Keywords: Process Control, Adaptive and Optimal Control, Multivariable Control
Abstract: In this paper, a control strategy of an engine air path system with low pressure EGR (exhaust gas recirculation) is proposed. Since the low pressure EGR causes a transport delay of gas flow, it results in over and/or under intake fresh air and thus the torque overshoot and/or undershoot appear. For such air path system with a time varying time delay, an output predictive control system will be designed in order to obtain the desired fresh air mass flow. Moreover, we design a controller by linear approximation at a certain operating point for the nonlinear air path system using some nominal linear models and switch it to control according to operating point. We will confirm the control performance of the proposed method through numerical simulations for a detailed air path system model with time-delay.

Keywords: Intelligent Systems, Safety, Environment and Eco-Systems, Intelligent Control
Abstract: Hybrid electric vehicles are positioned as an intermediate form between gasoline and electric vehicles, contributing to lower fuel consumption and emissions. Map control is used for conventional engine control. This method maps optimal values from experimental data, and it has been pointed out that the capacity of the map is increasing and that it is difficult to respond to increasingly sophisticated control objectives. In this paper, we first present a model of a series-parallel hybrid electric vehicle and propose a method using Deep Q-Network, a typical reinforcement learning technique. Through numerical simulation, we verify that the SOC is within an acceptable range throughout the entire run and that energy efficiency can be improved compared to existing map control.

Keywords: Mechanical Systems Control
Abstract: The use of an exhaust gas recirculation (EGR) system is of ever-increasing importance to satisfy the strict exhaust gas regulations on a gasoline engine air-path system. However, EGR system characteristics may change as a result of deposits in the EGR path and/or the EGR valve. In this study, we design a parameter estimator of the EGR valve through Gaussian process regression, and the feedforward controller is updated based on the estimated value. The effectiveness of the proposed method is demonstrated through simulations.

Keywords: Adaptive and Optimal Control
Abstract: In this paper, we revisit the transient control issue of combustion engine in HEVs and propose a control scheme for improving the transient performance of combustion engine when the operating point is given. The basic idea is to use the generator to provide motoring the crankshaft and absorbing over torque generated by the combustion.

Keywords: Transportation Systems, Modeling, System Identification and Estimation, Adaptive and Optimal Control
Abstract: This paper presents a comparative case study for reducing carbon emissions by minimizing total fuel consumption via managing the operation point of combustion engine. As a benchmark example, a hybrid electric vehicle with the planetary gear box is chosen. First, a carbon emission rate map is obtained with the experimental data conducted at a gasoline engine testbench. Then, the optimal strategies for managing the engine operating point are obtained by using different cost functions, the fuel consumption rate and the carbon emission rate. Finally, the effect on reducing carbon emission of two optimization is demonstrated with numerical simulation results.

Keywords: Mechanical Systems Control
Abstract: A model-based control system for engine combustion derives control inputs based on reference values and operating conditions in each cycle. Thus, it is possible to consider real-time operating conditions, such as engine speed, torque, and air path conditions. However, model-based control requires control reference values for combustion such as heat release rate since it targets the combustion itself. Therefore, it is important to set appropriate combustion control reference values when implementing model-based control of engine combustion. Heat release rate contains a variety of information about the combustion field and is highly related to exhaust gases, especially NOX. The authors have proposed a design method of combustion reference values of heat release rate considering NOX emissions as previous research. In detail, a NOX model that incorporates the relationship between heat release rate was developed, and combustion control reference value of heat release rate was set based on the developed NOX model that minimizes NOX emission. In this study, the designed combustion reference values are validated by combustion control tests using an actual engine.

Keywords: Mechatronics Systems, Human-Machine Systems, Robotic and Automation Systems
Abstract: This paper describes a stable trot gait control system for a quadruped robot that enables faster walking with stability. Compared to other gait types, it is possible to walk faster with relatively little energy expenditure, which means trot gait is suitable to control for the quadruped robot. However, trot gait does not prevent roll and pitch angle fluctuations, essentially, even when walking on flat terrain, because two legs temporarily support the robot body. Therefore, to suppress the effect of this fluctuation and stabilize the posture of the robot body, we proposed a trot gait control system using an IMU sensor and achieved faster walking without slipping. To confirm the validity of the proposed stable trot gait control system, we built a quadruped robot based on TurtleBot3 chassis and implement our system. To validate the system's effectiveness, we carried out several experiments running on various types of terrain, including sloping terrain.

Keywords: Robotic and Automation Systems, Mechatronics Systems
Abstract: This paper presents the development of a flapping robot for achieving flapping and feathering motions using twist drive mechanism which can mimic the motions based on the musculoskeletal structure of birds. In this paper, first, we describe the design of the aircraft that can perform both flapping and feathering motions. Next, the validity of the design is verified by conducting flapping and feathering motion experiments using the aircraft. In this research, we also focus on the speeds of the two types of movements in order to make the hand twist in time with the flapping of the wings as in the case of real birds.Therefore, we evaluate the performance by changing the thread material, the diameter of thread, the number of threads in one bundle and the length of thread. Then, we re-design the wing structure and achieve the 2 Hz flapping and fast feathering motion.

Keywords: Mechatronics Systems, Modeling, System Identification and Estimation
Abstract: In order to adapt robot hands to daily movements, it is necessary to control the force with finger pads. There is an affinity between the elastic joint (EJ), which is the mechanism that presses finger pads, and the two-mass resonant system (TMRS), which can estimate the force at the tip, but there are some elements in EJ that cannot be modeled by TMRS. Therefore, in this paper, we propose to model the element by the element description method (EDM). In order to verify the effectiveness of this method, we verified the accuracy of the load-side observer in some postures.

Keywords: Mechatronics Systems, Robotic and Automation Systems
Abstract: To improve the performance of humanoids, mobile robots, and manipulators, it is desirable for motors to be able to provide high torque without relying on gears. To enable high output drive of joint motors, the current value that can flow is required to be large. We have developed a thermoelectric cooling module as a new cooling method for high power drive of motors. Experiments were conducted using thermoelectric cooling modules for motors to keep the motors running for long periods of time. Compared with the case of the motor alone and with water cooling, it is shown that the temperature rise of the motor can be significantly reduced. Based on the results of the experiment, the use of thermoelectric cooling modules can be expected to increase the upper limit of the current at which the motor can continue to be driven.

Keywords: Mechatronics Systems, Robotic and Automation Systems, Human Interfaces
Abstract: In recent years, multi-degree-of-freedom robot arm for delicate movements are required in various fields such as industry, medical care, and service industry. For delicate operation, high-precision force control is required. To achieve this, it is necessary to use direct drive without using gears that reduce back driver viability. However, conventional robot arms have some gears to gain the large torque that supports the weight of the arm and hinder the realization of direct drive. In this study, we proposed a direct drive robot arm with active self-weight compensation by motors. The effect of the proposed method is shown by simulating the torque required to support the arm when the self-weight compensation is performed by the self-weight compensation motor in a 7-degree-of-freedom manipulator.

Keywords: Components and Devices, Mechanical Systems Control, Robust Control
Abstract: The paper proposes the hybrid angle/force control for the two-degree-of-freedom (2-DOF) magnetic screw motor. The 2-DOF motor realizes the rotational and linear motion by only itself. Additionally, the plant model of the 2-DOF motor can be decomposed into the rotational and linear motions based on modal information. The proposed method independently controls the angle in the rotational motion and the force in the linear motion based on modal information. The simulation results indicate the effectiveness of the proposed method.

Keywords: Modeling, System Identification and Estimation, Identification and Estimation
Abstract: In this paper, we propose a new recursive subspace state-space system identification algorithm (R4SID) based on an instrumental variable (IV) and the matrix inversion lemma (MIL) with fixed input and output (I/O) data size. In our previous study, we have proposed R4SID based on input data matrices with fixed size and the MIL. To further develop our previous study, we extend our existing R4SID to an IV approach (IV-R4SID). The proposed IV-R4SID updates matrices with fixed I/O data size by performing the addition of the latest value and subtraction of the oldest value collectively. More precisely, the proposed IV-R4SID modifies an inverse matrix consisting of an IV matrix by the MIL and then also modifies the other matrices by keeping constant I/O data size based on the above update. Note that the proposed MIL for the inverse matrix via the above update is one of exclusive points in this paper. We finally investigate an accuracy of the proposed IV-R4SID through numerical experiments.

Keywords: Modeling, System Identification and Estimation, Intelligent Control, Adaptive and Optimal Control
Abstract: In recent years, research on autonomous driving has attracted attention for technologies that combine Model Based Control and AI for the purpose of ensuring operational stability and reliability in unknown environments. The second authors focus on the modeling error that occurs between the vehicle and the actual vehicle based on the Kinematic Bicycle Model, and propose a method that can express the vehicle behavior simply and accurately by expressing this deviation as the deviation of the front wheel steering angle. However, in this proposed method, it is necessary to acquire position information, velocity, and steering angle data using sensors, and since these sensors have individual differences and clock errors, these errors affect the control performance. Therefore, the purpose of this study is to adaptively model the vehicle using only the Global Navigation Satellite System(GNSS) sensor, considering the error caused by these sensors.

Keywords: Modeling, System Identification and Estimation, Computational Intelligence, Mechanical Systems Control
Abstract: An accurate model is necessary for highly accurate control, but it is not always easy to obtain the model via first principles. One of the methods for creating models is to represent the model by neural networks and train them in accordance with the data. However, the model created by machine learning cannot always satisfy the physical properties of the system. If some prior knowledge can be imposed on the estimation, it can be beneficial in the application of the obtained model and the reduction of the burden needed for the training. In this paper, we propose the new method to reflect the passivity of the system by using a port-Hamiltonian form. The effectiveness of the proposed method is shown via numerical examples.

