Transactions of the Institute of Systems, Control and Information Engineers
New Arrival Alert : OFF

You can use this feature after you logged into the site.
Please click the button below.

Log in / Sign up
ONLINE ISSN: 2185-811X
PRINT ISSN: 1342-5668

Transactions of the Institute of Systems, Control and Information Engineers Vol. 32 (2019), No. 6

  • Suppression of Energy Consumption for Snake Robots using Parallel Elastic Actuators during Low Speed Movement

    pp. 227-233

    Bookmark

    You can use this feature after you logged into the site.
    Please click the button below.

    Log in / Sign Up

    DOI:10.5687/iscie.32.227

    This paper investigates a method to suppress the energy consumption of snake robots using parallel elastic actuators (PEA) during the low speed movement. It has been widely known that the PEA-based robot can greatly reduce the torque if its movement synchronizes with the resonance frequency. However, the PEA installation actually degrades the energy efficiency when the speed changes are dramatic since the PEA disturbs the movement. Therefore, even if the spring was designed so as to increase the efficiency during high speed movement, the spring prevented the movement during low speed movement. To solve this problem, we propose changing the initial winding angle of the serpenoid curve to suppress the energy consumption of the snake robot without changing the spring. To verify how the different initial winding angle changes the energy consumption without changing the springs, simulation and experiment were examined. From the results, although the losses incurred by friction in the gear chain and heating of the circuits inside the servo motors are not small, the different initial winding angle decreased the robot’s energy consumption.
  • Payoff Allocation for Voltage Management System in Distribution Network using Demand Resources

    pp. 234-248

    Bookmark

    You can use this feature after you logged into the site.
    Please click the button below.

    Log in / Sign Up

    DOI:10.5687/iscie.32.234

    This paper proposes a novel cooperative framework to develop the efficient voltage management system with social acceptance in the distribution network with photovoltaic generations (PV). In the developed framework, the voltage management problem using demand resources of consumers is formulated as the linear programming problem based on the cooperative game theory. The proposed method can efficiently compute an imputation in the non-empty core, i.e., a solution concept of the cooperative game, to realize the reliable voltage management system. Unlike previous related works, this paper explicitly addresses incentives of the consumers to the cooperative voltage management system. Moreover, although the computation of the core requires generally a huge computational time, this paper can efficiently allocate the payoff in the core by employing the linear production game (Owen, 1975). The proposed method is validated by computational experiments using a large scale distribution network model with PVs.
  • Debugging Support in Programming Education

    pp. 249-255

    Bookmark

    You can use this feature after you logged into the site.
    Please click the button below.

    Log in / Sign Up

    DOI:10.5687/iscie.32.249

    When compiling a program containing syntax errors, the error messages produced by a compiler may be confusing for beginners who are learning a programming language. This leads to difficulties in the debugging process for both teachers and learners of a programming course. We propose a system which provides additional messages to the compiler messages. The auxiliary messages are aimed at helping the beginners by indicating candidates for correcting the source code of the program, which leads to better educational effect.
  • Topology Acquisition in Unknown Environment and Learn the Route to Destination Point by Autonomous Mobile Robots

    pp. 256-264

    Bookmark

    You can use this feature after you logged into the site.
    Please click the button below.

    Log in / Sign Up

    DOI:10.5687/iscie.32.256

    It is an important task for mobile robots that search the target and learn the route while recognizing the unknown environment topology. Usually, reinforcement learning is used as a learning method to know the route to the target while exploring the environment. However, in an unknown environment, it is difficult to predict the number of state division. Particularly, when the state division is too fine, the amount of calculation increases exponentially. In this paper, we propose a method to dynamically construct the state space of the environment using Growing Neural Gas and simultaneously search and learn the route to the target using Q-Learning. We applied multiple autonomous mobile robots to increase searching efficiency. The experimental result shows the effectiveness of the proposed method that can respond to dynamic environmental change.

Article Access Ranking

29 Sep. (Last 30 Days)

  1. Recent Progress of Instrumentation Technology for Process Automation in Steel Industry Tetsu-to-Hagané Vol.106(2020), No.9
  2. Perspective toward Long-term Global Goal for Carbon Dioxide Mitigation in Steel Industry Tetsu-to-Hagané Vol.105(2019), No.6
  3. Accuracy Improvement of the XRD-Rietveld Method for the Quantification of Crystalline Phases in Iron Sintered Ores through the Correction of Micro-absorption Effects ISIJ International Advance Publication
  4. Melting Erosion Failure Mechanism of Tuyere in Blast Furnace ISIJ International Advance Publication
  5. Review on the High-Temperature Thermophysical Properties of Continuous Casting Mold Fluxes for Highly Alloyed Steels Tetsu-to-Hagané Advance Publication
  6. Mechanism of Corrosion Protection at Cut Edge of Zn-11%Al-3%Mg-0.2%Si Coated Steel Sheets ISIJ International Vol.60(2020), No.9
  7. Potential Influences of Impurities on Properties of Recycled Carbon Steel ISIJ International Advance Publication
  8. Evaluation and Prediction of Blast Furnace Status Based on Big Data Platform of Ironmaking and Data Mining ISIJ International Advance Publication
  9. Influence of Soil Particle Size, Covering Thickness, and pH on Soil Corrosion of Carbon Steel ISIJ International Advance Publication
  10. Optimization Analysis of Mechanical Performance of Copper Stave with Special-shaped Tubes in the Blast Furnace Bosh ISIJ International Advance Publication

Search Phrase Ranking

29 Sep. (Last 30 Days)

  1. blast furnace
  2. blast furnace permeability
  3. blast furnace productivity
  4. ultrasonic testing bar small diameter
  5. jeong-sik kim
  6. ultrasonic inclusion
  7. isij international
  8. 柳修介
  9. continuous casting of copper alloys
  10. tetsu