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システム/制御/情報 Vol. 21 (2008), No. 1

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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  1. Vol. 37 (2024)

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  2. Vol. 36 (2023)

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  3. Vol. 35 (2022)

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  4. Vol. 34 (2021)

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  5. Vol. 33 (2020)

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  6. Vol. 32 (2019)

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  7. Vol. 31 (2018)

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  8. Vol. 30 (2017)

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  9. Vol. 29 (2016)

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  10. Vol. 28 (2015)

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  11. Vol. 27 (2014)

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  12. Vol. 26 (2013)

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  13. Vol. 25 (2012)

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  14. Vol. 24 (2011)

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  15. Vol. 23 (2010)

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  16. Vol. 22 (2009)

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  17. Vol. 21 (2008)

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  18. Vol. 20 (2007)

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  19. Vol. 19 (2006)

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  20. Vol. 18 (2005)

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  21. Vol. 17 (2004)

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  22. Vol. 16 (2003)

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  23. Vol. 15 (2002)

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  24. Vol. 14 (2001)

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  25. Vol. 13 (2000)

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  26. Vol. 12 (1999)

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  27. Vol. 11 (1998)

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  28. Vol. 10 (1997)

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  29. Vol. 9 (1996)

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  30. Vol. 8 (1995)

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  31. Vol. 7 (1994)

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  32. Vol. 6 (1993)

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  33. Vol. 5 (1992)

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  34. Vol. 4 (1991)

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  35. Vol. 3 (1990)

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  36. Vol. 2 (1989)

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  37. Vol. 1 (1988)

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    3. No.5
    4. No.4
    5. No.3
    6. No.2
    7. No.1

キーワードランキング

16 May. (Last 30 Days)

システム/制御/情報 Vol. 21 (2008), No. 1

パンチルトカメラを用いた自己位置の高精度推定法

河合 宏紀, 濱 裕光

pp. 1-9

DOI:

10.5687/iscie.21.1

抄録

This paper proposes an accurate self-localization method for a mobile robot. The position of the robot mounted a pan-tilt camera is estimated from the images taken by the camera. In conventional self-localization methods using a stable camera, the detection error of landmark positions on the image was a big problem. Then, we focus on the landmark trajectory on the sequential images which are taken by rotating the pan-tilt camera. By fitting a curve to the trajectory points, the more accurate positions of the landmarks can be obtained than using the multiple images taken by the stable camera. In addition, there is a problem of the landmark displacement on the image due to the tilts of the camera rotation axes. In order to solve this problem, the method for calibrating the tilts using the landmark trajectories is proposed. Our proposed methods are validated for the accurate self-localization in the experiments using the artificial data and the real images taken by the pan-tilt camera.

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パンチルトカメラを用いた自己位置の高精度推定法

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Ris

ハミルトン系の変分対称性に基づく学習最適制御

藤本 健治, 堀内 哲, 杉江 俊治

pp. 10-17

DOI:

10.5687/iscie.21.10

抄録

This paper proposes a novel iterative learning control method for Hamiltonian control systems which can solve a class of optimal control problems. First of all, a symmetric property of the input-output mappings of Hamiltonian systems is clarified which plays an important role in solving, optimal control problems by gradient method. A concrete learning algorithm is derived for mechanical systems possibly with input saturation. Furthermore, numerical simulations of a 2 link robot manipulator demonstrate the the effectiveness of the proposed method.

mendeley

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ハミルトン系の変分対称性に基づく学習最適制御

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Ris

2次元ジグザグ走査による相関値計算回路の設計とその評価

上津 寛和, 中川 寛誉, 神戸 尚志

pp. 18-27

DOI:

10.5687/iscie.21.18

抄録

Particle tracking technology is one of the most promising methods for the measurement of the velocity fluctuation of flows. It consists of the particle mask correlation (PMC) method and the KC method. The correlation coefficient calculation has the largest computational overhead in the PMC method. In this paper, a hardware of the correlation coefficient calculation is designed and accelerated by the zigzag tracing, the modification of the correlation coefficient equation, and parallel processing. The processing speed and circuit size of the design are evaluated.

mendeley

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2次元ジグザグ走査による相関値計算回路の設計とその評価

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