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Transactions of the Institute of Systems, Control and Information Engineers Vol. 36 (2023), No. 10

ISIJ International
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ONLINE ISSN: 2185-811X
PRINT ISSN: 1342-5668
Publisher: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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Transactions of the Institute of Systems, Control and Information Engineers Vol. 36 (2023), No. 10

Adversarial Obstacle Avoidance of a Multicopter by Nonlinear Receding Horizon Differential Game

Takumi Nagata, Kenta Hoshino, Toshiyuki Ohtsuka

pp. 337-348

Abstract

This study applies a nonlinear receding horizon differential game (NRHDG) to control a multicopter to avoid an adversarial obstacle pursuing the multicopter in three-dimensional space. The multicopter determines its control inputs without prior knowledge of the obstacle’s control law. We propose a method for designing a performance index that takes into account the avoidance performance of the multicopter, and we verify its effectiveness through simulations of avoidance control against an approaching obstacle. For an adversarial obstacle approaching by proportional navigation, we show that the NRHDG, which assumes that the obstacle approaches according to a game optimal solution, has better avoidance performance than the nonlinear model predictive control, which assumes constant velocity linear motion of the obstacle.

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Article Title

Adversarial Obstacle Avoidance of a Multicopter by Nonlinear Receding Horizon Differential Game

Linear Time Invariance Analysis of Human for Semi-Autonomous Cooperative and Navigation Control

Kohei Shiba, Masaya Tanemura, Yuichi Chida, Takeshi Hatanaka, Shun-ichi Azuma

pp. 349-356

Abstract

Recently, robot swarm systems have been developed and cooperative control under inter-robot communication based on passivity of human operators has been proposed. These studies assume that a human is a linear time invariant system. However, these studies did not evaluate the linear time invariance of the human. To analyze the linear time invariance of the human, we propose two analysis methods. The first method evaluates the errors of impulse responses by the human. However, this method requires a large amount of data. The second method adopts a coherence function to analyze the linear time invariance with a smaller amount of data. Finally, we perform tests for multiple participants and evaluate the linear time invariance of the participants.

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Linear Time Invariance Analysis of Human for Semi-Autonomous Cooperative and Navigation Control

Application of STRIM to a Real-world Dataset and Proposal of Expanded STRIM

Yuichi Kato, Tetsuro Saeki

pp. 357-367

Abstract

We have previously proposed a statistical test rule induction method (STRIM), which induces the causality by if-then rules hiding in the dataset called the decision table in the field of the Rough Sets and confirmed its validity in a simulation model. However, the task of studying its validity and usefulness in a real-world dataset (RWD) was left to future research. Generally, the result of rule induction from an RWD cannot be directly ascertained. Therefore, after the previous STRIM was applied to an RWD, the induced rules were applied to the classification problem, and the result of classification was recognized as the validity of the rule induction method because the result was directly affected by the induced rules. Here, the classification result by Random Forest (RF) was used for an index of validity of that by the previous STRIM.

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Application of STRIM to a Real-world Dataset and Proposal of Expanded STRIM

Derivation and Evaluation of Transfer Function of Output Voltage to Input Voltage Amplitude in Cockcroft-Walton Circuit

Masataka Minami, Naoya Morinaka, Takumi Yasuda, Jun-ichi Itoh

pp. 368-374

Abstract

The Cockcroft-Walton (CW) circuit is implemented in high-voltage low-current apparatuses such as electron beam irradiation devices and insulation testing devices. This study focuses on the effect of the output voltage waveform on the changes in the input voltage amplitude. The transfer function of the output voltage corresponding to the input voltage amplitude is theoretically derived based on the CW circuit operation modes. The transfer function is evaluated through numerical and experimental analysis performed on a prototype system. In future works, we will develop a transfer function which includes the effect of the junction capacitance of the diodes.

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Derivation and Evaluation of Transfer Function of Output Voltage to Input Voltage Amplitude in Cockcroft-Walton Circuit

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