研究者詳細 - 古賀　雅伸

論文 - 古賀　雅伸

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Can ChatGPT Pass Classical Control Theory Exam? 査読有り

Ogo I., Koga M.

2024 SICE Festival with Annual Conference, SICE FES 2024 1073 - 1078 2024年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

With the advancement of AI technology, generative AI has made remarkable progress in its ability to process multiple languages and adapt to creative tasks. It has also demonstrated its strength in academic fields, such as passing the national medical examinations. In this study, we tested the extent to which ChatGPT (GPT-4) can accurately answer classical control theory questions offered in undergraduate courses. The experimental results showed that GPT-4 showed a correct response rate of under 70% for quiz exercises in classical control theory, and that the correct response rate was lower for problems whose solutions were specific or required step-by-step thinking. In addition, since GPT-4 is a Transformer-based model, and the answers are based on mere prediction, it may give incorrect answers for problems that require complex calculations. In this study, we proposed a method to improve the response accuracy by developing a customized GPT specialized for classical control theory and using prompt engineering. The proposed method was applied to a university undergraduate final exam in undergraduate course, and the results showed that the correct response rate was improved and a passing score (60% or higher) was obtained.

Scopus

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Can ChatGPT Pass Modern Control Theory Exam? 査読有り

Ogo I., Koga M.

International Conference on Control, Automation and Systems 1287 - 1292 2024年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Large language models (LLMs), such as GPT models, have been rapidly studied in recent years and are expected to be applied to academic fields such as mathematics and engineering. In this study, we examined how accurately ChatGPT (GPT-4o) can answer modern control theory questions at the undergraduate-level. A set of 98 questions on modern control theory was used to evaluate GPT-4o's problem-solving ability on modern control theory. The results revealed that the GPT-4o showed a 49.0% correct response rate to the undergraduate-level modern control theory exercises, and that the correct response rate tended to be lower for problems involving calculations, especially those that require step-by-step thinking and complex computation. This may be attributed to the Transformer architecture of the GPT model, which generates answers based on probabilistic predictions. In this study, we proposed a method to improve response accuracy by developing a customized GPT which leverages prompt engineering methods to address these issues. In order to evaluate the proposed method, a question set consisting of 45 graduate school entrance exam questions on modern control theory was developed. The results of the evaluation showed that the correct response rate was improved by 26.6 points, yielding a 64.4% correct response rate.

DOI： 10.23919/ICCAS63016.2024.10773183

Scopus

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AR技術を用いたシミュレータによるメカトロニクス教育支援査読有り

鶴直輝, 古賀雅伸

計測自動制御学会論文集 ( 公益社団法人計測自動制御学会 ) 59 ( 8 ) 372 - 378 2023年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（学術雑誌）

<p>With the increased interest of manufacturing education and creative education, the number of education programs for experiential learning on mechatronics is on the rise. Most programs introduce the experiment and practical training with actual robots into education for the purpose of enhancing educational effects. However, the burden of preparing and maintaining the robot is not small and sharing an actual robot with some students increases the risk of infection from Coronavirus (COVID-19) in recent years. In this research we have developed a new simulator that supports education of mechatronics using AR technology. By using the simulation, the cost of preparing and managing the actual robot can be significantly reduced and the risk of infection disease is also reduced. In addition the AR technology makes it possible for students to make experience as they control the actual robots.</p>

DOI： 10.9746/sicetr.59.372

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/sicetr/59/8/59_372/_pdf

Development of a Web Application to Support Validation of Indoor Robots Using AR 査読有り

Hirose K., Koga M.

International Conference on Control, Automation and Systems 694 - 699 2023年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In this paper we report on the web application which was developed to help users considering the purchase of an indoor robot to verify the effectiveness of the robot in their environment of use. The application uses a robot model in RDTF format that works in a web browser. For the simulation calculations, it use a physical calculation engine compiled with WebAssembly or other tools to run at high speed, so that the robot can run at high speed even in a web browser. Similarly, for animation, it use a library compatible with WebGL, which enables high-speed display on a Web browser. In order to enable users to check the results of the indicated task and confirm the validity of the robot's purchase by checking the 3D animation in the operating environment, the trajectory of the task is generated in conjunction with ROS.

