{"_buckets": {"deposit": "1cad35e4-a99a-4afe-bbfb-576ef434ee56"}, "_deposit": {"id": "2004734", "owners": [1], "pid": {"revision_id": 0, "type": "depid", "value": "2004734"}, "status": "published"}, "_oai": {"id": "oai:u-ryukyu.repo.nii.ac.jp:02004734", "sets": ["1642838403123", "1642838406845"]}, "author_link": [], "item_1617186331708": {"attribute_name": "Title", "attribute_value_mlt": [{"subitem_1551255647225": "GA学習法を用いたニューロ制御器による非ホロノミック系の制御系設計法", "subitem_1551255648112": "ja"}, {"subitem_1551255647225": "Control System Design of Neuro-controller Using Genetic Algorithms for Non-holonomic Systems", "subitem_1551255648112": "en"}]}, "item_1617186419668": {"attribute_name": "Creator", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "金城, 寛", "creatorNameLang": "ja"}]}, {"creatorNames": [{"creatorName": "山本, 哲彦", "creatorNameLang": "ja"}]}, {"creatorNames": [{"creatorName": "中園, 邦彦", "creatorNameLang": "ja"}]}, {"creatorNames": [{"creatorName": "Kinjo, Hiroshi", "creatorNameLang": "en"}]}, {"creatorNames": [{"creatorName": "Yamamoto, Tetsuhiko", "creatorNameLang": "en"}]}, {"creatorNames": [{"creatorName": "Nakazono, Kunihiko", "creatorNameLang": "en"}]}]}, "item_1617186476635": {"attribute_name": "Access Rights", "attribute_value_mlt": [{"subitem_1522299639480": "open access", "subitem_1600958577026": "http://purl.org/coar/access_right/c_abf2"}]}, "item_1617186609386": {"attribute_name": "Subject", "attribute_value_mlt": [{"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "非ホロノミック系"}, {"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "遺伝的アルゴリズム"}, {"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "機械力学・制御"}, {"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "知能制御"}, {"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "機械学習"}, {"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "ニューラルネット"}, {"subitem_1522299896455": "en", "subitem_1522300014469": "Other", "subitem_1523261968819": "Learning machine"}, {"subitem_1522299896455": "en", "subitem_1522300014469": "Other", "subitem_1523261968819": "Mechanical dynamics and control"}, {"subitem_1522299896455": "en", "subitem_1522300014469": "Other", "subitem_1523261968819": "Genetic algorithms"}, {"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "ニューロ制御器"}, {"subitem_1522299896455": "en", "subitem_1522300014469": "Other", "subitem_1523261968819": "Neural networks"}, {"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "GA学習法"}, {"subitem_1522299896455": "ja", "subitem_1522300014469": "Other", "subitem_1523261968819": "制御系設計法"}, {"subitem_1522299896455": "en", "subitem_1522300014469": "Other", "subitem_1523261968819": "Non-holonomic systems"}, {"subitem_1522299896455": "en", "subitem_1522300014469": "Other", "subitem_1523261968819": "Intelligent control"}]}, "item_1617186626617": {"attribute_name": "Description", "attribute_value_mlt": [{"subitem_description": "科研費番号: 16500114", "subitem_description_type": "Other"}, {"subitem_description": "平成16年度～平成17年度科学研究費補助金（基盤研究（C)）研究成果報告書 /", "subitem_description_type": "Other"}, {"subitem_description": "研究概要 : 本研究の目的は、従来の静的状態フィードバックが適用できない非ホロノミック系に対して、遺伝的アルゴリズム(GA)学習によるニューロ制御器を適用し、その有効性を検証することである。これに付随して、GAに用いる染色体構造を二重にしたり、実数値GAの改良法も検討したので、これらの結果も合わせて述べる。 1.GA学習によるニューロ制御器による2輪車両の制御 2輪車両は比較的簡単なクラスの非ホロノミック系として知られている。この対象に対して、ニューロ制御器を適用したところ、良好なレギュレーション結果が得られた。GA学習を用いることにより、数学的に簡単な演算で、制御器が設計できることが示された。 2.劣性遺伝構造によるGA最適化法の改良従来、GA最適化問題に用いる染色体は、対象とする変数をコード化したもので、単一な構造をしていた。本研究では、GAに用いる変数を優性と劣性の二重構造にして、最適化問題を解いた。その結果、単一構造の場合と比較して、固体群の多様性の喪失も少なく、良好な探索結果が得られた。 3.可変確率分布による実数値GA探索性能の改良従来、実数値GAでは一様分布の確率分布関数による交叉で子孫を発生させていた。本研究では、交叉に用いる確率分布を可変にし、その世代の最良固体に偏った分布とした。