Keywords: Modeling, System Identification and Estimation
Abstract: This paper analyzes a closed-loop identification method to obtain a continuous-time model directly from the input/output data of the target system alone without using any information on the controller or external excitation signal. More specifically, a stabilized output error method using fixed-pole observer form is discussed. It is shown that the method can be reduced to the conventional state variable filter method which is convex. Also, a numerical example demonstrates that the method is insensitive to both the choice of the observer poles and characteristics of the colored noise.

Keywords: Identification and Estimation, Modeling, System Identification and Estimation
Abstract: In this report, we consider an identification problem of linear systems in the presence of persistent disturbances such as constant and sinusoidal disturbances with unknown frequencies. The systems are identified using the prediction error method with the BJ model. When systems are identified, it is important to choose proper initial values of estimated parameters. As initial parameter values, we propose to utilize parameter estimates which are calculated by the asymptotic identification method. The effectiveness of the initialization method is shown with a numerical example.

Keywords: Process Automation, Transportation Systems, Standard of Measurement
Abstract: The wheelset is the most crucial component for the safe running of railcars. The geometry of the wheelset, which determines the safety of railways, must be maintained by conducting routine inspection. To improve the efficiency of inspection, manual inspection, which requires a huge workforce, must be replaced with an automated inspection system. This study presents the investigation result of an automatic inspection system for condition monitoring of wheelsets. As important wheelset parameters, we focus on the wheel back-to-back distance and wheel tread profile. We conduct experiments using laser sensors to obtain automatic measurements with high accuracy, and confirm its feasibility. In addition, experiments were performed on an actual wheelset under static conditions.

Keywords: Transportation Systems, Autonomous Decentralized Systems, Network System Integration
Abstract: In recent years, natural disasters such as earthquakes and typhoons have occurred frequently in Japan. In the case of a large-scale disaster, prompt and efficient rescue activities are required to protect the lives of the victims. In response to such natural disasters, the government and local governments formulate disaster prevention plans while considering the characteristics of each region to prepare for the occurrence of disasters. This paper introduces a transport simulator for injured people and analytical solution to estimate transportation performance considered in the disaster prevention plan. Using these tools, the analyses are carried out for a city, assuming a Tokyo Inland Earthquake. Transportation capability for the injured people is quantitatively clarified under multiple scenarios based on the regional disaster prevention plan and disaster medical relief plan. User of these analytical tools can consider more effective measures of rescue operation.

Keywords: Transportation Systems, Intelligent Systems, Innovative Systems Approach for Realizing Smarter World
Abstract: In this research, we deal with the coordination problem of Connected and Automated Vehicles (CAVs) at signal-free intersections. First, the problem is formulated to find the appropriate merge time for each CAV. Next, an optimal motion planning problem is formulated to find the control input (jerk) necessary to accurately achieve the given optimal merging time while minimizing the jerk and acceleration. We also present an analytical solution for this motion planning problem with inequality constraints on jerk and acceleration, which achieves both passenger comfort and reduced fuel consumption. Finally, the simulation results show the effectiveness of the proposed method.

Keywords: Transportation Systems, Robotic and Automation Systems, Mechatronics Systems
Abstract: In order to verify the hybrid rollers for space elevator climber, two climber of confrontation roller type and cross roller were produced respectively. These climbers have the same geometry and drive system, but different roller positions. The operating characteristics of the two types of climbers were compared. As a result, it was inferred that the action of the pushing friction force and the transmission friction force differs depending on the roller system, and that the starting current and the contribution of the transmission friction force are larger for the crossing type. To check the performance of the climber, the participated in the Space Elevator Challenge 2021. This report describes the results of the climber's driving experiment and the state of the long-distance experiment in the Challenge.

Keywords: Transportation Systems, Robotic and Automation Systems, Mechatronics Systems
Abstract: In this study, wall surface moving robot focusing on a ducted fan with high thrust was developed for the purpose of developing an automated device for wall surface inspection of infrastructure structures, and rationalization and practical application of wall surface inspection were conducted. The ducted fan thrust of the mobile robot was used to levitate the robot body and push it against the wall, and a special movable cart was applied to move the wall surface. Experiments confirmed that the vertical wall can be moved by the main thrust of the ducted fan only, and the ceiling surface can be moved by adjusting the angle of the inclined side fan, assuming a bridge. These results indicate that the inspection robot using a ducted fan is an innovative and unprecedented method for moving vertical and horizontal wall surfaces, and that its practical application is expected to yield significant results in the future.

Keywords: Transportation Systems, Signal and/or Image Processing, Remote Sensing
Abstract: In this study, vehicle tires are used to estimate the position of the vehicle, and various image processing methods are applied to the vehicle’s tires to estimate the position from a nadir viewpoint. The results of this study show that the vehicle position can be estimated within an error margin of 1 meter.

Keywords: Robust Control
Abstract: This paper considers the reduction of steady-state error for ramp inputs in type 1 servo systems. It is well-known that type 2 servo systems track both step and ramp inputs. However, their transient responses for step inputs are oscillatory. On the other hand, in some applications, type 1 servo systems are required to track, but not exactly track, ramp inputs. For such systems, the characteristics between types 1 and 2 servo systems are desired. For such a problem, this paper proposes a weight function used for H-infinity control theory in the sensitivity reduction problem. The proposed weight function reduces the gain of the sensitivity function in the low-frequency range. This allows small steady-state error for ramp inputs and makes the characteristics of the designed type 1 servo systems closer to type 2 servo systems. The effectiveness of the proposed method is demonstrated through numerical examples.

Keywords: Robust Control, Multivariable Control
Abstract: The objective of this paper is to propose new robust fixed-order controller design methods which guarantee the stability and the minimum-phase property of controllers. To this end, sufficient conditions for polynomials to be stable are given and using the sufficient conditions a robust fixed-order controller design method is proposed for a scaler system case. The design method reduces a robust fixed-order controller design problem which guarantees the stability of the obtained controller to a convex problem. Moreover, the proposed method is extended to a multi-output case and a numerical example of a 3-inertia system is presented to show the effectiveness of the proposed method.

Keywords: Robust Control, Modeling, System Identification and Estimation, Power Systems Control
Abstract: For a wireless charging system, it is important to achieve global efficiency optimization. This paper proposes a primary-side method for the maximum efficiency point tracking control. We design a real-time maximum efficiency optimizer using the estimate of the high gain observer.

Keywords: Discrete Event Systems, Modeling, System Identification and Estimation
Abstract: Studying the control of continuous-time plants with discrete-time control signals is important in the control of real-world objects. We propose the design method of a discrete-valued output controller for a continuous-time plant. The discrete-valued output controller consists of a continuous-valued controller and a discrete-time dynamic quantizer. In this paper, we formulate the problem of designing a design model that minimizes the performance degradation of the control system.

Keywords: Adaptive and Optimal Control, Robust Control, Modeling, System Identification and Estimation
Abstract: Feedback error learning is an adaptive control scheme in the two-degree-of-freedom structure. We design a fixed feedback (FB) control law in advance to stabilize the closed-loop, and tune feedforward (FF) control online to improve response to command signals. However, the scheme is not robust against unknown disturbances. This paper proposes a method to address this issue, by introducing an offset term in the tunable FF controller. Furthermore, numerical simulation has been carried out to verify the effectiveness of the proposed method.

Keywords: Robust Control, Adaptive and Optimal Control, Intelligent Systems
Abstract: There is an example that the Nonzero Set Point Regulator is applied to the attitude control of aircraft. However, the traditional Nonzero Set Point Regulator does not consider System noise and Observation noise. In SICE.A.C 2020, second and third author of this paper, derived solvability conditions when the filter design is applied as it is. This method includes the intensity of the observation noise. In this paper, we compare the proposed method of second and third author of this paper to Kalman filter.

Keywords: Agricultural and Bio-Systems
Abstract: The problem with plant factories is loss-making operations due to the high initial and maintenance costs of environmental control equipment. Therefore, it is essential to increase profits by increasing the fruit yield of plants. It has been reported that in a plant factory with solar light, VPD control by fine fog cooling can be expected to increase plant fruit yield. For fine fog cooling, knowing the time variation of VPD value will help determine the appropriate amount and timing of fine fog spraying. Therefore, in this paper, we predicted the time variation of VPD values using Spatio-Temporal Kriging and compared it with the measured values. As a result, the predicted value capture the trend of the change in VPD value. Therefore, Spatio-Temporal Kriging is effective in predicting the time variation of VPD values.

Keywords: Agricultural and Bio-Systems, FlowMeasurement and Control, Signal and/or Image Processing
Abstract: The role of Unmanned Aerial Vehicles (UAVs) is getting more critical in agriculture due to the downward trend of farmers and the cultivation area. Our final goal is to create a spraying simulation system that may be used to plan and estimate the spraying area by a UAV-type crop sprayer. Because each UAV has slightly different characteristics caused by motors, propellers, nozzle position and angle, chassis, etc., it needs experiments to match its respective machines. Such experiments are time and trouble and require a particular experiment facility. The simulation system can estimate by conducting a minimum number of experiments. Our previous research shows that the downwash (downward airflow stream) generated by UAV's rotor can control the spray area. It lets chemicals stay within the farmland boundary and, at the same time, decreases the number of chemicals by spot spraying. Although our simulation results well match the spraying diameter and position, the droplet positions at the ground differ. This study measures droplet density distribution beneath a nozzle, and simulation is performed according to the distribution. The result shows that the density distribution can be approximated as the gauss distribution, and the simulation with the gauss distribution gives a better result.