DOI： 10.23919/ICCAS59377.2023.10316875

Scopus

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Collision-Aware AR Telemanipulation Using Depth Mesh 査読有り

Piyavichayanon C., Koga M., Hayashi E., Chumkamon S.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022-July 386 - 392 2022年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Remotely operating a robot in Augmented Reality (AR) is a challenging problem due to the limited information about the environment around the robot. The current AR teleoperation interface lacks the collision checking between the virtual robot model and the environment. This work aims to overcome that problem by using depth mesh generation to reconstruct the environment from a single pair of RGB and Depth images. By presenting the generated mesh with the virtual manipulator model in AR, we introduce three collision-aware features, i.e., collision checking, AR guidance, and ray casting distance calculation, to support the operator in the manipulation task. The reconstruction can be done instantly on the smartphone, allowing the system to be used on mobile AR applications. We evaluate our system with the pick-and-place task. The accuracy of the reconstruction is enough for the user to succeed in the operation. In addition, the collision-aware features reduce the task completion time, lower workload, and enhance the system's usability.

DOI： 10.1109/AIM52237.2022.9863385

Kyutacar

Scopus

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Augmented Reality Display of Robot with Graphs of Property Response Using Its USD Model 査読有り

Tsukamoto K., Koga M.

International Conference on Control, Automation and Systems 2022-November 955 - 959 2022年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study proposes a method that can easily grasp the relationship between the actual machine and the graphs. In recent years, there has been a lot of research on augmented reality displays. The fields of research range from education to welfare. In the development of control systems, when evaluating the performance of a system by simulation or experiment, the results are often checked as graphs. Since the graphs are checked on a PC using CAD or other means, it is difficult to know which part of the actual machine each graph corresponds to. Therefore, we developed a tool that displays graphs in augmented reality around the actual machine through a camera on a mobile terminal. To display graphs in augmented reality, it is important to obtain the coordinates of the actual machine and display them in a location associated with the device. Therefore, a USD model with the same shape and size as the actual machine is used. This is achieved by displaying the USD model in augmented reality so that it is superimposed on the actual machine. The accuracy of the tool was also examined and its usefulness was evaluated.

DOI： 10.23919/ICCAS55662.2022.10003675

Scopus

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An algorithm to modify consistent initialization of differential-algebraic equations obtained by pantelides algorithm using minimally singular subsets 査読有り国際誌

Keisuke Shimako, Masanobu Koga

SICE Journal of Control, Measurement, and System Integration 14 ( 1 ) 189 - 195 2021年07月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this paper, an algorithm for index reduction of differential algebraic equations (DAE) is proposed. Pantelides algorithm has already been proposed as an algorithm for this purpose. This conventional algorithm has succeeded in reducing the calculation time required for index reduction. However, there exist some DAE systems whose index cannot be reduced correctly with the conventional algorithm because it uses sufficient condition to reduce the index. We propose an algorithm to modify the solution obtained by Pantelides algorithm to deal with a wider class of DAE systems. The proposed algorithm deals with DAE systems by using the necessary and sufficient condition to reduce the index systematically that cannot be reduced by the conventional algorithm. We implemented the proposed algorithm as the functions on Maxima and evaluated the algorithm by using some examples.

DOI： 10.1080/18824889.2021.1945367

Scopus

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Validation of Robot Model with Mobile Augmented Reality 査読有り

Piyavichayanon C., Koga M.

2021 6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021 1 - 5 2021年07月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Augmented Reality has excellent potential for many robotic applications, including the validation of robot models in working environments. However, a dedicated depth sensor is only available on a high-end mobile device. Hence, the realistic AR experience for robotic applications is not available for a wide range of mobile phones. This paper presents a way to use a robot control algorithm on a virtual robot model in AR without the need for a depth sensor while keeping the depth required feature such as an occlusion. The connection between the AR and the robot operating system allows the exiting control algorithm to be applied to the augmented robot model. The navigation of a mobile robot with the AR interface was used as an example of robot validation in real-world spaces. Despite some communication delays, the virtual robot can be controlled and navigated in the real world with a certain degree of accuracy. It has been shown that visualizing and controlling a robot in an AR scene can be done with this method. Future work on the interaction between the virtual robot and the real environment should be conducted to expand the application of robot validation with AR.

DOI： 10.1109/ACIRS52449.2021.9519362

Scopus

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An Extension of Pantelides Algorithm for Consistent Initialization of Differential-Algebraic Equations Using Minimally Singularity 査読有り

Shimako K., Koga M.

2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 1676 - 1681 2020年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.23919/sice48898.2020.9240430

Scopus

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An Extension of glTF for Robot Description 査読有り

Izawa R., Koga M.

International Conference on Control, Automation and Systems 2019-October 1010 - 1014 2019年10月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2019 Institute of Control, Robotics and Systems - ICROS. In this paper, we propose a new 3D file format RDTF, which is compatible with glTF and can be used for robots simulation. Since RDTF is an extension of glTF, RDTF file can be used with tools that support glTF. It is worth mentioning that there are many existing glTF models[3] which can be transformed to RDTF.

