Tadayoshi Furuya

Driving and Confinement of A Group in A Small Space

We propose a strategy for driving a group to a designated direction and confining the members in a small space. There is one object called a leader, who guides such a group towards a destination. The leader detects the member which is furthest from the designated space, approach it behind and repulses it towards the destination. On the other hand, there are some forces, e.g. propulsive forces and attractive/repulsive forces, among the members of the group. Simulations are done based on both usual type controllers and fuzzy controllers, which shows that the fuzzy controller works better than the ordinary one because of its flexibility of the parameter tuning.

Estimation of the Dynamic Characteristics of a Process without Self-regulation by Using the Method of Least-squares

The dynamic characteristics of a process without self-regulation could not be easily determined from its normal operating records because its impulse response never tends to zero within a finite length of time interval. In this paper, a method for estimating the indicial response of the process which is not selfregulatory is proposed. By regarding the difference of the outputs which are separated by a certain length of time interval as the fictitious output, the input-output relation of he process can be approximated by a linear algebraic equation with a finite number of coefficients, which correspond to the second difference of the unknown indicial response. These unknown coefficients are easily determined by applying the least squares method. Experiments on an analogue simulator show the practicability of this method.