ESTABLISHMENT OF INTELLIGENT CONTROL TECHNIQUE IN ADVANCED MACHINE SYSTEM CONTROL FOR ENSURING SAFETY
| Project/Area Number |
18360114
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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 | Keio University |
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Principal Investigator |
YOSHIDA Kazuo Keio University, Faculty of Science and Technology, Professor (80101997)
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| Co-Investigator(Kenkyū-buntansha) |
NISHIMURA Hidekazu Keio University, Graduate School of System Design and Management, Professor (70228229)
WATANABE Toru Nihon Unversity, Faculty of Science and Engineering, Associate Professor (80265933)
TAKAHASHI Masaki Keio University, Faculty of Science and Technology, Assistant Professor (10398638)
TANIWAKI Shigemune Ehime University, Department of Science and Engineering, Associate Professor (40358734)
OTSUKI Masatsugu Japan Aerospace Exploration Agency, Institute of Space and Astronautical Science, Assistant Professor (50348827)
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| Project Period (FY) |
2006 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥16,190,000 (Direct Cost: ¥14,300,000、Indirect Cost: ¥1,890,000)
Fiscal Year 2007: ¥8,190,000 (Direct Cost: ¥6,300,000、Indirect Cost: ¥1,890,000)
Fiscal Year 2006: ¥8,000,000 (Direct Cost: ¥8,000,000)
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| Keywords | Safety / Evaluation of Error in Observer / Evaluation of Response in Observer / Moving Obstacle Avoidance / Robust Image Processing / Nonstationary Robust Control |
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| Research Abstract |
This project aims at establishing a systematic safety technology that unifies the control technology and the diagnostic technique to assure safety in the control of an advanced mechanical system. In addition, we propose the architecture and the design method of the intelligent safe control system based on evaluation of response and error in observer. Moreover, the computer simulations and experiments are carried out to verify the usefulness of the proposed method theoretically and experimentally from the following three approaches.
A) Extension of existing, linear control system design techniques such as robust control, gain scheduled control and so on.
B) Extension of nonlinear control system design method such as sliding-mode control and so on.
C) Advanced use of technique of artificial intelligence and soft computing and construction of intelligent control system architecture
In the project, it handled for the control problem of elevator, plant and robot and the vibration control problem of the machine and the aerospace structure, the architecture design and the design method of the control method based on the concept were examined from respect of the linear control approach, the nonlinear control approach, and the soft computing approach respectively. Moreover, the usefulness of the proposed method was verified by several computation simulations and experiments. In an existing control system design, it additionally diagnoses it by the loop of the outside of the control system. And, when some abnormalities are inferred, it interrupts the control and deals with the situation. On the other hand, because it connects to evaluate the control to the positive in the control loop and to secure safety positively in the proposed control technique, it is thought that it in the present study with improving the safety of an advanced mechanical system rapidly.
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Report
(3 results)
Research Products
(80 results)
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[Journal Article] Nonstationary Robust Control for Vibration of Elevator Rope2007
Author(s)
Masatsugu, Otsuki, Kazuo, Yoshida, Hiroyuki, Kimura, Toshiaki, Nakagawa, Shigeru, Fujimoto
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Journal Title
JSME Journal of System Design and Dynamics Vol. 1, No. 2
Pages: 283-294
NAID
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Application of nonstationary sliding mode control to suppression of transverse vibration of elevator rope using input device with gaps2006
Author(s)
Masatsugu, Otsuki, Yumiko, Ushijima, Kazuo, Yoshida, Hiroyuki, Kimura, Toshiaki, Nakagawa
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Journal Title
JSME International Journal Series C : Mechanical Systems Machine Elements and Manufacturing Vol. 49, No. 2
Pages: 385-394
NAID
Description
「研究成果報告書概要(欧文)」より
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[Presentation] 自律移動ロボットによる移動物体の予測手法2007
Author(s)
牧島 信太郎, 清水 智晴, 藤井 飛光, 高橋 正樹, 吉田 和夫
Organizer
第25回日本ロボット学会学術講演会予稿集(RSJ2007)
Place of Presentation
千葉
Year and Date
2007-09-14
Description
「研究成果報告書概要(和文)」より
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[Presentation] Stability and Controllability Analysis of a Motorcycle2007
Author(s)
Hidekazu Nishimura, Shunsuke Iwamatsu, Shaopeng Zhu, and Hiroshi Tajima
Organizer
Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2007
Place of Presentation
Las Vegas,Nevada,USA
Year and Date
2007-09-07
Description
「研究成果報告書概要(和文)」より
Related Report
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[Presentation] Stability and Controllability Analysis of a Motorcycle2007
Author(s)
Hidekazu, Nishimura, Shunsuke, Iwamatsu, Shaopeng, Zhu, Hiroshi, Tajima
Organizer
Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2007
Place of Presentation
Las Vegas, Nevada, USA
Year and Date
2007-09-07
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Stability and Controllability Analysis of a Motorcycle2007
Author(s)
Hidekazu Nishimura, Shunsuke Iwamatsu, Shaopeng Zhu, and Hiroshi Tajima
Organizer
Proceedings of the ASME 2007 International Design Engineering Technical Conferences&Computers and Information in Engineering Conference, IDETC/CIE 2007
Place of Presentation
Las Vegas,Nevada,USA
Year and Date
2007-09-07
Related Report
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[Presentation] 12007
Author(s)
相川 量太・両方 康朗・渡辺 亨・背戸 一登
Organizer
第10回「運動と振動の制御」シンポジウム
Place of Presentation
東京
Year and Date
2007-08-11
Related Report
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[Presentation] 二輪自動車のモデル線形化と運動制御2007
Author(s)
岩松 俊介, 朱 紹鵬, 西村 秀和, 田島 洋
Organizer
第10回運動と振動の制御シンポジウム
Place of Presentation
東京
Year and Date
2007-08-10
Description
「研究成果報告書概要(和文)」より
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[Presentation] 二輪自動車のモデリングと運動制御2007
Author(s)
朱 紹鵬, 西村 秀和, 岩松 俊介, 田島 洋
Organizer
自動車技術会春季学術講演会
Place of Presentation
横浜
Year and Date
2007-05-25
Description
「研究成果報告書概要(和文)」より
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[Presentation] Active Protective Control for Occupant Legs in Vehicle Collision2007
Author(s)
Hidekazu, Nishimura, Yoichi, Amano, Makoto, Kato, Dezhang, Wang, Taro, Shimogo
Organizer
12th Asia Pacific Vibration Conference
Place of Presentation
Sapporo, JAPAN
Description
「研究成果報告書概要(欧文)」より
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[Book] 運動と振動の制御の最前線2007
Author(s)
吉田 和夫, 西村 秀和, 高橋 正樹, 他6名
Total Pages
236
Publisher
共立出版
Description
「研究成果報告書概要(和文)」より
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