Keywords: Agricultural and Bio-Systems, Signal and/or Image Processing
Abstract: Over the last decade, lotus root plants and rice paddies have been seriously damaged by the golden apple snail (GAS) as an invasive species. They feed on young lotus root and rice seedlings. The number of GAS that succeed in overwintering is increasing rapidly, and exterminating GAS egg masses is becoming increasingly important. However, the approach required to exterminate the egg mass differs depending on their state in the incubation process. To achieve automated extermination of such egg masses, a method for automatically identifying the state of the incubation process of an egg mass is required. Therefore, in this study, we present an image-based classification method that considers the incubation process of egg masses. In the proposed method, semantic segmentation is first applied to detect only the egg mass. Next, the color information of the detected egg mass is analyzed, and the state of the incubation process of the egg mass is classified. We conducted an experiment in which we verified the effectiveness of the proposed method for images of egg masses from an agricultural canal and evaluated its detection and classification accuracy.

Keywords: Agricultural and Bio-Systems, Networked Sensor System, Virtual Reality Systems
Abstract: Improving photosynthetic efficiency increases the yield of fruits and vegetables. Carbon dioxide exchange and transpiration from the stomata are indispensable for regulating of carbon dioxide and water required for photosynthesis. They are affected by the VPD (vapor pressure deficit) of the air around plants. In our previous research, we have constructed VPD control system using a fine mist cooling and CO2 / H2O concentration observation IoT system at multiple points and recorded temperature, humidity, VPD, carbon dioxide, and water content in a sunlight type plant factory. However, time-series estimation of spatial data by spraying the fine mist, transpiring H2O, and absorbing CO2 has not been elucidated. Furthermore, the data has not been recorded with the growth rate of plants. Therefore, this paper reports a spatial data visualization system by fusion measuring data and photographing images.

Keywords: Agricultural and Bio-Systems, Identification and Estimation
Abstract: The optimal irrigation management could be implemented by determining the crop water status corresponding to the negative stem water potential (SWP). However, there are several limitations in measuring SWP directly, especially the intrusive nature of the measurement. This paper aims to forecast a time when SWP starts to be negative by analyzing the linear relationship between vapor pressure deficit (VPD) and the canopy-air temperature differential. To predict the time the SWP drops negatively, an ARIMA model is used to forecast VPD values 30 minutes ahead. The proposed method was evaluated by conducting experiments in an actual environment. The experimental results showed that, from 24 days, the proposed method can forecast the water stress of durian trees correctly within 1-hour and 2-hour intervals for 14 and 6 days, respectively, which is promising in practice.

Keywords: Agricultural and Bio-Systems, Signal and/or Image Processing, Temperature Measurement
Abstract: The canopy temperature is essential for specifying crop water stress and plays a vital role in an irrigation schedule. The canopy temperature captured from an inexpensive camera is noisy and fluctuates since the environment in practical is uncontrollable such as light reflection, wind, and rain conditions. Therefore, high accuracy canopy temperature measurement is necessary. This paper aims to estimate the canopy temperature from an IoT thermal camera device installed at a durian tree. The proposed method takes the noisy canopy temperature as the input. It uses a Kalman filter whose prediction part is substituted by a moving-average model to estimate a more-accurate canopy temperature. The experimental results showed that the proposed method could reduce the average mean-absolute error by approximately 1% and 15% compared to the reliable ground truth and the ground-truth model, respectively. Even though the improvement, when compared to FLIR, is not significant in error reduction, the proposed concept seems practical and possible to investigate further for performance improvement.

Keywords: Relationality-Oriented Systems Design, Innovative Systems Approach for Realizing Smarter World, Social Systems
Abstract: This study explores methods for revitalizing local communities using a multi-agent simulation. To promote peoples’ self-motivated involvement in community activities more than ever, we also consider introducing proactive functions into a current system that passively gathers, analyzes, and visualizes data concerning relationality that people generate through interactions between "Hito,” “Mono,” and “Koto.” For example, the following data are available as indicators of local community activity: the number of people who give gifts or are given gifts, its frequency and the amount; the ranking of steps points based on an activity monitor, and so on. Based on analyses of the data, the system makes the person who leads in such rankings aware of being in a leader-like position and then promotes the person to play a sort of leadership. To achieve proactive functions for the leadership commission, we introduce a computer agent to intermediate communication between a leader-like person and their collaborators. In this simulation, we consider a local community as some network with various positions of residents and investigate how each resident behaves based on the agent’s behavior within the network to have a better effect on the formation of relationships among residents. We will also investigate how people who are leaders behave and what kind of people tend to be leaders in such a situation.

Keywords: Social Systems, Information Management Systems, Innovative Systems Approach for Realizing Smarter World
Abstract: We have worked on a system design for revitalizing local communities, considering a community as a system consisting of “Hito,” “Mono,” and “Koto” and their relationality. We have introduced relationality assets as a concept, to quantify and visualize relationality that people generate daily through interactions between “Hito,” “Mono,” and “Koto” in a local community, and proposed mechanisms to drive the generation, circulation, and communalization of relationality assets. This research aims to further develop community ties by incorporating additional personal factors such as people's age, role, and personality into this mechanism. This paper describes the results of theoretical experiments by multi-agent simulation (MAS) and field experiments with the cooperation of subjects. This time, we are newly focusing on the "activity rate" of the residents.

Keywords: Social Systems, Innovative Systems Approach for Realizing Smarter World
Abstract: The past studies in psychology say that the changes in environmental lighting affect people’s impression in the space and environment where they are. However, few studies have investigated the influence of changes in environmental lighting on interpersonal communication. Since the purpose of communication varies depending on the situation, there should be environmental lighting suitable for each purpose. Also, reflecting the current trend of respecting diversity, personal lighting would have a possibility to lead to potential needs of individuals. In addition, along with recent widespread of online communications such as remote work and conference, it should be important to adjust environmental lighting to both intended communication and personal choice. In this research, we investigate what and how the change in environmental and personal lighting influence interpersonal communication online. As the first stage, we investigate the difference in impressions of each environment lighting that is comprehensively classified.

Keywords: System Engineering, Intelligent Systems, Social Systems
Abstract: This paper focuses on the bus transportation network optimization where two bus companies complete with each other to increase the number of passengers and analyzes how their its networks changes when the initial routes of two bus companies are similar or different. The intensive simulation of the competition of bus companies have revealed that (1) the similar route networks promote the companies to compete to increase the number of their passengers from the common passengers, while the different route networks promote them to increase that of their own passengers separately; and (2) the topology of the route network composed of two bus companies does not drastically change in both similar and different initial bus routes.

Keywords: Social Systems
Abstract: To mitigate the isolation and loneliness that COVID-19 brings to the elderly, we propose a mechanism through which they can be likely to go out for a walk and to communicate with other people. The elderly is basically interested in their own health and knows a good effect of walking on health, however, a problem is that they can hardly keep their motivation to do so even if they use a pointing system based on walking. That is because the pointing system is commonly equal and even to anyone, and there is no attractivity for the elderly to compete with the young. In this research, we take a human-centric approach for the technology to embed some mechanism to arouse people's consciousness and psychology, and promote their self-motivated behavioral changes. We introduce a new step ranking system in which the allocated point is different depending on individuals and situations so that the elderly can interact with the young on an equitable basis and cross boundaries in age and physical condition. We expect that the proposed system can encourage to go out for a walk, to communicate with other people, and to develop their social activity. To verify the effectiveness of the proposed step ranking system, we have conducted multi-agent-based simulation.

Keywords: Social Systems
Abstract: In previous studies, users who only view the number of posts and approvals of others are called "lurkers," but the definition and evaluation of lurkers have not been consistent. In this paper, we focus on shyness, which is thought to be one of the factors that become lurker. And we conducted a social experiment for three periods by implementing a non-anonymous function in an originally developed application. This suggests that even those who already know each other offline, such as in a local community, become lurkers over time when anonymity is not guaranteed in an online community.

Keywords: Human Interfaces, Mechatronics Systems, Mechanical Systems Control
Abstract: Japan has a problem that the technique of the expert will be lost in recent year. Aging population causes a decrease in the talented person for inheriting the skills of the experts. In the conventional studies, the motion-copying system or bilateral system can save and reproduce the technique of the experts. However, there is a problem of the operability. In these systems, the operator cannot operate the system as desired, because the inertia of the manipulator has a significant impact on the operability. To solve this problem, we propose a new reaction force control system. Also, Dynamic Programming is used to demonstrate the usefulness of the proposed method and compare the proposed, conventional system, and no manipulator.

Keywords: Human Interfaces, Human-Machine Systems
Abstract: Mouse cursor operation and keyboard typing have the important roles in various situations such as document creation. Therefore, it is necessary to research and develop devices to improve the efficiency of mouse cursor and key typing operation. There are many research and developments about devices. However, it is difficult to increase the typing speed due to the flat keyboard layout like a standard keyboard. In addition, there are many devices that require remembering of keyboard layouts. Therefore, the purpose of this research is to design of finger-contact device that reduce the amount of finger movement and do not require re-learning of keyboard layouts. The device can type and operate a mouse cursor. I designed a device using a computer-aided design (CAD) and built it with 3D printing. Then, I optimized the identification of key typing with a machine learning algorithm. As for the identification accuracy, the Long Short-Term Memory (LSTM) was the highest result.

Keywords: Human Interfaces, Biological and Physiological Engineering, Human-Machine Systems
Abstract: Steady-state visual evoked potential (SSVEP) is an imperative phenomenon for command selective brain-computer interface (BCI) realization. However, the limited number of selectable commands is an issue for practical use. We propose an SSVEP-based BCI that uses SSVEP intensities measured at multiple electrodes to classify the horizontal gazing position with only two frequency patterns for stimulation. As an experimental result for ten healthy participants, we classified the horizontal gazing position into seven with over 94% accuracy (chance level is 14.3%), and the mean of the information transfer rate (ITR) of the proposed system was over 90 bits/min.

