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システム/制御/情報 Vol. 19 (2006), No. 3

ISIJ International
belloff
オンライン版ISSN: 2185-811X
冊子版ISSN: 1342-5668
発行機関: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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  32. Vol. 6 (1993)

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キーワードランキング

16 May. (Last 30 Days)

システム/制御/情報 Vol. 19 (2006), No. 3

ファジィスパイキングニューラルネットワークを用いた移動ロボットの行動学習

久保田 直行, 佐々木 裕宣

pp. 87-95

DOI:

10.5687/iscie.19.87

抄録

Recently, embodied cognition for robotics has been discussed, and various types of artificial neural networks are applied for behavior learning of robots in unknown and dynamic environments. In this paper, we propose behavioral learning based on a fuzzy spiking neural network to realize high adaptability of a mobile robot. However, the behavioral leaning capability of the robot depends strongly on the network structure. Therefore, we apply a genetic algorithm to acquire the network structure suitable to the changing environment. Finally, we discuss the effectiveness of the proposed method through experimental results on behavioral learning for collision avoidance and target tracing in a dynamic environment.

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ファジィスパイキングニューラルネットワークを用いた移動ロボットの行動学習

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Ris

遺伝的アルゴリズムを用いた係数の合成順序最適化による複数の定数乗算回路の合成手法

佐々木 孝雄, 豊嶋 久道

pp. 96-101

DOI:

10.5687/iscie.19.96

抄録

Multiple Constant Multiplication (MCM) circuits are often used in Digital Signal Processing (DSP), such as Finite-Impulse Response (FIR) filters, linear transforms and so on, and a synthesis method to minimize computational complexity is required considering hardware cost. In synthesis of an MCM circuit, shift-chain made from partial sum is very important. The shift-chain greatly depends on the order of synthesis coefficient because it is updated in the process of synthesizing the coefficient. In this research, we propose a synthesis method considering the order of coefficients to be synthesized using the Genetic Algorithm. Furthermore, this method can reduce not only the number of adders but also the number of adder-steps. Through simulations, we show that the proposed method achieves better performance than the existing methods.

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遺伝的アルゴリズムを用いた係数の合成順序最適化による複数の定数乗算回路の合成手法

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Ris

構造化平衡打ち切り法における誤差ノルムの低減化

安里 健太郎, 長堂 勤, 玉城 史朗

pp. 102-108

DOI:

10.5687/iscie.19.102

抄録

In this paper, we attempt reducing an error norm in structurally balanced truncation. Structurally balanced truncation is a controller reduction method developed from balanced truncation (a model reduction method) and is carried out by solving Linear Matrix Inequalities (LMIs). In this method, it is easy to get an a priori error bound which depends on LMI solutions, however, it is difficult to obtain optimal LMI solutions because the optimaization problem has the objective function which is not convex. To overcome the difficulty, a suboptimal procedure is proposed by Zhou et al., however, their procedure can not decrease the a priori error bound sufficiently. So we propose an error norm reduction algorithm utilizing a linearized objective function (a linearized equation of a non-convex function associated with the error bound) and balancing matrices. Finally, the validity of the proposed method are verified by using numerical examples.

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構造化平衡打ち切り法における誤差ノルムの低減化

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転置一般化ヤコビ行列を用いた宇宙ロボットの適応制御

平 雄一郎, 大屋 勝敬, 相良 慎一

pp. 109-116

DOI:

10.5687/iscie.19.109

抄録

This paper deals with a control method for a manipulator mounted on a free-floating space robot. A control method using the transpose of the Generalized Jacobian Matrix has been proposed. In contrast to many control methods using the inverse or pseudo-inverse matrix, the method guarantees the stability of the control system in the face of a singularity. This method, however, is developed on the assumption that all the parameters of the robot are known. That is, it is not sure whether the system stability can be ensured in the presence of parameter uncertainties. In this paper, we develop the adaptive control version. It is shown that the adaptive control system developed for the unknown parameters has the same stability property that the control system developed for the known parameters has.

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転置一般化ヤコビ行列を用いた宇宙ロボットの適応制御

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可変振幅型多重飽和フィードバックによる2重積分器系の大域的漸近安定化と外乱抑制

和田 信敬, 佐伯 正美

pp. 120-122

DOI:

10.5687/iscie.19.120
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可変振幅型多重飽和フィードバックによる2重積分器系の大域的漸近安定化と外乱抑制

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