| Project/Area Number |
10450089
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Tohoku University |
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Principal Investigator |
INOOKA Hikaru Tohoku University, Graduate School of Information Sciences, Professor, 大学院・情報科学研究科, 教授 (20006191)
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| Co-Investigator(Kenkyū-buntansha) |
ONO Takahiko Tohoku University, Graduate School of Engineering, Research Associate, 大学院・工学研究科, 助手 (20312613)
SAGAWA Kouichi Tohoku University, Graduate School of Information Sciences, Research Associate, 大学院・情報科学研究科, 助手 (30272016)
ISHIHARA Tadashi Tohoku University, Graduate School of Information Sciences, Associate Professor, 大学院・情報科学研究科, 助教授 (10134016)
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| Project Period (FY) |
1998 – 2000
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| Project Status |
Completed (Fiscal Year 2001)
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| Budget Amount *help |
¥8,000,000 (Direct Cost: ¥8,000,000)
Fiscal Year 2000: ¥1,900,000 (Direct Cost: ¥1,900,000)
Fiscal Year 1999: ¥2,400,000 (Direct Cost: ¥2,400,000)
Fiscal Year 1998: ¥3,700,000 (Direct Cost: ¥3,700,000)
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| Keywords | nonlinear control / manual control / human operator / joystick / pendulum / computer-aided / コンピュータグラフィックス / シミュレーション |
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| Research Abstract |
Human beings can perform various complicated control tasks without enough information about controlled objects. In order to apply such humans' abilities to wide class of nonlinear control problems, we propose a method for obtaining best control performance with manual control for the experiment corresponding to the real nonlinear control task. Then we investigate its effectiveness from various viewpoints. The main results of this research are summarized as follows :
1. By changing the conditions such as a display style, an input-output gain or a time scale, the ranges of the parameters for good tasks and their correlations were examined. It was confirmed that the human's ability works effectively for a certain set of parameters.
2. Displaying the score of the nonlinear object function to the operator after task, the operator could get to perform almost optimal control. It is an important result that the human beings can modify their control performance even for nonlinear criteria.
3. In the digging control of a power shovel and the position control of a two-link arm, we confirmed that the operator could generate various control patterns which lead to good tasks depending on the object functions. These control performance, which cannot be obtained analytically, were achieved by humans' abilities.
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