architecture. In this paper, we describe a JAUS-compliant controller for the JAUS Challenge in the Intelligent Ground Vehicle Competition (IGVC). To achieve rapid controller version-up during the competition, we employed Python language and MATLAB, a combination that enabled rapid modification during the debugging process. The validity of the proposed approach was verified through the IGVC 2011 competition.

关键词： Computer architecture Navigation MATLAB Mobile robots Land vehicles Debugging

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Comparison of Cellulose Decomposition by Microwave Plasma and Radio Frequency Plasma

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Green and Sustainable Chemistry 2011年第3期1卷 85-91页

作者： Katsuya Konno Hajime Onodera Kazuhisa Murata Kaoru Onoe Tatsuaki Yamaguchi Hitachi Automotive Systems Ltd Development Div. Drive Control Systems Div. Department of Life and Environmental Sciences Faculty of Engineering Chiba Institute of Technology National Institure of Advanced Industrial Science and Technology (AIST) AI

Biomass conversion by plasma has the advantage of mainly producing gaseous products, H2, CO and CO2. Though the thermal plasma has been used for this conversion, the plasma temperature is too high to be unfit for the conversion biomass. The temperature of cold plasma, however, is lower under 3000 K. It expects to be adequate for biomass conversion. Cold plasma can be obtained with irradiation microwave (2.45 GHz) or radio frequency (13.5 MHz) under reduce gas pressure. Therefore, in present study, the effective decomposition of cellulose by microwave plasma (MWP) and radio frequency plasma (RFP) is examined. The conversion of cellulose by MWP (XMWP) is higher than that by RFP (XRFP), irrespective of the reaction time. XMWP and XRFP reach 92.8 wt% at 10 min and 68.1 wt% at 30 min. The maximum yield of gaseous products (Ygas) by MWP is 85.1 wt% at 10 min, higher by 23.2 wt% than Ygas by RFP at 30 min. The amount of H2 and CO obtained by MWP is 18.0 mmol/g and 23.5 mmol/g, it is larger than that obtained by RFP. Comparing the relationship between conversion and yield, Ygas of MWP is slightly higher than that of RFP under X of 60 wt%, and both Ygas is almost same over 60 wt%. The amount of H2 and CO obtained by MWP is larger by 9.3 mmol/g and 9.6 mmol/g than that obtained by RFP. C, H and O element in cellulose is mainly distributed to H2 and CO by MWP. RFP mainly distributes H and O element to the other gases without H2 and CO. In addition, a large amount of C element is remains in the residue. Those results is found that MWP was more suitable for cellulose gasification than RFP, since MWP can highly convert C, H and O element to H2 and CO by higher energy of microwave frequency in comparison with radio frequency.

关键词： Microwave Plasma Radio Frequency Plasma Cellulose

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A Modified Eigenvector Method for Blind Deconvolution of MIMO systems Using the Matrix Pseudo-Inversion Lemma

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Circuits and systems 2011年第1期2卷 7-13页

作者： Mitsuru Kawamoto Kiyotaka Kohno Yujiro Inouye Koichi Kurumatani Information Technology Research Institute National Institute of Advanced Science and Technology Tsukuba Japan Department of Electronic Control Engineering Yonago National College of Technology Yonago-city Japan Department of Electronic and Control Systems Engineering Shimane University Matsue Japan

Recently we have developed an eigenvector method (EVM) which can achieve the blind deconvolution (BD) for MIMO systems. One of attractive features of the proposed algorithm is that the BD can be achieved by calculating the eigenvectors of a matrix relevant to it. However, the performance accuracy of the EVM depends highly on computational results of the eigenvectors. In this paper, by modifying the EVM, we propose an algorithm which can achieve the BD without calculating the eigenvectors. Then the pseudo-inverse which is needed to carry out the BD is calculated by our proposed matrix pseudo-inversion lemma. Moreover, using a combination of the conventional EVM and the modified EVM, we will show its performances comparing with each EVM. Simulation results will be presented for showing the effectiveness of the proposed methods.

关键词： Blind Signal Processing Blind Deconvolution Eigenvector Methods Super-Exponential Mthods MIMO systems Matrix Pseudo-Inversion Lemma

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Explicit constraint control based on interpolation techniques for time-varying and uncertain linear discrete-time systems

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IFAC Proceedings Volumes 2011年第1期44卷 5741-5746页

作者： H.-N. Nguyen P.-O. Gutman S. Olaru M. Hovd SUPELEC Systems Sciences (E3S) – Automatic Control Department Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology Department of Engineering Cybernetics Norwegian University of Science and Technology

Abstract In this paper we consider the problem of regulating a time-varying and uncertain linear discrete-time system to the origin. It is shown how, by applying an interpolation technique and minimizing an appropriate objective function, one can achieve feasibility and a robustly and asymptotically stable closed-loop behavior. Moreover, we show that the control is a piecewise affine and continuous function of state. A simulation result demonstrates the performance of our approach.

关键词： Vertex control Model predictive control Interpolation Explicit solution Invariant set Linear matrix inequalities

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Study of visible light communication system using RGB LED lights

Study of visible light communication system using RGB LED li...

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SICE Annual Conference

作者： Takuto Komiyama Kazuyuki Kobayashi Kajiro Watanabe Tomoyuki Ohkubo Yosuke Kurihara Department of Systems and Control Engineering Faculty of Engineering Hosei University Tokyo Japan Faculty of Engineering Hosei University Koganei Tokyo Japan Faculty of Science and Technology Seikei University Musashino Tokyo Japan

ISBN: (纸本)9781457707148

In recent years, visible light communication is attracting growing interest for wireless communications since it is low-cost and easily maintained by using high-speed switchable LEDs. We have developed a prototype to demonstrate wireless visible light communications using RGB LEDs as both transmitter and light source. The RGB LEDs enable parallel signal communications, and a PSoC microcontroller is used to control them, thus significantly reducing the need for extra circuits and allowing rapid modification of communication software. A prototype system was developed and its validity was confirmed.

关键词： Light emitting diodes Image color analysis Modulation Educational institutions Wireless communication Light sources

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