Keywords: Human Interfaces, Human-Machine Systems
Abstract: When people memorize figures and pictures, especially line drawings, which is more involved in memory, visual or tactile? In this study, we investigated the differences in how people remember line drawings between a visual-based and tactile-based memory. The tactile-based memory verified the reproducibility using an XY-table robot system instead of a visual-based memory. We asked experimental subjects to cooperate and divided them into two groups. One group whom we asked to remember the line drawings mainly visually. The other group remembered mainly tactually. In the experiments, we examined how they reproduced the line drawings with the passage of days. As a result, we confirmed that the subjects of the group using the XY-table robot could reproduce the drawing behavior by relying only on the tactile memory of the pen tip. They also reproduced morphological features of the line drawing equivalent to recalling and reproducing the drawing behavior by image stimulation. We also confirmed that the re-producibility of drawing behavior was superior to the visual recall condition concerning the area of local feature points with large curvature of the line drawing.

Keywords: Human-Machine Systems, Medical and Welfare Systems
Abstract: In recent years, with the rapid aging of society, accidents involving falls among the elderly have been on the rise. Therefore, it is essential to analyze the movements that induce fall accidents in daily life and to develop systems to prevent falls. Much research has been conducted on analyzing human sit-to-stand movements, and various mechanical systems have already been developed to assist standing movements. However, most of these systems are highly functional and expensive because they can be adapted in detail according to the motor functions of individuals. Moreover, there are many problems in installing them in the daily lives of people who need assistance. This primary research aims to develop low-cost assistive devices that can be easily installed in everyday living spaces. In this paper, we analyzed the sit-to-stand movement from motion capture data using a simple model to obtain the center-of-gravity trajectory. Based on the obtained results, we report on the design of an assist device that effectively assists human standing up motion with the minimum number of degrees of freedom required for standing up motion.

Keywords: Innovative Systems Approach for Realizing Smarter World, Human Interfaces, Entertainment Systems
Abstract: With the proliferation of the Internet of Things and smart devices, content presentation devices and content types are constantly increasing. By contrast, there is little consideration on selecting the appropriate devices for presenting a particular content. Therefore, we propose a web-based device selection method based on semantic data from the resource description framework. In this study, we use notifications as examples of content, and a network graph representing users, content, and devices is arranged in a two-dimensional space by our user-centric force-directed algorithm. By selecting device nodes near the user node from the placement results, devices are determined to present content. Experimental results show that the proposed method can select devices better than existing methods.

Keywords: Telepresence, Virtual Reality Systems
Abstract: Telepresence applications has been widely used by the community since the Pandemic to reduce the spread of COVID. This has reduced the unnecessary business travel, however there are still many applications that the remote presence is required at a specific location at a specific time. Moreover, visiting remote cities and countries for vacation, relaxation and exploration still have a very high demand.
In this plenary talk, I will explain about the avatarin's "newme" robot and instantaneous travel experience that revitalize the travel industry around the globe, recent trends and technical challenges of telepresence robots deployment and state-of-the art AI & machine learning technologies that supports the new telepresence era.

Keywords:
Abstract: SX is a digital transformation (DX) for a sustainable society, including carbon neutrality, and is DX's next goal. SICE is trying to solve many technical issues to achieve SX, and the SICE International Standardization Committee (ISC) is contributing to the international standardization of those technologies. In this panel session, those interested in future technologies for SX will participate and discuss trends in international standardization of those technologies.

Keywords: Robotic and Automation Systems
Abstract: In this paper, we have developed a system for identifying markers using a monocular camera and measuring their relative positions, and controlling an autonomous mobile robots based on this information. Utilizing this information, the mobile robot can travel along a set path using markers. The proposed method enables autonomous control of mobile robots in environments where GPS is not available, using only a monocular camera as a sensor. The actual experimental results show the effectiveness of the proposed system.

Keywords: Robotic and Automation Systems, Intelligent Systems
Abstract: This research presents an appropriate algorithm for detecting roadblock to mobile robots. Nowadays, with technological advances, robots have been created which can be displaced because in everyday life it is widely used. That has been used in various ways to make our lives more comfortable. We used the UV-disparity algorithm to detect obstacles and developed further. We will be able to create a 3D-font view map that can find the distance between the object and the robot. The size of the detected object and create a 2D-top view map to analyze obstacle avoidance. The experimental results demonstrate that the proposed algorithm is effective and can detect many objects such as people, cars, motorcycles and general objects.

Keywords: Mechatronics Systems, Virtual Reality Systems, Mechanical Systems Control
Abstract: A navigation method is proposed to control the behavior of a mobile robot equipped with a web camera by means of object detection using machine learning, with the aim of automating transport tasks. The proposed method determines the robot action according to the relationship among the robot, the target, and peripheral object as well. The distance between the robot and the object calculated from the range data of the detected object and the positional relationship between objects are used to determine the robot action. As a result, a control system for a mobile robot has been constructed that uses object detection to determine the selection of the leading target, to follow the target, to stop and change direction.

Keywords: Robotic and Automation Systems, Mechatronics Systems, Signal and/or Image Processing
Abstract: In recent years, there have been many studies on cooperative transport. Reinforcement learning has attracted attention for formation changes. As reinforcement learning requires a large number of learning cycles, fast learning algorithms are needed. Model-based learning has been studied for unknown environments to learn efficiently. Deep Dyna-Q, a model-based learning method, has been proposed. In this paper, reinforcement learning using model-based learning is applied to formation changes of cooperative transportations. This study constructed Deep Dyna-Q using model-based learning to improve learning speed and applied it to robot formation change. The results showed that Deep Dyna-Q improved the number of episodes by about half compared to DQN. The formation change achievement rate in Deep Dyna-Q was 74% in an environment with a transport object and was slightly low. As it was reported that the achievement rate of the literature was 99%, an improvement in the success rate is desired. Future studies should aim to use a multi-agent algorithm MADDPG that uses model-based learning to achieve both achievement rate and learning time.

Keywords: Robotic and Automation Systems, Mechatronics Systems, System Engineering
Abstract: This paper describes seamless rapid prototyping using Docker Container for developing mobile robots with waypoint navigation capabilities as an example of seamless rapid prototyping, we show how to migrate from an existing ROS-based Lidar SLAM mobile robot to a ROS2-based system with waypoint navigation capabilities. Between ROS and ROS2, there are many implementation issues related to the simulation environment called Gazebo, there are differences. Therefore, we will create a new sdf file for the mobile robot model and an urdf file for Gazebo to overcome the differences between the ROS and Gazebo implementations. The integration of these files with the new Navigation2 software for SLAM navigation has been successfully implemented in the developed Gazebo simulation environment.

Keywords: Safety, Environment and Eco-Systems, Signal and/or Image Processing, Identification and Estimation
Abstract: Waypoint navigation is one of the essential tasks for autonomous mobile robots in urban areas. In order to achieve safe navigation, most mobile robots run on a pre-trained navigation map. However, pre-trained map-based waypoint navigation has the problem of getting stuck in places such as construction sites where the appearance has temporarily changed significantly. In general, construction sites are guided by construction workers who wear construction jackets of a specific color to prevent accidents for passengers and other vehicles. This paper describes developing a stable and robust construction worker detection system based on particular colors for autonomous mobile robots to navigate safely in urban areas. To detect specific colors regardless of lighting condition change, especially the effect of sunlight, we develop a stable specific color detection algorithm using Retinex theory. The validity of the proposed algorithm is confirmed by applying several different sunlight conditions.

Keywords: Robust Control, Modeling, System Identification and Estimation, Transportation Systems
Abstract: We have recently proposed three types of repeated replay attacks: the open-loop repeated replay attack using stored data, the bias injection repeated replay attack, and the internal model repeated replay attack. As an example of the adaptive cruise controller model, we showed the repeated replay attack destabilizes the system with the LQI controller by passing the failure detector. In this paper, we propose an attack detection method by distortion of the correlation function and check the performance of the delay replay attack, the open loop type repeat replay attack, the internal model type repeat replay attack, and jamming attack against cooperative adaptive cruise control systems (CACC).

Keywords: Robust Control, Modeling, System Identification and Estimation, Transportation Systems
Abstract: We have recently checked the control performance of the cooperative adaptive cruise control systems (CACC) against the delay replay attack, the open-loop type repeat replay attack, and the internal model type repeat replay attacks. In this paper, we propose two types of attack detection monitors adding a watermarking signal loop in parallel with the control loop.

Keywords: Adaptive and Optimal Control, Modeling, System Identification and Estimation, Mechanical Systems Control
Abstract: We propose a new closed-loop response estimation method to predict the control response of the updated controller using one-shot closed-loop experimental data. Unlike the conventional method, the proposed method can predict the control response even when the updated controller has an unstable zero. Furthermore, we extended the proposed method to vehicle yaw-rate control. Vehicle simulator tests showed that the proposed method can predict the yaw-rate control performance from the initial yaw-rate response.

Keywords: Robust Control, Modeling, System Identification and Estimation, Mechanical Systems Control
Abstract: A good vehicle yaw-rate controller must be designed to realize autonomous driving. The desired path planning can be realized when the desired yaw-rate response is achieved. In conventional methods, yaw-rate control based on PID control has been proposed. However, PID controller cannot realize the desired yaw-rate response in the case where the vehicle velocity varies. To solve this problem, we expanded the intelligent PI control to the vehicle yaw-rate control. The validity of the proposed approach was investigated via a vehicle simulator.