DOI： 10.23919/ICCAS47443.2019.8971739

Scopus

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Numerical computation for control system design using smart devices 査読有り国際誌

Hashimoto H., Koga M.

2017 International Automatic Control Conference, CACS 2017 2017-November 1 - 3 2018年02月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2017 IEEE. The purpose of this study was developing useful calculation tool running on smart device and enlarging the width of utility by cooperating with smart watch. On this research, we suggest a function which can receive notification of calculation result on calculation tool by smart watch. We implemented proposal technique on MATX-mnbile running on Android device.

DOI： 10.1109/CACS.2017.8284235

Scopus

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A numerical algorithm for computing quasi-weierstrass form of descriptor systems 査読有り

Mutsuro A., Koga M.

2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 2018-January 3194 - 3199 2018年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2017 IEEE. In this paper a numerical algorithm for computing quasi-Weierstrass form of descriptor systems is presented. A conventional algorithm depends on QZ algorithm that needs iterative computation until convergence. Since the proposed algorithm avoids QZ algorithm, the computational time will not be influenced even with repeated eigenvalues or close eigen-values whereas the conventional one will be. Furthermore, the proposed algorithm is numerically stable. Numerical examples are given to confirm the validity of the proposed algorithm.

DOI： 10.1109/CDC.2017.8264127

Scopus

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An improved algorithm for computing transfer function matrices of descriptor systems 査読有り国際誌

Mutsuro A., Koga M.

International Conference on Control, Automation and Systems 0 634 - 637 2017年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2016 Institute of Control, Robotics and Systems - ICROS.In this paper, we propose a numerically reliable algorithm for computing the transfer function matrix of a descriptor system. Descriptor system has widely been used. The system often arises when modelling a linear system. Linear systems such as inversion are often represented in terms of descriptor systems. Although the representation is useful, it is not appropriate for simulation and experiment. A remedy for the problem is transforming proper descriptor system into state space system by way of transfer function matrix. Numerical algorithm for computing the transfer function matrix of a descriptor system has been reported. The algorithm makes use of QZ decomposition which can be used for computing generalized eigenvalues of a matrix pencil. However, when matrices have the repeated eigenvalues, numerical errors can be generated by using the method. Furthermore, since the theory of the algorithm is based on power method which needs iterative computation, the convergence time would be slower at that time. We propose an algorithm that avoids solving generalized eigenvalue problem. Since our algorithm avoids QZ decomposition, the repeated eigenvalues does not matter. Moreover, the computational time can be estimated.

DOI： 10.1109/ICCAS.2016.7832384

Scopus

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結合線形システムのディスクリプタシステム表現および状態空間表現による数式モデルの導出査読有り

古賀雅伸, 江角貴宏, 矢野健太郎

計測自動制御学会論文集 49 ( 12 ) 1147 - 1153 2013年12月

UMLと補足ドキュメントによる生産実行システムにおけるMDA開発査読有り

水岡研二, 古賀雅伸

日本機会学会論文集(C編) 79 ( 802 ) 2174 - 2189 2013年07月

Validated region pole assignment method based on verified numerical computation 査読有り

Yano K., Koga M.

Proceedings of the SICE Annual Conference 1591 - 1594 2012年11月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposed validated control system design method based on verified numerical computation. The proposed method designs and validates a controller using verified numerical computation. By using the proposed methods, it is possible to guarantee numerical quality about design of control system. And, this paper applied a proposed method to region pole assignment method. © 2012 SICE.

Scopus

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オブジェクト指向数値計算VI -- オブジェクト指向数値計算の可能性 --

古賀雅伸, 矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 56 ( 1 ) 42 - 49 2012年01月

Automatic method of finding tolerance for verified LQ control method based on verified numerical computation 査読有り

Yano K., Koga M.

Proceedings of the SICE Annual Conference 1740 - 1743 2011年11月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper proposed validated control system design method based on verified numerical computation. The proposed method designs and validates a controller using verified numerical computation. We also proposed a method to find the smallest tolerance automatically. And, this paper applied a proposed method to LQ control problem. © 2011 SICE.

Scopus

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オブジェクト指向数値計算V-- 制御系のモデリングとシミュレーションツール --

古賀雅伸, 矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 55 ( 11 ) 486 - 493 2011年11月

オブジェクト指向数値計算IV-- 制御系のモデリングとシミュレーション --

古賀雅伸, 矢野健太郎

システム制御情報学会誌 ( システム制御情報学会 ) 55 ( 9 ) 392 - 399 2011年09月

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