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15th International Symposium on Artificial Life and Robotics, AROB '10

作者： Razali, Saifudin Bin Watanabe, Keigo Maeyama, Shoichi Izumi, Kiyotaka Division of Industrial Innovation Sciences Graduate School of Natural Science and Technology Okayama University 3-1-1 Tsushima-naka Kita-ku Okayama 700-8530 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288044

The unscented transformation is known as a technique to firstly generate a set of 2n + 1 sigma points and their weights, and secondly to propagate each sigma point value through a nonlinear function, where n denotes the dimension of the random state variable. Note however that there are two cases in a discrete-time filtering problem: one is the case where such a transformation is applied two times to the nonlinear model function and the nonlinear measurement function separately by using different mean and covariance, whereas the other is the case where such a transformation is basically applied to the nonlinear model function and the same sigma point values are only propagated to the nonlinear measurement function. So, we here examine the performance difference between them in a particular estimation problem. In addition, it is sometimes to encounter the case where for an unscented Kalman filter, the original state is augmented with other system and measurement noises simultaneously as if the original state and measurement noises are included in nonlinear functions, even though they are actually to be additive to each model function. Therefore, we further check how much the performance improvement or degradation is, compared to the case where there is no inconsistency in the model assumptions. © 2010 ISAROB.

关键词： Nonlinear systems

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Modeling an autonomous underwater vehicle with four-thrusters

Modeling an autonomous underwater vehicle with four-thruster...

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15th International Symposium on Artificial Life and Robotics, AROB '10

作者： Zain, Zainah Md. Watanabe, Keigo Danjo, Tomomi Izumi, Kiyotaka Nagai, Isaku Division of Industrial Innovation Sciences Graduate School of Natural Science and Technology Okayama University 3-1-1 Tsushima-naka Kita-ku Okayama 700-8530 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

In order to reduce the drag forces against a stream for an X4-autonomous underwater vehicle (AUV), a new type of hull shape is considered with an ellipsoid body. The associated dynamical model is derived by using a La... 详细信息

ISBN: (纸本)9784990288044

关键词： Autonomous underwater vehicles

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Stability analysis with H∞ performance of production networks with autonomous work systems and time-varying delays

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ICIC Express Letters, Part B: Applications 2010年第2期1卷 175-182页

作者： Karimi, Hamid Reza Scholz-Reiter, Bernd Department of Engineering Faculty of Engineering and Science University of Agder N-4898 Grimstad Norway Department of Planning and Control of Production Systems University of Bremen Bremen Germany

This paper considers the problem of stability analysis with an H ∞ performance for a class of production networks of autonomous work systems with delays in the capacity changes. The system under consideration shares information between work systems and the work systems adjust capacity with the objective of maintaining a desired amount of local work in progress. An appropriate Lyapunov function is utilized to establish some delay-range-dependent conditions in terms of linear matrix inequalities for the stability analysis of the network. ICIC International © 2010.

关键词： Lyapunov functions

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Development of cellular phone based JAUS-compliant unmanned system controller

Development of cellular phone based JAUS-compliant unmanned ...

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SICE Annual Conference

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

ISBN: (纸本)9781424476428

This paper describes a newly developed JAUS-based mobile robot controller achieved through the use of an i-Mode application. JAUS is an open architecture enabling the control of multiple unmanned systems. For controlling unmanned robots, we developed an i-Mode-based wireless controller that recognizes JAUS-compliant message sets suitable for simultaneous control of multiple mobile robots. The proposed JAUS controller employs an http connection device and Java programming language to avoid machine dependency as well as enable rapid software modification.

关键词： Mobile robots Computer architecture Cellular phones control systems Vehicles Navigation Mobile communication

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Tool Difference Transition Visualization for Semiconductor Manufacturing

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SICE Journal of control, Measurement, and System Integration 2010年第3期3卷 187-192页

作者： Tomoaki Kubo Masateru Minami Tetsuya Homma Functional Control Systems Shibaura Institute of TechnologyCorporate Manufacturing Engineering Center Toshiba Corporation Research Center for Advanced Science and Technology The University of Tokyo Department of Electronic Engineering Shibaura Institute of Technology

Reducing tool differences is one of the important tasks to improve the yield of semiconductor device manufacturing. Various kinds of methods have been proposed to solve this problem. These methods enable us to find problematic tools from numbers of process tools. However, finding problematic tools is not always enough to work out the problem of tools. Visualization of the transition profile of tool differences provides us additional information to help finding the unknown control parameters. It helps us to find corresponding events such as maintenance, repair, and adjustment. We design a profiling algorithm based on the maximum likelihood estimation. This algorithm introduces a new constraint that “tools are stable at each process step for a short period”, and recursively uses a regression method by employing previous results of the estimation. Simulation results show that our algorithm extracts the transition profile of tool differences more precisely than existing regression methods.

关键词： regression analysis tool difference quality control semiconductor device fabrications manufacturing equipment

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An Outlier Removal Method for SPC in Semiconductor Manufacturing

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SICE Journal of control, Measurement, and System Integration 2010年第4期3卷 292-298页

To maintain stable operation of semiconductor fabrication lines, statistical process control (SPC) methods are recognized to be effective. In semiconductor fabrication lines, there exist a huge number of process state signals to be monitored, and these signals contain both normally and non-normally distributed data, which make the application of SPC difficult. The authors have already proposed an SPC method “ESCM” which can solve these problems. However, this method has a problem that it is highly sensitive to outliers contained in the reference data. In this paper, we propose a new outlier removal method to solve this problem. This method uses the “effective standard deviation” we used in the ESCM to deal with a wide range of non-normal distributions. Basic performances of this method are demonstrated by comparing abilities to detect outliers correctly, and to mistakenly detect non-outlier data with conventional methods. In the demonstration, we use various kinds of artificially generated data and real data observed in process tools in a semiconductor fabrication line. Usefulness of this method is demonstrated by studying the effects of this method when used with ESCM.