Keywords: Adaptive and Optimal Control, Modeling, System Identification and Estimation, Sensors and Transducers
Abstract: ACC is widely used as an automatic driving system, which operates the vehicle based on the distance and relative speed of the forward vehicle in front obtained from sensors. This paper considers the case that sensor information of ego-vehicle target state contains errors, and accurate V2V information is obtained after a delay. We propose a reference modification method of ACC using a prediction governor. The prediction governor is a noise shaping feedforward controller that brings control performance closer to the ideal state. The application situation is a temporary stop of the forward vehicle. The numerical result shows that the predictive governor enables safety temporary stopping in ACC with error information.

Keywords: Adaptive and Optimal Control, Mechanical Systems Control
Abstract: This paper presents a L1 adaptive architecture design for depth control of an autonomous underwater vehicle (AUV). L1 adaptive control is a variant of model reference adaptive control (MRAC) with a low-pass filter inserted to decouple the estimation loop and adaptation loop, thus enabling fast adaptation without sacrificing robustness. We applied this method for depth control of autonomous underwater vehicle, where autonomous retuning is demanded due to the environmental uncertainty. Moreover, we propose a risk-measure based robust controller tuning method to tune the parameters of the adaptive controller.

Keywords: Adaptive and Optimal Control, Mechanical Systems Control, Nonlinear Control
Abstract: In this paper, an obstacle avoidance control scheme in curved path is proposed for electric wheelchairs. In order to travel safely in a coexisting environment for the electric wheelchair, it is necessary to consider the uncertainty of obstacles in the avoidance scheme design. In the proposed scheme, the tracking of an arbitrary target path and obstacle avoidance at same time are conducted, where the probability of the collision of an obstacle is integrated into the stochastic model predictive control. In this way, avoidance behavior that keeps the collision probability below a certain level can be achieved. When the avoidance action cannot keep the collision probability below a certain level, safety is maintained by deceleration. The effectiveness of the proposed algorithm is verified through an experiment.

Keywords: Mechanical Systems Control, Transportation Systems, Robotic and Automation Systems
Abstract: Electric wheelchairs are expected to travel in crowded environments with pedestrians. Model predictive control is effective in such environments. In this research, an electric wheelchair is controlled by MPC. Obstacle detection and localization are implemented on system. The results of the experiment in an indoor corridor confirmed that the vehicle was able to travel autonomously without colliding with walls or pedestrians.

Keywords: Adaptive and Optimal Control, Nonlinear Control, Robotic and Automation Systems
Abstract: For pedestrian tracking using LiDAR, it is difficult to measure the center of the pedestrian directly. In our previous study, the body is approximated into a circle, and the points on the arms were successfully removed, whereas the fitting error remained. To cope with this problem, the present paper introduces an improved pedestrian tracking method by fitting the point cloud on the body into an ellipse. The body shape is calculated by the RANSAC of the ellipse. Then, the estimated center and orientation of the ellipse are used as an observation in moving horizon estimation(MHE) which estimates the pedestrian pose and velocity. The experimental results show that the present method improved the estimation accuracy compared to the circle approximation.

Keywords: Nonlinear Control, Power Systems Control
Abstract: Control of warm-water supply for dialysis treatment in a hospital environment is typical of safety-critical control problems. In order to guarantee the continuity of warm-water supply satisfying physical specifications for a wide range of operating conditions, it is inevitable to consider the nonlinearity involved in a dynamic model of a warm-water supply system for the control design. In this paper, we propose to incorporate control specifications described by signal temporal logic, which is a temporal logic with semantics over finite-time signals in formal methods, into the so-called Koopman-Model Predictive Control (MPC) as a novel technique of nonlinear MPC based on the Koopman operator framework for nonlinear systems. This enables us to generate a sequence of optimal inputs such that the controlled state of a nonlinear system can satisfy the specifications. The proposal is applied to the temperature regulation of warm-water supply, and its effectiveness is established numerically.

Keywords: Adaptive and Optimal Control, Multivariable Control, Guidance and Flight Control
Abstract: In this paper, we propose model predictive control (MPC) based on the First-order Hold (FOH) satisfying control input constraints of intersample behavior and considering internal model principle (IMP) and terminal constraints. In particular, we guarantee the stability of the MPC system satisfying the terminal constraints. We apply our proposed MPC to a quadcopter. It is clarified that the proposed first-order hold-based MPC can improve a tracking performance for a reference input in the MPC of the quadcopter.

Keywords: Adaptive and Optimal Control
Abstract: As interest in the environment grows, a zero emission zone (ZEZ) that regulates the entry of internal combustion engine vehicles is emerging as one of the regulations on internal combustion engine vehicles. Hybrid vehicles must drive in electric vehicle (EV) mode to pass through these areas. To drive in EV mode, it is required to enter the ZEZ satisfying the certain SOC, engine coolant temperature, and motor temperature conditions. In this research, SOC, engine coolant temperature, and motor temperature are planned for ZEZ pre-control, and control input is determined through MPC based on reference values. The proposed control system shows similar fuel efficiency to MPC using the target value, and it shows that the temperature is set more accurately.

Keywords: Nonlinear Control, Adaptive and Optimal Control
Abstract: In this paper, a sensitivity analysis of the initial costate for semi-optimal control law is presented to realize high-speed maneuvers of small satellites. The pyramid configuration Variable Speed Control Moment Gyros (VSCMGs), which can output high torque, are applied for actuators. From previous research, semi-optimal control law has been found to avoid the singularity problem and achieve real-time control, which are challenges for CMG systems. However, the maneuver time is affected by the initial costate in the shooting method. Therefore, numerical simulations are performed in several maneuver cases to discuss the degree of influence between the maneuver time and the initial costate. As a result, it was found that semi-optimal control law works practically by pre-calculating the initial costate of a certain number of cases.

Keywords: Robust Control, Guidance and Flight Control
Abstract: This paper adapts the linear parameter-varying (LPV) control theory to the attitude control problem for spacecraft with three reaction wheels. The LPV control theory can provide an optimal gain-scheduled (GS) controller, which is linearly depending on the scheduling parameters in the linear system, by solving linear matrix inequalities (LMIs) for mixed (combined) H2 and H∞ control with regional pole placement constraints. This paper attempts to reduce the conservatism of solving the LMIs using the post-guaranteed LMI methods. Finally, the applicability and effectiveness of the designed GS controller are demonstrated through the use of numerical examples.

Keywords: Mechatronics Systems, Transportation Systems
Abstract: The authors have proposed a nonlinear motion model of a hang glider, but it is necessary to estimate parameters to verify the model’s validity. In this paper, we first consider estimating a linear model from the output of the nonlinear model as a preparation for the estimation. We have already found that the linear model of a hang glider can be separated into longitudinal and lateral-directional motion models based on linear analysis of the nonlinear model. These linear models are estimated using the two methods: the equation error method and the output error method, and compare the results.

Keywords: Guidance and Flight Control, Modeling, System Identification and Estimation, Robust Control
Abstract: In order to bring the LIDAR-based gust alleviation preview control technology of aircraft to a practical level, it is necessary to include the elastic modes in the aircraft motion model. However, there is no sensor to measure the elastic modes in an ordinary aircraft, and it is necessary to estimate them by some method. In this study, we formulate the discrete-time GS Kalman filter corresponding to the LPV model by using linear matrix inequalities and attempt to estimate the elastic modes. We also show that the gust alleviation preview controller with the estimated elastic modes has excellent control performance.

Keywords: Robust Control, Modeling, System Identification and Estimation, Guidance and Flight Control
Abstract: The flight performance of unmanned aerial vehicles (UAVs) is severely impacted by wind disturbances. Active disturbance rejection control (ADRC) is expected to improve the UAV's anti-disturbance capability through its component extended state observer. However, the enormous computational effort necessary for calculation and parameter adjustment of conventional ADRC hampers its practical installation in an on-board flight controller. In this study, a reduced-order ADRC technique for both attitude and position control of quadcopters was redesigned for easy implementation in flight controllers. In addition, we developed a practical online autotuning method for attitude control that requires only a few minutes to tune the controller. Several experiments were performed using an actual quadcopter to validate the proposed reduced-order ADRC controller and the autotuning method.

Keywords: Guidance and Flight Control, Robust Control, Adaptive and Optimal Control
Abstract: The application of circular parachutes for drones has gradually gained attention in civilian fields over the past decade, owing to their frequent usage at urban sites. This study developed an autonomous parachute precision landing recovery system (APPLRS) for risk mitigation in the large-scale use of drones. The system uses a nonlinear backstepping control algorithm based on a nonlinear dynamic system model for circular parachute control. Moreover, a nonlinear model-assisted extended state observer rejects disturbances caused by model uncertainties and wind. The simulation results demonstrate the anti-disturbance performance and verify the feasibility of APPLRS.

Keywords: Medical and Welfare Systems, Mechatronics Systems, Robotic and Automation Systems
Abstract: To enable quantitative palpation in vivo, we developed a catheter-type tactile sensor composed of two polyvinylidene fluoride (PVDF) films for minimally invasive surgery. In our previous study, we fabricated a prototype catheter-type tactile sensor composed of a PVDF film with an outer diameter of 2 mm. However, this sensor can detect only a uniaxial contact state. In this study, we added a piezoelectric film embedded in silicone rubber to allow the sensor to detect a biaxial contact state. We evaluated the frequency responses of the proposed sensors.

Keywords: Biological and Physiological Engineering, Modeling, System Identification and Estimation
Abstract: In the present research, the mathematical model of Na+-K+ ATPase was constructed considering its conformation change, for analyzing the time transition of each conformation associated with its ion-exchange. The constructed model consists of the simultaneous differential equations concerned with the density variation of each conformation, the exchange of Na+ and K+, and the consumption of ATP. However, the model parameters, reaction rate constants, were unknown yet as for as the authors researched. Therefore, those were identified by steepest descent method while the model was numerically analyzed by Runge-Kutta method. As the result, the time transition of each conformation changes and the reaction rate constants were calculated reasonably under the assumption that the intracellular concentration of Na+ and K+ were kept constant by the function of not only Na+-K+ ATPase but also other transporters. However, the calculated the reaction rate constants cannot be directly validated by the comparison with the experimental value, because they are theoretically and experimentally unidentified yet. In this problem, the model is being extended with the constructing and incorporating the function of other ion transporters for the theoretical validation of the reaction rate constants. Thus, the presented model can be reasonable at least in its structure, however the obtaining and validating adequate model parameters is next problem.

