| Project/Area Number |
23560304
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Toyota Technological Institute |
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Principal Investigator |
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2011: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
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| Keywords | 超並列計算 / GPGPUクラスタ / パラメトリックアプローチ / Sum-of-Square / 非同期型粒子群最適化 / 確率モデル遺伝的アルゴリズム / 多項式デスクリプタ / ロバスト制御 / 学習 / データベースト制御 / 知的制御系設計法 / 未知環境 / 国際情報交流 |
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| Research Abstract |
To develop efficient controller design methods using hyper parallel computation with GPGPU cluster computer we studied design methods based on (1)Parametric approach for uncertain polynomials, (2) SOS(Sum-of-Square) approach, (3) Bilinear matrix inequality optimization, (4) Asynchronous particle swarm optimization. Many research results have been obtained with these intensive studies. To evaluate the effectiveness of the proposed methods, we implemented the proposed control system on (a) Mobile manipulator, (b) Steering support system, (c) Jumping robot, (d) Wearable power assist system, and (e) Passive walking.
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