Abstract
〈Vol.5 No.2(2012.3)〉
Titles
[Contributed Papers]
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■ An Analysis on a Negotiation Model Based on Multiagent Systems with
Symbiotic Learning and Evolution
Waseda University・Md. Tofazzal HOSSAIN
This study explores an evolutionary analysis on a negotiation model based
on Masbiole (Multiagent Systems with Symbiotic Learning and Evolution)
which has been proposed as a new methodology of Multiagent Systems (MAS)
based on symbiosis in the ecosystem. In Masbiole, agents evolve in consideration
of not only their own benefits and losses, but also the benefits and losses
of opponent agents. To aid effective application of Masbiole, we develop
a competitive negotiation model where rigorous and advanced intelligent
decision-making mechanisms are required for agents to achieve solutions.
A Negotiation Protocol is devised aiming at developing a set of rules for
agents’ behavior during evolution. Simulations use a newly developed evolutionary
computing technique, called Genetic Network Programming (GNP) which has
the directed graph-type gene structure that can develop and design the
required intelligent mechanisms for agents. In a typical scenario, competitive
negotiation solutions are reached by concessions that are usually predetermined
in the conventional MAS. In this model, however, not only concession is
determined automatically by symbiotic evolution (making the system intelligent,
automated, and efficient) but the solution also achieves Pareto optimal
automatically.
▲
■ Multi-Objective Top-Down Decision Making through Additive Fuzzy Goal
Programming
Waseda University and UniversityTun Hussein Onn Malaysia・Nureize ARBAIY
and
Waseda University・Junzo WATADA
This paper demonstrates a satisfaction-based method for solving multi-objective
programming problems in a multi-level decision structure through the renewed
use of a weighted additive fuzzy goal programming (weighted additive- FGP)
approach. The weighted additive-FGP enables us to indicate decision maker’s
preferences toward the unit’s goals and decision vectors that are controlled
by the decision maker in the pth-level. This paper presents the algorithm
reflecting the influence of a higher-level decision on the decision of
a lower level, with the respective decision maker having the authority
to place emphasis on certain decision variables. A numerical example clearly
illustrates the proposed solution procedure.
▲
■ ParallelWire Driven System for Joint Torque Estimation of Human Leg
in Passive Motion
Fukuoka Institute of Technology・Hitoshi KINO, KITO Corp.・Kenichi SAISHO
Fukuoka Institute of Technology・Tsutomu MIYAZOE and Ritsumeikan University・Sadao
KAWAMURA
This paper presents a leg torque estimation system for a passive motion
that uses an incompletely restrained parallel wire driven mechanism. After
comparing completely and incompletely restrained parallel wire driven systems,
we organize the characteristics of both systems for human torque estimation.
Defining the work spaces of four kinds for the incompletely restrained
mechanism, we analyze the realization of passive tracking for a leg. Then
we demonstrate that the walking motion can be achieved using low-power
actuators. A case example of design is introduced to manufacture
a prototype for the leg torque estimation. Finally, the result of the leg
torque estimation is presented through experiments conducted using a prototype
system.
▲
■ BCLS Method for Stationary Systems in Closed Loop Environment
The University of Tokushima・Kenji IKEDA,Yoshio MOGAMI and Takao SHIMOMURA
This paper proposes a bias-compensated least squares (BCLS) method in closed
loop environment where the noise is assumed to be stationary. The feedback
controller is assumed to be linear, time-invariant, and discrete-time,
and the feedback system is assumed to be asymptotically stable. The convergence
of the proposed algorithm is analyzed and it is shown that a kind of persistent
excitation (PE) condition on the reference input is necessary.
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■ Adaptive Generalized State Tracking Control on Descriptor Form
Tokyo Metropolitan University・Kenichi TAMURA and Keiichiro YASUDA
In this paper, we propose an adaptive generalized state tracking control
on the descriptor form which is more general and natural than the state
space form. The generalized state tracking problem covers not only state
tracking but also output tracking problems. The proposed method guarantees
asymptotic stability of the tracking error even if unknown parameters which
may cause instability of controlled systems exist. The proposed adaptive
adjusting laws are designed by solving a generalized Lyapunov equation.
Some conditions assumed in the proposed method can be checked directly
from the descriptor form.
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■ Reduction of Fluctuation due to the Atmospheric Turbulence for Rangefinder Using Rearrangement of Under-Sampled Data
Topcon Corporation・Masahiro OHISHI, and Chikao NAGASAWA
This paper describes the suppression of the influence of scintillation
encountered in working with rangefinders. In an under-sampling method for
pulsed laser rangefinders, we can change the order of sampling time of
the reference signal. Simulation studies show that we can extend the spectra
of scintillation onto the higher frequency range. It is done by the sampling
of phase shift in non-consecutive orders, and by a rearrangement of under-sampled
data when a distance is to be calculated. Through this process, the increase
in the drift of the measurement data is suppressed.
▲ ■ Fictitious Reference Iterative Tuning for Non-Minimum Phase Systems
in the IMC Architecture: Simultaneous Attainment of Controllers and Models
Kanazawa University・Osamu KANEKO, Hien Thi NGUYEN,
Yusuke WADAGAKI and Shigeru YAMAMOTO
This paper provides a practical and meaningful application of controller
parameter tuning. Here, we propose a simultaneous attainment of a desired
controller and a mathematical model of a plant by utilizing the fictitious
reference iterative tuning (FRIT), which is a useful method of controller
parameter tuning with only one-shot experimental data, in the internal
model control (IMC) architecture. Particularly, this paper focuses on systems
with unstable zeros which cannot be eliminated in many applications. We
explain how the utilization of the FRIT is effective for obtaining not
only the desired control parameter values but also an appropriate mathematical
model of the plant. In order to show the effectiveness and the validity
of the proposed method, we give illustrative examples.
▲
■ Inertia Adaptive Control Based on Resonance for Energy Saving of Mechanical
Systems
Ritsumeikan University・Guangqiang LU, Sadao KAWAMURA and Mitsunori UEMURA
This paper proposes a new energy saving method of mechanical systems. In
the proposed method, the potential energy stored in mechanical springs
is effectively utilized to make periodic motions. In other words, the proposed
system is based on resonance. Particularly, we propose an inertia adaptive
control method in which a mass is moved in order to change the moment of
inertia and change the desired motion cycle. Convergence to desired periodic
motions is mathematically proven and performance of the proposed method
is demonstrated by several simulation results.
▲
■ Operator-Based Vibration Control System Design of a Flexible Arm Using
an SMA Actuator with Hysteresis
Okayama University・Seiji SAITO, Tokyo University of Agriculture and Technology・Mingcong
DENG, Okayama University・Mamoru MINAMI, Kagawa University・Changan JIANG
and Okayama University・Akira YANOU
This paper presents a method of operator-based nonlinear vibration control
for a flexible arm using a Shape Memory Alloy (SMA) actuator with hysteresis.
SMA actuators have hysteretic characteristic and so it is difficult to
design a controller which satisfies desired performance. In order to eliminate
the effect of the hysteresis, a nonlinear compensator is designed by using
a hysteresis model, which is described by an operator-based Prandtl-Ishlinskii
(PI) hysteresis model. Based on the concept of the Lipschitz operator and
the robust right coprime factorization condition, nonlinear vibration controllers
are designed, and robust stability of the closed-loop system with unconsidered
vibration
modes of the flexible arm as perturbation is guaranteed. Moreover, a tracking
operator is designed to ensure the output tracking performance. Finally,
numerical simulation and experimental results are presented to show the
effectiveness of the proposed design method.
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