Keywords: Electrophysiology and Kinesiology, Integrative Biophysical Engineering and Informatics, Human Interfaces
Abstract: In recent years, motion-copying systems that store and reproduce human motions have attracted much attention. In the conventional method, the motion is stored using a motor, which affects the original task. In this study, we focused on the relationship between electromyography and force in order to realize unconstrained, non-contact force measurement. In this paper, we modeled the relationship between the force of pressing a force sensor with a fingertip and the myoelectric potential of performing an action by using the elemental description method, which is one of the system identification methods with easy physical interpretation. As a result, an accuracy of 0.260 N, the least squares error, was obtained. In addition, we conducted on copying and reproducing the motion of finger using this model. Although the accuracy of force estimation was low, we were able to estimate the force with the same accuracy. In the future, we aim to improve the accuracy of the estimation and to measure the force using only the myoelectric sensor without the force sensor.

Keywords: Electrophysiology and Kinesiology, Integrative Biophysical Engineering and Informatics, Human Interfaces
Abstract: This study is for a functional electrical stimulation. Functional electrical stimulation is a system that uses electrical stimulation to generate specific joint movements. A model of muscle contraction is needed for control using functional electrical stimulation. It is assumed that the control accuracy will be improved by incorporating the necessary information into the model based on human physiology. In this study, the angle-dependent term in the reaction during muscle contraction is focused as one of the necessary information characteristics. As the angle changes, the muscle condition changes, resulting in responses such as stretch reflexes and repulsive forces. This is important information because if such a response is not taken into consideration, an error will occur between the model and the actual output. In the conventional research, the angle-dependent term was identified by focusing on the lower limbs, and the parameter fitting was realized by using the double exponential function. In this study, the knowledge of the previous study is applied to the upper limbs to build a model. Since the response is different between the upper limbs and the lower limbs, the movements are not always the same. Therefore, verification was performed. From the experimental results, the model based on the double exponential function was a model that took individual differences into consideration even in the upper limbs.

Keywords: Electrophysiology and Kinesiology, Integrative Biophysical Engineering and Informatics, Mechatronics Systems
Abstract: Functional Electrical Stimulation (FES) is a technique to present functional movements by applying electric current to nerve-muscles to induce muscle contraction. In the presentation of hand movements by FES, the flexor digitorum profundus muscle located in the forearm has been used as the muscle that causes flexion. However, the musculature of the forearm is intricate, making it difficult to stimulate arbitrary muscles, and therefore, highly accurate joint angle control has not been achieved. In this study, we aim to realize high-precision servo control of the hand joints by focusing on and stimulating lumbrical located in the hand to increase their independence as a control system. The performance of tracking the index finger metacarpophalangeal (MP) joint angle was compared when the flexor muscle were flexor digitorum superficialis and lumbrical. Step wave and sinusoidal wave were given as the command values for verification. The root mean square error (RMSE) results showed that the tracking accuracy was higher when the lumbrical was used. In addition, the shape comparison shows that the joints tracked more stably with less vibration when lumbrical was used. In this paper, we proposed a hand joint control system using the lumbrical as flexors. This method is effective for servo control of the hand MP joint angle. Experiments verified the effectiveness of the proposed system.

Keywords: Embodied-Brain Systems Science, Medical and Welfare Systems, Signal and/or Image Processing
Abstract: Metacognition refers to knowledge about the cognitive process and related things. The learning method and teaching method are expected to be improved by promoting metacognition. Therefore, detection of metacognition is considered helpful as an indicator of the effect of these improvements. In this study, to clarify the local changes of EEG signal at the time of metacognition occurrence, we proposed a new analysis method that Hurst exponent analysis for differenced time series of EEG and frequency spectrum analysis are used together.

Keywords: Safety, Environment and Eco-Systems, System Engineering, Robotic and Automation Systems
Abstract: STAMP/STPA is a safety analysis method that focuses on emergent accidents in large-scale complex systems that are difficult to predict with conventional safety analyses. Although the effectiveness of STAMP/STPA has been demonstrated by previous studies, many of these studies have focused on the design and safety measures that should be taken to prevent the system from reaching a state that leads to an accident. 　In this study, based on the premise that a situation in which emergency stop must be activated during system operation, safety analysis of emergency stop using STAMP/STPA is conducted for an unprecedented system, and examined the effectiveness of the method. The reason for targeting an unprecedented system is that analysts cannot obtain past accident cases for reference when conducting a safety analysis for an unprecedented system. The results show it is possible to clarify problems that are often overlooked in the start-up and restart of emergency stop systems and to derive recommended specifications. We also concluded that in order to obtain good results, safety analysts involved in emergency stop need to keep in mind that incorrect information to be retained/deleted/updated due to an emergency stop can lead to an accident.

Keywords: System Engineering, Intelligent Systems, Computational Intelligence
Abstract: The grey wolf optimizer (GWO) is a popular metaheuristic method based on the leadership hierarchy of grey wolves to solve continuous optimization problems, which has been received a lot of attention from researchers because of its advantages over other metaheuristic methods and its simplicity. In this paper, we empirically and theoretically show that the method is shift-dependent on the coordinate representation of the optimization problem, and in addition, it is too specialized only to optimization problems having the optimal solution at the origin, which means that its searching ability is not necessarily effective to other problems. Then, we propose a new improved GWO which is invariant to the shift-transformation by using reference points and step-size selection based on a random permutation in its updating system.

Keywords: Standard of Measurement, Transportation Systems, Safety, Environment and Eco-Systems
Abstract: One of the most prominent cases of accidents is cutting caused by contact with the rotor blades of a drone. Hand-catching is a typical example of hazardous misuse in which fingers and hands are injured by the rotor blades. The first industrial accident in Japan was also a case of damaging the face with rotor blade of flying drone. Lacerations caused by contact with the rotor blades are a typical case of drone accidents. Although the risks associated with contact with drone rotor blades are widely known, test method to evaluate them have not yet been established. With the goal of standardizing contact tests for evaluating and certifying the safety of drone rotor blades, this paper outlines the contact risk verification experiments that have been conducted to date, and discusses method and practice for safety test based on their methodology. The differences between risk evaluation and safety validation are discussed in terms of test methodology in this paper.

Keywords: System Engineering, Robust Control, Multivariable Control
Abstract: Using an idea of an ``intermediate operating state'' on state-transition diagrams and continuous-time absorbing Markov analysis, we present a dependability analysis framework of control systems. It enables us to quantitatively evaluate fault tolerance of control systems in various application areas according to international standards. Thus it succeeds in improving the practicality of fault-tolerant control.

Keywords: System Engineering, Safety, Environment and Eco-Systems
Abstract: System Theoretic Process Analysis (STPA) is a method for analyzing hazards caused by interactions between components of an industrial product. STPA is applied in the upper stream stages of the industrial product development, STPA detects hazards while referring to the whole configuration of the industrial product. Therefore, STPA generally does not deal with detailed information about the industrial product. Since the information on the industrial product is insufficient, it is difficult to clarify the factors of hazards, the occurrence order of factors, and the conditions that occur the hazard by STPA. Therefore, the following methods were added to the conventional STPA; the method of describing the components of industrial products in hierarchical detail, the method of clearly defining the behavior of each component, and the method of tracking the structured CSD to clarify the causes of the hazard. By adding those methods, it became possible to conduct a hazard analysis of the industrial product in detail. As a result of applying the proposed method to the existing railroad crossing control system, it was confirmed that the proposed method could detect more factors of hazards and create adequate scenarios from the occurrence of hazard causes to the occurrence of the hazard.

Keywords: Human Interfaces, Entertainment Systems, Virtual Reality Systems
Abstract: In this study, we proved that augmented reality (AR) technology increases the motivation to experience traditional culture. We developed an AR Tosenkyo application to simulate ``Tosenkyo,'' a traditional Japanese game, and conducted experiments with 47 participants, including foreigners. Because Tosenkyo AR application components can be categorized into play equipment and backgrounds, we prepared three applications with different degrees of AR environmental conditions to investigate their effect on motivation. The results of the experiment revealed that, before the AR experience, Japanese people were less motivated to experience traditional culture compared with Chinese people; however, after the AR experience, their motivation increased considerably. This tendency was pronounced in a harmonic AR environment, which is considered a moderate fusion of reality and AR. Furthermore, the path analysis of the questionnaire results revealed that higher quality of AR application considerably improves motivation.

Keywords: Human Interfaces, Human-Machine Systems, Robotic and Automation Systems
Abstract: Interactions between autonomous mobile robots (AMRs) and pedestrians can be difficult due to the lack of communication tools: languages, gestures, and eye contact. An AMR's dynamic behavior and the use of external human-machine interfaces (eHMIs) are expected to be alternatives for these tools. However, most of the previous studies do not consider pedestrians' intentions, thus the plan of interaction may be disagreeable for pedestrians. This study focuses on the process of making an agreement with pedestrians. By estimating pedestrians' intentions with model predictive control (MPC), optimal plans which are acceptable for pedestrians are calculated. The plan is then displayed by using an eHMI in order to communicate and reach an agreement on the future interaction plan with pedestrians. Results of a human-in-the-loop simulation (HiLS) show that the proposed eHMI can increase smooth interactions. This enables AMRs and pedestrians to pass by each other quickly and resolves the uneasiness pedestrians feel when interacting with AMRs.