これにより、解探索の高速化を図ることができた。", "subitem_description_type": "Other"}, {"subitem_description": "研究概要（英文） : The main object of this research project is to construct control system for non-holonomic systems using neurocontroller (NC) based on a genetic algorithm (GA). One method for the nonholonomic system controller design is the time-state control form that utilizes a chained form conversion. The chained forms are powerful and useful for designing the nonholonomic control system. However, the time-state control form has some limitations in the controllable ranges due to the conversion. In this research, we propose a design method of a state feedback controller for a nonholonomic system using an NC without chained forms. The NC is trained by a genetic algorithm. In the controller design, the abilities of pattern recognition and generalization of the neural network are utilized. In the GA process, NCs are evaluated on the basis of control performance in which the squared errors that result from the control simulations starting from all the initial states are calculated. Based on the control performance, NCs are evolved through the GA processes. Results of simulations show that the NCs trained using a GA exhibit good control performance of some example objects of the nonholonomic systems. One of the control strategies of the NC resembles that of time-state control form. The proposed method has no limitations in the controllable ranges in the initial states.", "subitem_description_type": "Other"}, {"subitem_description": "非公開：P.1以降（別刷論文のため）", "subitem_description_type": "Other"}, {"subitem_description": "研究報告書", "subitem_description_type": "Other"}]}, "item_1617186643794": {"attribute_name": "Publisher", "attribute_value_mlt": [{"subitem_1522300295150": "ja", "subitem_1522300316516": "金城寛"}]}, "item_1617186702042": {"attribute_name": "Language", "attribute_value_mlt": [{"subitem_1551255818386": "jpn"}]}, "item_1617186783814": {"attribute_name": "Identifier", "attribute_value_mlt": [{"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/20.500.12000/11408"}]}, "item_1617186920753": {"attribute_name": "Source Identifier", "attribute_value_mlt": [{"subitem_1522646500366": "NCID", "subitem_1522646572813": "BA79368173"}]}, "item_1617187056579": {"attribute_name": "Bibliographic Information", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2006-03", "bibliographicIssueDateType": "Issued"}, "bibliographicPageStart": "none"}]}, "item_1617258105262": {"attribute_name": "Resource Type", "attribute_value_mlt": [{"resourcetype": "research report", "resourceuri": "http://purl.org/coar/resource_type/c_18ws"}]}, "item_1617265215918": {"attribute_name": "Version Type", "attribute_value_mlt": [{"subitem_1522305645492": "VoR", "subitem_1600292170262": "http://purl.org/coar/version/c_970fb48d4fbd8a85"}]}, "item_1617605131499": {"attribute_name": "File", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_access", "download_preview_message": "", "file_order": 0, "filename": "16500114.pdf", "future_date_message": "", "is_thumbnail": false, "mimetype": "", "size": 0, "url": {"objectType": "fulltext", "url": "https://u-ryukyu.repo.nii.ac.jp/record/2004734/files/16500114.pdf"}, "version_id": "a645fbe9-4222-4fca-a9ee-4b50e6b2b510"}]}, "item_title": "GA学習法を用いたニューロ制御器による非ホロノミック系の制御系設計法", "item_type_id": "15", "owner": "1", "path": ["1642838403123", "1642838406845"], "permalink_uri": "http://hdl.handle.net/20.500.12000/11408", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2009-07-23"}, "publish_date": "2009-07-23", "publish_status": "0", "recid": "2004734", "relation": {}, "relation_version_is_last": true, "title": ["GA学習法を用いたニューロ制御器による非ホロノミック系の制御系設計法"], "weko_shared_id": -1}