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. 34 (2021), No. 6

  • Detection of Abnormal Signs through Analysis of Grip Failure Data

    pp. 145-154

    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.34.145

    Against the labor shortage in the restaurant business, automatic dishwashing robots have been being developed. Such the present robots have difficulty of grasping dishes, which causes failure by abnormal grasping. Thus, this paper proposes a method to detect a sign of abnormity from a grasping action through an acceleration sensor attached to the robot.The proposed method first applies the sliding window for each time point in the sensor timeseries data and obtains plural time-subseries. By SVD of the matrix generated by these subseries, the variation of the sensor value is expressed as a linear subspace. The dissimilarity degree for each time point is calculated from the distance between the corresponding subspaces among two timeseries data. By comparing the average dissimilarity between each normal data and test data with the average dissimilarity degree among normal data, the sigh of abnormity in the test data can be detected.The experimental result with an actual robot showed that the proposed method enabled detection of the sign of abnormity. It also showed that the cause of abnormity can be distinguished from the term detected as the sign of abnormity during the grasping action.
  • Dynamic Stability of the Center of Mass in the Anteroposterior Direction during Fast Walking

    pp. 155-159

    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.34.155

    The purpose of this study was to assess the difference in dynamic stability between young and older adults during normal and fast walking. Position and velocity of the center of mass (COM) were calculated in normal and fast walking in young and older adults. Boundaries of the region of stability were determined based on the COM position and velocity, and the margin to the forward boundary was calculated as the stability margin. Although no significant difference was detected in the stability margin, the COM for the older adults was significantly more anteriorly positioned during fast walking, which seems to result from their significantly shorter step length. These results suggest that older adults are dynamically unstable during fast walking as young are, although they walk with a shorter step.
  • Autonomous Parallel Travelling of a Robot Tractor for Automatic Harvesting and Unloading of an Onion Harvester

    pp. 160-166

    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.34.160

    This paper proposes an autonomous parallel travelling system for an onion harvester and a tractor. Path following control via sliding mode control is applied to each vehicle. The velocity of the tractor is also controlled using the velocity and position of the onion harvester to maintain their relative position. As the result of experiments, the lateral, longitudinal and orientation errors between the tractor and the onion harvester were less than 0.07 m, 0.11 m and 2, respectively. It was sufficient for the actual onion harvesting.
  • Evaluation of Change Detection Systems Based on Boltzmann Machine

    pp. 167-172

    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.34.167

    Detection of the state changes in the system, which may result in the failure of the system, would be very important in various fields of real-world engineering. We propose a novel unsupervised method for detection of changes in the framework of Energy Based Model (EBM). The proposed method incorporates the Restricted Boltzmann Machine (RBM) and Conditional Restricted Boltzmann Machine (CRBM) as EBM. The state change can be evaluated by observing the free energy in the RBM/CRBM. The proposed method is evaluated by using two sets of time series; one is a sin wave with Gaussian noises and another is the state in a CartPole system. Experimental results show that the free energy is an effective indicator for detecting the state change and that CRBM have better ability for detecting the state change than RBM.
  • On Generalization of Voronoi Diagram

    pp. 173-180

    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.34.173

    Voronoi diagram is a typical partitioning of plane according to a number of given points on the plane referred to as generators, based on the Euclidean distances from the points. In the current study, a generalization of such voronoi diagram is discussed from the viewpoint of various consideration on distance. On the basis of discrete voronoi decomposition approach, we take into account the various distance metrics other than the conventional Euclidean distance. The existence of a pathway network to shorten the distance gives the space a non-uniformity in distance. We propose an approach for voronoi decomposition under this non-uniformity. Different weights of generators as well as various evaluations of the distance for the voronoi decomposition are also taken into consideration. A number of calculated examples demonstrate the significance of these various conditions on the obtained voronoi diagrams.

Article Access Ranking

06 Jul. (Last 30 Days)

  1. Production and Technology of Iron and Steel in Japan during 2021 ISIJ International Vol.62(2022), No.6
  2. Role of Interfacial Properties in the Evolution of Non-metallic Inclusions in Liquid Steel ISIJ International Advance Publication
  3. Preface to the Special Issue on “Frontier in Characterization of Materials and Processes for Steel Manufacturing” ISIJ International Vol.62(2022), No.5
  4. Application of Heat Transfer Coefficient Estimation Using Data Assimilation and a 1-D Solidification Model to 3-D Solidification Simulation ISIJ International Advance Publication
  5. Wettability of Molten Fe–Al Alloys against Oxide Substrates with Various SiO2 Activity ISIJ International Advance Publication
  6. Reduction of CO2 Emissions from Blast Furnace Applying Reactive Coke Agglomerate and Hydrogen Reduction Tetsu-to-Hagané Vol.108(2022), No.6
  7. Nitrogen Solubility and Gas Nitriding Kinetics in Fe–Cr–Mo–C Alloy Melts under Pressurized Atmosphere ISIJ International Vol.62(2022), No.6
  8. Comparison of Oxidation Behavior of Various Reactive Elements in Alloys during Electroslag Remelting (ESR) Process: An Overview ISIJ International Advance Publication
  9. Influence of Al2O3/SiO2 and BaO/Al2O3 Ratios on Rheological and Crystallization Behavior of CaO–BaO–Al2O3-Based Mold Slags ISIJ International Vol.62(2022), No.6
  10. Synergistic Effect of Brightener and Solution Temperature on the Electrodeposition Behavior of Zn–Ni Alloy from Alkaline Zincate Solution ISIJ International Advance Publication

Search Phrase Ranking

06 Jul. (Last 30 Days)

  1. blast furnace
  2. inorganic coating corrosion
  3. blast furnace permeability
  4. blast furnace productivity
  5. chromate free coating
  6. si-killed spring steel
  7. steel
  8. 鉄と鋼
  9. a
  10. aaa