Keywords: Human Interfaces, Virtual Reality Systems, Human-Machine Systems
Abstract: This paper proposes an immersive micromanipulation system to enable teleoperation and collaborative operation. The proposed system uses a real-time 3D imaging microscope and mixed reality devices to construct a mixed reality space to manipulate microscopic objects. Users are immersed in the mixed reality space and operate micromanipulators. We verified that the proposed system can enable remote and collaborative micromanipulation.

Keywords: Human Interfaces, Virtual Reality Systems
Abstract: While performance and function are imperative for the high quality of industrial products, texture and aesthetics have become the focus of attention to differentiate products from those of competitors, with an increasing demand for the tactile design of products. However, building prototypes and conducting tactile evaluations require a significant amount of time and money. Therefore, it would be advantageous to estimate the tactile sensation using the three-dimensional (3D) coordinates obtained from a 3D model at the design stage. Although the periodicity of the texture has been previously suggested to influence the sense of touch, the relationship between the two has not been clarified in general textures. In this paper, we focused on the spatial frequency of textures to quantify the roughness based on the shape information of textures and investigated the effect of changing the bandwidth on the subjective evaluation of roughness. The results indicated that the texture’s low-frequency component does not contribute to the roughness.

Keywords: Human Interfaces, Virtual Reality Systems
Abstract: This paper describes a haptic interface with a virtual coupling, including fractional derivative terms. In general, virtual coupling consists of a virtual stiffness and damper, but the stability and the expression ability are restricted. Previous research has studied a virtual coupling consisting of fractional derivatives instead of a damper and a method to design parameters concerning passivity. This paper studies a method to include the property of a real object in VC using the proposed design method. First, we measured the passivity of real objects, then proposed a method to implement the property to a VC, and finally performed some experiments to evaluate the effectiveness of the proposed method. The results show that if the optimization of parameters in the design process succeeds and makes similar passivity distribution with the real object, VC designed by the proposed method has a good expression ability.

Keywords: Human Interfaces, Innovative Systems Approach for Realizing Smarter World
Abstract: In this study, we propose a personal identification and authentication system using skin deformation during blinking. The distance between the glasses-type device and the face surface is measured during the blink using an optical sensor. The proposed method achieves an identification accuracy of 97.1% for a sample size of seven people. The average Equal Error Rate was 6.4% when authenticating individuals. We investigate the validity of personal identification and personal authentication by prompting users to perform two different blink patterns.

Keywords:
Abstract: “Safety and Secure Control System” is important for realizing “Smart Manufacturing”. This Special Panel Session covers the latest topics of “Safety and Secure Control System” including below topics regarding the practical security measures under the environment of IT/OT Convergency in ICS.

Keywords: Mechanical Systems Control, Nonlinear Control, Robotic and Automation Systems
Abstract: This paper proposes an anti-sway control method for overhead cranes. The proposed method sends position commands to the trolley under magnitude constraints on the velocity and the acceleration. Experimental results show that our method suppresses the swing angle of the payload at disturbances and initial swing angles.

Keywords: Mechanical Systems Control, Adaptive and Optimal Control, Robotic and Automation Systems
Abstract: In order to concentrate kinetic energy on the end-link of the multi-link robot arm and make it move at high speed, it is important to exploit the elasticity and the dynamic coupling such as Coriolis force and centrifugal force of the robot arm with elastic elements. Swing motion of a multi-link arm exploiting the elasticity and the dynamic coupling was proposed by Asaoka et al. In this research, we applied this swing motion pattern to a 2-link robot arm with a spring attached to the 2nd joint and then we obtained the optimal spring stiffness that maximizes the peak velocity of the end-link under the condition that the range of spring stiffness and joint torque were limited.

Keywords: Robotic and Automation Systems, Mechatronics Systems, Mechanical Systems Control
Abstract: Recently, the rational motion of robots is required for further applications. Human movements give many clues to robotics. This study focuses on the fact that a human adjusts grip force when he/she performs an impact motion with a tool. The tools often have elasticity, and the human adjustment enables an effective impact motion with distortion. To realize the reproduction of the impact motion with a flexible manipulator, this paper utilizes a wave system for modeling the elasticity. The flow of the reflected wave is controlled during the impact motion based on the human adjustment of grip force. Since this study is based on the research of vibration suppression in flexible structures, it provides not only rational but also stable motion control. The experimental results show the validity of the proposed method.

Keywords: Robust Control, Mechanical Systems Control, Nonlinear Control
Abstract: This paper focuses on the control problem of a manipulator with three degrees of freedom, and investigates a control design method considering the variation of mechanical parameters. The manipulator is expressed as an LPV (linear parameter varying) model in descriptor form, and a control system which achieves trajectory tracking is constructed by solving a gain-scheduled control problem. The strength and limitation of the proposed method is discussed based on simulation and experimental results.

Keywords: Adaptive and Optimal Control, Autonomous Decentralized Systems, Network System Integration
Abstract: This paper proposes an architecture for hierarchical network systems where homogeneous subsystems are interconnected via a complete graph. This architecture can achieve distributed reinforcement learning of optimal distributed controllers. The obtained controllers are theoretically guaranteed to have the same control performance as the model-based optimal controllers. Furthermore, the computational complexity of this learning method is scalable for the number of subsystems. The effectiveness of the proposed architecture is verified by numerical simulations.

Keywords: Multivariable Control, Adaptive and Optimal Control, Autonomous Decentralized Systems
Abstract: This paper considers an optimal control problem for systems consisting of multiple identical continuous-time linear time-invariant subsystems. The cost function has a two-layer structure. It includes quadratic terms of an individual performance output and a cooperative performance output. The resulting optimal control input is accordingly composed of local feedback and cooperative feedback. To update the cooperative feedback in a discrete-time manner, the idea of event-triggered control is incorporated. A special triggering condition is proposed so that the cooperative feedback signal is updated frequently when the cooperative performance output takes large values. Effectiveness of the proposed control law is examined by numerical simulations.

Keywords: Autonomous Decentralized Systems, System Engineering
Abstract: This paper addresses the equivalence transformation of dynamical network systems. The proposed method transforms the original system into a system with the same network topology and spectrum. The proposed transformation provides a new analysis method for inferring the spectrum of the system matrix from the neighbor information over the networks.

Keywords: Adaptive and Optimal Control
Abstract: Recently, event-triggered control has been attracting attention because it can reduce the number of communications in networked control. In the standard event-triggered control, it is assumed that a plant model is known. However, the derivation of the model often requires a lot of effort in terms of time and cost. In this paper, we propose a method to reduce the burden of designers and the number of communications by applying data-driven methods into the state-feedback event-triggered control. We confirm the effectiveness of the proposed method by simulation.

Keywords: Discrete Event Systems, Multivariable Control, System Engineering
Abstract: At present, automatic control systems in practice would be classified into three types; clock-driven, event-driven, and hybrid ones. However, the theory of event-driven control systems has been different from the usual theory of (clock/time-driven, i.e., sampled-data) control systems. In this paper, these types of discrete control systems are tried to discuss in a unified theory based on the analysis of recurrent systems i.e., finite/infinite series expansion. These thoughts will be presented together with some numerical examples.

Keywords: Mechanical Systems Control, Transportation Systems, Robotic and Automation Systems
Abstract: In recent years, model predictive control (MPC) has become applied to broad fields requiring short control cycles by virtue of algorithm developments. Still, determining the upper bound of the computation cost is critical for industrial applications. In our previous study focusing on this problem, we proposed an efficient method for MPC with box constraints based on the Linear Complementarity Problem (LCP) structure. This study extends it to the multiple-box constrained MPC and verifies it on vehicles. Experiment results confirmed that the trajectory generation was feasible in real-time implementation, guaranteeing the upper-bounded computation.

Keywords: Nonlinear Control, Transportation Systems, Adaptive and Optimal Control
Abstract: This paper considers the design of vehicle speed control by taking account of fuel consumption based on nonlinear model predictive control (NMPC) with preview information on road gradient. A closed-loop simulation environment is developed based on a nonlinear optimization solver CasADi and a vehicle model of TruckMaker, both of which are combined on Simulink. To determine weighting parameters in the NMPC, we conduct a Pareto optimization based on differential evolution considering the trade-off between fuel consumption and driving time. Numerical examples with actual road scenarios demonstrate the effectiveness of the present method.

Keywords: Adaptive and Optimal Control, Nonlinear Control
Abstract: A vehicle group model applicable to an experimental environment using a toy car is created, and a follow-up control system in model predictive control is configured. In addition, we will examine the applicability of the system to the implementation environment by verifying the fuel efficiency effect using the aerodynamic drag reduction area through computer simulation.

Keywords: Adaptive and Optimal Control, Transportation Systems, Nonlinear Control
Abstract: We propose a closed-loop eco-driving controller based on model predictive control for an automated dispatch system of self-driving electric vehicles. The continuation / generalized minimum residual (C/GMRES) algorithm is modified into a shrinking-horizon form to ensure arrival at the requested meeting point on time. The effectiveness of the proposed controller is confirmed through a numerical example.

Keywords: Transportation Systems, Adaptive and Optimal Control, Simulation of Large Systems
Abstract: This paper presents a novel cyber-physical optimal vehicle coordination system for connected and automated vehicles (CAVs) on freeways. It is assumed that all vehicles are connected with the cloud-based computing system, where a vehicle coordination system optimizes the target trajectories of all vehicles for a smooth lane change or merging with a minimum deviation of speed. Coordination information is provided to individual vehicles that are equipped with local controllers and each of them determines the control acceleration to follow the target trajectories while maintaining a safe gap. For the vehicle coordination system, a new optimization scheme is proposed where the objective is to minimize the speed deviation and acceleration of all vehicles. The vehicles are divided into a few groups or platoons in the scheme, and their trajectories are successively optimized. The proposed coordination system is evaluated through numerical simulation.