关键词： semiconductor manufacturing SPC control chart non-normal distribution outlier

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A Hierarchical Image Annotation Method Based on SVM and Semi-supervised EM

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自动化学报 2010年第7期36卷 960-967页

作者： GAO Yan-Yu YIN Yi-Xin UOZUMI Takashi School of Information Engineering University of Science and Technology Beijing Beijing 100083 P.R.China Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education) University of Science and Technology Beijing Beijing 100083 P. R. China Department of Computer Science and Systems Engineering Muroran Institute of Technology Muroran 050- 8585 Japan

Automatic image annotation, which aims at automatically identifying and then assigning semantic keywords to the meaningful objects in a digital image, is not a very difficult task for human but has been regarded as a difficult and challenging problem to machines. In this paper, we present a hierarchical annotation scheme considering that generally human s visual identification to a scenery object is a rough-to-fine hierarchical process. First, the input image is segmented into multiple regions and each segmented region is roughly labeled with a general keyword using the multi-classification support vector machine. Since the results of rough annotation affect fine annotation directly, we construct the statistical contextual relationship to revise the improper labels and improve the accuracy of rough annotation. To obtain reasonable fine annotation for those roughly classified regions, we propose an active semi-supervised expectation-maximization algorithm, which can not only find the representative pattern of each fine class but also classify the roughly labeled regions into corresponded fine classes. Finally, the contextual relationship is applied again to revise the improper fine labels. To illustrate the effectiveness of the presented approaches, a prototype image annotation system is developed, the preliminary results of which showed that the hierarchical annotation scheme is effective.

关键词：数字图像自动化系统准确性意义图像标注

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Automatic estimation of light sleep level during short nap

Automatic estimation of light sleep level during short nap

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15th International Symposium on Artificial Life and Robotics, AROB '10

作者： Wang, Bei Sugi, Takenao Wang, Xingyu Shirakawa, Shuichiro Nakamura, Masatoshi Department of Automation East China University of Science and Techonology Shanghai China Department of Electrical and Electronic Engineering Saga University Saga Japan National Centre of Neurology and Psychiatry Tokyo Japan Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9784990288044

Short nap is a good relaxation way when people feel sleepy and tired during the day time. An automatic light sleep level estimation technique was presented for short nap sleep evaluation. Parameters were extracted from the polysommnographic sleep record. Sleep stages of open eyes awake, close eyes awake, and stage 1 were determined automatically based on the conditional probability. The conditional probability indicated the possibility of occurrence of sleep stages during short nap. The light sleep level was estimated based on the continuous change of conditional probability of awake. The developed technique can be usable for comfortable short nap sleep control. © 2010 ISAROB.

关键词： Probability

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Iterative-analytic redundancy resolution scheme for a cable-driven redundant parallel manipulator

Iterative-analytic redundancy resolution scheme for a cable-...

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IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Yousef B. Bedoustani Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Department of Systems and Control Faculty of Electrical and Computer Engineering Khaje Nasir Toosi University of Technology Tehran Iran

In this paper, redundancy resolution of a cable-driven parallel manipulator is solved by an iterative-analytic scheme. The method can be applied to all kind of redundant manipulators either parallel or serial with constraint caused through their dynamics. However, for sake of simulation the proposed method is implemented on a cable-driven redundant parallel manipulator (CDRPM). The redundancy resolution problem is formulated as a convex optimization with equality and non-equality constraints caused by manipulator structure and cables dynamics. Karush-Kuhn-Tucker theorem is used to analyze the optimization problem and to find an analytic solution. Subsequently, a tractable and iterative search algorithm is proposed to solve the redundancy resolution of such redundant mechanisms. Furthermore, it is shown through the simulation that, the elapsed time required to implement the analytical redundancy resolution scheme in a closed-loop structure is considerably less than that of other numerical optimization methods.

关键词： Redundancy Optimization Equations Actuators Manipulator dynamics Jacobian matrices

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Linear models for plasma current control in tokamak reactors

Linear models for plasma current control in tokamak reactors

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Aitor J. Garrido Izaskun Garrido M. Goretti Sevillano Modesto Amundarain Mikel Alberdi Oscar Barambones Manuel De la Sen Department of Systems Engineering and Automatic Control School of Technical Industrial Engineering Bilbao Spain Department of Systems Engineering and Automatic Control School of technical Industrial Engineering Vitoria Spain Department of Electricity and Electronics Institute of Research and Development of Processes Faculty of Science and Technology Bilbao Spain

The control of plasma in nuclear fusion has been revealed as a promising application of control engineering, with increasing interest in the control community during last years. In this paper it is developed a control-oriented linear model for the control of plasma current. For this purpose, it is provided a summary of the background necessary to deal with control problems in tokamak-based nuclear fusion reactors as it is the case of the future ITER tokamak. Besides, it is also given a review of the most used simulators and plasma models, with the aim of providing an adequate background for control engineers to derive their own control-oriented model or to choose the appropriate existing one. Finally, the proposed plasma model performance is proven in a current drive profile trajectory tracking problem using a modified anti-windup PID-based control scheme.

关键词： Mathematical model Equations Tokamaks Magnetohydrodynamics Magnetic fields Computational modeling

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