Model generation and parameter identification of unknown environment using element description method

Takeuchi, Issei; Katsura, Seiichiro

doi:10.1109/icmech.2017.7921126

Cited by 14 publications

(3 citation statements)

References 23 publications

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“…Moreover, when aiming at a specific range, it is possible to set the range narrowly. The optimization procedure of the EDM is based on the general procedure of GA [20]. The evolutionary process consists of selection, crossover, parameter-shift, and mutation processes.…”

Section: Element Description Methodsmentioning

confidence: 99%

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Hierarchical Abstraction of Compensator for Reaction Torque Observer Based on Element Description Method

Takeuchi¹,

Katsura

2021

IEEE J. Emerg. Sel. Top. Ind. Electron.

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The expansion of the applicable range of robots and machines requires the ability to cooperate with humans and adapt to external environments. It is necessary to use torque information in order to achieve these capabilities. A reaction torque observer is one of the effective methods to obtain torque information because it does not need a torque sensor and it can deal with torque information in the high-frequency domain. However, it needs a correct compensator to reject disturbances to estimate the precise torque. Generally, the disturbance compensator of the reaction torque observer is derived by manual model selection and manual/automatic parameter fitting. This method not only takes time and effort but also does not always obtain an optimal solution because it depends on a predetermined model. In particular, it is well known that nonlinear elements such as friction are difficult to model. To overcome this issue, an automatic design method of a disturbance compensator is proposed in this article. The compensator is abstracted automatically using an element description method. Using the element description method, model design in advance is not needed because the model selection and the parameter fitting are conducted simultaneously. Therefore, the element description method can be applied to systems whose model structure is unknown. In addition, it is possible to input human intentions as initial settings. These features enable designs that make use of human knowledge and the computational power of computers.

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Section: Element Description Methodsmentioning

confidence: 99%

“…To overcome these problems, this article proposes an automatic design method of a disturbance compensator. The compensator is generated automatically using an element description method (EDM) [20]. By using the EDM, a model designed in advance is not needed because the model selection and the parameter fitting are conducted simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Abstraction of Compensator for Reaction Torque Observer Based on Element Description Method

Takeuchi¹,

Katsura

2021

IEEE J. Emerg. Sel. Top. Ind. Electron.

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“…From above characteristics, it can be said that model-based control and data-driven control have a trade-off relationship. The element description method (EDM) [19], [20] is a method that combines the advantages of model-based and data-driven controls. It can be expected as a method that can eliminate the trade-off between model-based control and data-driven control.…”

Section: Introductionmentioning

confidence: 99%

Variation Model Abstraction and Adaptive Control Based on Element Description Method Toward Smart Factory

Takeuchi¹,

Katsura

2021

IEEE Open J. Ind. Electron. Soc.

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In this study, a method for realizing an intelligent production process by reducing quality variation in the manufacturing industry is proposed. A quality fluctuation model in a production process is abstracted, and the quality is improved using adaptation rules based on the model. In this framework, the value directly related to product quality is expressed as multiplying the coefficient and the setting parameter. This expression makes it possible to regard the quality variations as being caused by the coefficient variations. Hence, it is possible to reduce the variation of quality by predicting the fluctuation of the coefficient from various data acquired from the production line and increasing or decreasing the setting parameter based on the predicted value. Moreover, the element description method is applied to predict the fluctuation of the coefficient. The element description method has the advantages of a model-based method whose physical meaning can be understood and the advantages of a database method applicable to an unknown system. Therefore, the mechanism of fluctuation can be abstracted and can be used as explicit knowledge. In this study, this framework is applied to reduce the variation in filling weight of the powder filling process and is demonstrated. As a result, the filling weight variation has been reduced by approximately 33 %.

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Visualization of Environmental Information Based on MDK Channels in a Two-dimensional Plane

Tanaka,

Yamaguchi,

Katsura

2024

2024 IEEE 18th International Conference on Advanced Motion Control (AMC)

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Model generation and parameter identification of unknown environment using element description method

Cited by 14 publications

References 23 publications

Hierarchical Abstraction of Compensator for Reaction Torque Observer Based on Element Description Method

Hierarchical Abstraction of Compensator for Reaction Torque Observer Based on Element Description Method

Variation Model Abstraction and Adaptive Control Based on Element Description Method Toward Smart Factory

Visualization of Environmental Information Based on MDK Channels in a Two-dimensional Plane

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