Keywords: Guidance and Flight Control, Nonlinear Control
Abstract: The zonal harmonics problem in orbital mechanics is known to have no analytical solution. In the present study, many attempts have been made to model and find the solutions for the zonal harmonics problem analytically. The traditional approaches to design optimal control for this problem include the direct approach based on Nonlinear Programming (NLP), and an indirect approach based on Euler-Lagrange equation. However, both approaches have challenges of an appropriate initial guess being non-intuitive and the resulting optimal trajectory is sensitive to its value. This study investigates an another approach using the recent data-driven methods to tackle this problem. Specifically, we employ the use of Dynamic Mode Decomposition (DMD) to approximate the Periapse Poincaré map to construct a linear regression model of zonal harmonics problem, and then an optimal control can be designed by linear theory.

Keywords: Adaptive and Optimal Control, Guidance and Flight Control, Intelligent Control
Abstract: This study focuses on the suboptimal spacecraft orbit design using a deep reinforcement learning method. In the optimal orbit design issues, it is not easy to solve the nonlinear problems and we have many difficulties to solve them. However, reinforcement learning can be applied regardless of linear or nonlinear. Therefore, quasi-optimized solutions can be achieved more simply. In this paper, we show the effectiveness of the DRL algorithm in the orbit design in the case of super synchronous and spiral orbital transfer problems.

Keywords: Guidance and Flight Control, Transportation Systems
Abstract: The utilization of small unmanned aircraft systems (sUAS), also known as drones, is growing as their performance improves. In particular, multirotor sUAS are expected to have wide-ranging applications, such as delivering goods and aerial surveillance, but the rising number of sUAS flights is also exacerbating the risk of collision between sUAS and manned aircraft. This study develops a collision avoidance method for multirotor sUAS using the Markov decision process (MDP). Recently, the MDP-based collision avoidance method has been developed for various kinds of aircraft including sUAS. However, the collision avoidance method for sUAS is developed without distinguishing multirotor and fixed-wing sUAS from a compatibility perspective. We propose a collision avoidance method that optimally exploits the advantageous flight characteristics of multirotor sUAS, such as their ability to change acceleration dynamically and hover. Numerical simulations are conducted to demonstrate the performance of the proposed method. The results show that the proposed collision avoidance method can avoid collisions while suppressing excess deviation from the original path.

Keywords: Guidance and Flight Control, Robotic and Automation Systems, Mechanical Systems Control
Abstract: In planetary exploration missions, rovers have to conduct obstacle avoidance control utilizing a low-performance CPU that can bear radiation. In this study, we implemented a distributed model predictive control (DMPC) into a planar leg/wheel mobile robot equipped with onboard 2D LiDAR. The constructed system achieves real-time control and has the functionality of simultaneous localization and mapping (SLAM) and obstacle detection. Experiments successfully show that DMPC and the built-in SLAM system can perform obstacle avoidance.

Keywords: Adaptive and Optimal Control, Guidance and Flight Control
Abstract: Autonomous docking of small spacecraft has become one of the technologies to be established in space development. As a fundamental study for the development of autonomous docking technology for small spacecraft, this study aims to find the optimal control inputs for the rendezvous approach with as low energy and fuel consumption as possible in a small spacecraft with limited hardware resources. This paper conducted numerical simulations and hardware experiments to verify the control performance. In the experiments, we used a small spacecraft mockup on a two-dimensional plane and air bearings to control the motion of the small spacecraft to perform the rendezvous approach with minimal energy and fuel consumption.

Keywords: Biological and Physiological Engineering, Human Interfaces
Abstract: A functional Magnetic Resonance Imaging (fMRI) compatible haptic interface is drawing interest from neuroscientists in recent years. The strong magnetic field of the MRI scanner prevents the use of the commercially available tactile display. Previous studies showed the potential of pneumatic actuation techniques, limited to temporal stimulation. In this study, we proposed a modulated pneumatic tactile array and evaluated its safety and feasibility in an fMRI experiment. The development of a high spatial-temporal resolution tactile interface will open a wide range of complicated experiments for investigating the processing of tactile information inside human brain.

Keywords: Medical and Welfare Systems, Modeling, System Identification and Estimation, Identification and Estimation
Abstract: Abstract: Recently the number of children having the low back pain has increased. There are symptom classifications of low back pain, and those with anteflexion and postflexion are often used. So far the cause for the pain has not yet been clarified. In this study we have focus on the children low back pain with anteflexion (LBPAF), and studied on the pain of children aged 4 to 15 years using questionnaire and physical tests. In results 5% of the total children had LBPAF. The results of a multiple logistic regression predictive model show that height, gender, Finger Floor Distance (FFD) score, Ely test score, and sport time were the risk factors for LBPAF. The predictive model provided AUC higher than 0.8, and significantly higher negative predictive value than the other models. It also had the robustness for the number of datasets. Among the factors, FFD score, Ely test score had significantly larger odds ratios. The results suggest that LBPAF will be caused by the imbalance of muscle tone. Using the predictive model we can develop the system which instructs children to avoid low back pain.

Keywords: Embodied-Brain Systems Science, Intelligent Systems
Abstract: The turnover rate of young people in their first job is known to be high, and is a modern social problem. The reason for this is that many interpersonal relationships are involved, and thus, empathy is important in solving the problem. Therefore, it would be possible to improve empathy ability and then useful for assignment if one's own empathy ability on the emotional intelligence scale can be estimated. However, because the conventional method of obtaining the emotional intelligence scale is a questionnaire format, problems such as being able to answer intentionally by oneself arise. Therefore, in this study, empathy ability is estimated using cerebral blood flow, which is hard to control by oneself. In the proposed method, an empathy propagation network (EPN) is constructed. To calculate the EPN, optimal value of the probability threshold and removing the pulse component in the cerebral blood flow are important for high-accuracy empathy score estimation. Therefore, in this study, we compare the accuracy of the estimation score among different threshold value conditions, and apply a filter for the pulse component.

Keywords: Adaptive and Optimal Control, Biological and Physiological Engineering, Human Interfaces
Abstract: Exploration and exploitation are two significant characteristics when studying human decision-making be- havior. This paper reviews some studies on the exploration and exploitation mechanism based on neuroscience and neu- rogenetic perspectives. We believe that there should be two parts in the computational model of human decision-making behavior: the value function part related to the exploitation and the selection strategy part related to exploration. Under this model structure, the exploration-exploitation balance-control parameters can match the two personality types of se- lection patterns (exploration personality and exploitation personality). We believe we can use the exploration-exploitation balance-control parameters to express the COMT Gene carriers that control exploration and exploitation personalities and then clarify its working mechanism.

Keywords: Integrative Biophysical Engineering and Informatics, Human Interfaces, Signal and/or Image Processing
Abstract: In guide dog training, it is necessary to judge from the behavior of the target guide dog what state of concentration the dog is in and give appropriate instructions accordingly. It is thought that there is a difference between a student practicing training and a skilled trainer in terms of the appropriateness of judging the situation and giving proper instructions in response to the situation. In this study, by taking videos of guide dogs in training and asking trainers to score the concentration of the dogs on the training conditions, we examined whether there was a difference in scores between skilled and novice trainers. We also examined whether there was a relationship between the dog's skeletal posture information and its score. As a result, we confirmed that there was a significant difference in scores between skilled and novice trainers. We also found that when the dog's nose is in a lower position, corresponding to a ground-sniffing motion, its concentration scores tend to be lower. These findings have the potential to be useful for the efficient training of guide dogs.

Keywords: Intelligent Systems, Social Systems, Innovative Systems Approach for Realizing Smarter World
Abstract: We authors have advocated the smarter inclusive society, a vision of a vibrant society in which all people can actively participate in society through the implementation of AI robots as a social infrastructure. As one of project called Moonshot, we are working on the development of AI robots. This paper introduces the concept design of adaptable AI-enabled robot that is developed with the goal of assisting caregivers by 2030. The main features and goals of the robots are illustrated as development concepts. The management of development related to the design and verification of the concepts are described. A framework of management to address ethics is shown and a scheme to make our conceptual design practice is demonstrated.

Keywords: Social Systems, Intelligent Systems
Abstract: Potential tourism resources (PTR) are those resources that tourists do not visit because of their low awareness, even though the sites are attractive. That is, tourists would find them attractive, but tourist destination organizations have not identified them. Actualizing and popularizing such PTR would significantly promote the tourism industry; however, the failure to recognize PTR renders discussion of actualizing potential tourist destinations and their possible functions immature. Thus, our study proposes an approach to actualizing PTR by co-creation among tourists, focusing on the markers of tourism resources, a tourism theory. We constructed and demonstrated a process to clarify what kind of information the marker should include, a major issue in realizing the proposed approach. As a result, the investigation clarified that it is better for markers to contain the following information: "name of resources," "age of resources," "rarity of resources," and "the depth of involvement of resources with historical people."

Keywords: Social Systems, Modeling, System Identification and Estimation, Information Management Systems
Abstract: Local community development is an important part of social development and has great research significance. A lot of previous studies involved the theme of improving local community development. However, few studies have used network motifs to propose a highly generalized analysis model for local community development. Therefore, this study proposed an analysis model that can discover multiple clusters of objectives (objectives are determined by needs). Furthermore, these multiple clusters of objectives have the potential to the development of the local community in a variety of aspects. As a result, we tested the analysis model and successfully discovered multiple clusters by using data from the second-hand luxury goods market. We also have given some suggestions for the local community development based on the result.