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Transactions of the Institute of Systems, Control and Information Engineers
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ONLINE ISSN: 2185-811X
PRINT ISSN: 1342-5668

Transactions of the Institute of Systems, Control and Information Engineers Vol. 16 (2003), No. 10

  • Motion Planning for Humanoid Robots Using Timed Petri Nets and Modular State Nets

    Keigo KOBAYASHI, Atsuhito NAKATANI, Hideyuki TAKAHASHI, Toshimitsu USHIO

    pp. 493-499

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    DOI:10.5687/iscie.16.493

    Abstract

    In this paper, we propose a supervisory control system for motion planning of humanoid robots. The proposed system is hierarchically structured into two levels. The lower level controls and monitors the robots using modular state nets. The upper level generates an optimal sequence of motion for user's requirements using timed Petri nets.

  • Autonomous Conveyance System Using Bayesian Inference

    Futoshi KOBAYASHI, Yuji YASUDA, Fumio KOJIMA

    pp. 500-506

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    DOI:10.5687/iscie.16.500

    Abstract

    This paper deals with an autonomous distributed conveyance system under a dynamic environment. In order for each agent to implement strategy determination autonomously, it needs to acquire environmental information. In this system, information is exchanged among other agents. By using Bayesian inference for gathered local information, the overall situation is predicted and strategy is determined. Moreover, when current environmental information differs from information acquired from environment by environmental big change etc., cancellation of the current strategy and re-decision are implemented.

  • A Numerical Solution of the Stochastic Discrete Algebraic Riccati Equation

    Michio KONO, Yibing TANG, Nobuya TAKAHASHI, Osamu SATO

    pp. 507-512

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    DOI:10.5687/iscie.16.507

    Abstract

    This paper proposes two algorithms (Algorithm I and Algorithm II) for solving a stochastic discrete algebraic Riccati equation, which arises in stochastic optimal control for the discrete-time system. Our algorithms are generalized versions of Hewer's algorithm. Algorithm I has the quadratic convergence but requires to solve a sequence of non-standard Lyapunov equations. On the other hand, Algorithm II needs the solutions of standard discrete Lyapunov equations, which can be solved easily, but it has a linear convergent term. By a numerical example, it is shown that Algorithm I is superior to Algorithm II in the case of large dimension.

  • A Prediction Method of Electric Power Damage by Typhoons in Kagoshima via the Second-order Polynomial Model and NN

    Hitoshi TAKATA, Tomohiro HACHINO

    pp. 513-519

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    DOI:10.5687/iscie.16.513

    Abstract

    Kagoshima Prefecture has been suffering from natural disasters by typhoons repeatedly. They hit power systems very badly and sometimes cut off electricity. To ensure the rapid restoration of electricity supply, one needs to predict the amount of damage by typhoon accurately. This paper proposes its prediction method by using the GA (Genetic Algorithm), a polynomial regression model, and NN (Neural Networks). The track of typhoon is evaluated from Gaussian function made by the GA. A predictor consists of the second-order polynomial regressor at the first stage and the NN at the second stage. This method enables us to predict the number of damaged distribution poles and lines from weather forecasts of typhoon. Effectiveness of the method is assured by applying it to the actual data.

  • Path Tracking of Four Wheel Steering Vehicle by Using Sliding Mode Control

    Toshihiro HIRAOKA, Osamu NISHIHARA, Hiromitsu KUMAMOTO

    pp. 520-530

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    DOI:10.5687/iscie.16.520

    Abstract

    The present paper proposes a four wheel steering (4WS) controller for path tracking by using sliding mode control theory. It is based on the advantage that front and rear wheel steering can be decoupled at the reference points, where are defined as vehicle centers of percussion with respect to front and rear wheel. Simulations demonstrate the following characteristics : 1) the proposed 4WS vehicle follows the path more stablely and precisely than 2WS vehicle, 2) it has robust stability against the perturbation of cornering power, path radius and the cross-wind disturbance, and 3) steady state is not affected by the cross-wind disturbance.

  • Local Stability Analysis of Saturating Systems via Redundant LPV Descriptor Representation

    Toshiharu SUGIE, Takayuki FUKUI

    pp. 531-538

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    DOI:10.5687/iscie.16.531

    Abstract

    This paper considers local stability analysis of the systems with input saturation based on the LPV (linear parameter varying) descriptor representation which enables us to treat a wider class of systems and were originally proposed by Takaba. First, using the ordinary quadratic Lyapunov functions, we derive a less conservative stability condition compared to the former one by adding a new descriptor variable which is related to constancy of saturated inputs. Moreover, it is shown that this method can be easily extended to the case where piecewise quadratic Lyapunov functions are adopted. Finally we demonstrate its effectiveness through numerical examples.

  • Study on Detection of Leakage Sound Using Independent Component Analysis

    Manabu KOTANI, Takahiko ARIMOTO, Seiichi OZAWA

    pp. 539-547

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    DOI:10.5687/iscie.16.539

    Abstract

    It is important to detect gas leakage sounds from pipes in petroleum refining plants and chemical plants, as often the gas used in these plants are flammable or poisonous. In order to detect the leakage accurately, we should select a feature extraction method for sounds properly. The purpose of this paper is to examine whether independent component analysis (ICA) is useful as a feature extraction method. Several experiments are performed in a plant using an artificial gas leakage device under various experimental conditions. A separating matrix that separates the independent components from collected leakage sounds and background noises is trained by an ICA algorithm. Through several simulations, we find that most basis functions acquired from this training are localized in frequency. Furthermore, there are remarkable differences in amplitude of some independent components between leakage sounds and background noises. From these results, we confirm that the feature extraction using the ICA algorithm is very useful for detecting gas leakage sounds.

  • Job Shop Scheduling Aiming at Completing All Jobs Simultaneously and within Due Date

    Changzheng XIE, Yajie TIAN, Nobuo SANNOMIYA

    pp. 548-550

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    DOI:10.5687/iscie.16.548

  • © 2003 THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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