<br />
<b>Notice</b>:  Function _load_textdomain_just_in_time was called <strong>incorrectly</strong>. Translation loading for the <code>disable-gutenberg</code> domain was triggered too early. This is usually an indicator for some code in the plugin or theme running too early. Translations should be loaded at the <code>init</code> action or later. Please see <a href="https://developer.wordpress.org/advanced-administration/debug/debug-wordpress/">Debugging in WordPress</a> for more information. (This message was added in version 6.7.0.) in <b>/www/se1/public_html/wordpress/wp-includes/functions.php</b> on line <b>6131</b><br />
<br />
<b>Notice</b>:  Function _load_textdomain_just_in_time was called <strong>incorrectly</strong>. Translation loading for the <code>smart-custom-fields</code> domain was triggered too early. This is usually an indicator for some code in the plugin or theme running too early. Translations should be loaded at the <code>init</code> action or later. Please see <a href="https://developer.wordpress.org/advanced-administration/debug/debug-wordpress/">Debugging in WordPress</a> for more information. (This message was added in version 6.7.0.) in <b>/www/se1/public_html/wordpress/wp-includes/functions.php</b> on line <b>6131</b><br />
<br />
<b>Notice</b>:  Function _load_textdomain_just_in_time was called <strong>incorrectly</strong>. Translation loading for the <code>wordpress-seo</code> domain was triggered too early. This is usually an indicator for some code in the plugin or theme running too early. Translations should be loaded at the <code>init</code> action or later. Please see <a href="https://developer.wordpress.org/advanced-administration/debug/debug-wordpress/">Debugging in WordPress</a> for more information. (This message was added in version 6.7.0.) in <b>/www/se1/public_html/wordpress/wp-includes/functions.php</b> on line <b>6131</b><br />
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<b>Notice</b>:  関数 _load_textdomain_just_in_time が<strong>誤って</strong>呼び出されました。<code>tcd-solaris</code> ドメインの翻訳の読み込みが早すぎました。これは通常、プラグインまたはテーマの一部のコードが早すぎるタイミングで実行されていることを示しています。翻訳は <code>init</code> アクション以降で読み込む必要があります。 詳しくは <a href="https://developer.wordpress.org/advanced-administration/debug/debug-wordpress/">WordPress のデバッグ</a>をご覧ください。 (このメッセージはバージョン 6.7.0 で追加されました) in <b>/www/se1/public_html/wordpress/wp-includes/functions.php</b> on line <b>6131</b><br />
{"id":632,"date":"2019-05-01T21:02:00","date_gmt":"2019-05-01T12:02:00","guid":{"rendered":"https:\/\/www.comm.tcu.ac.jp\/se1\/?post_type=report&#038;p=632"},"modified":"2022-02-17T21:21:32","modified_gmt":"2022-02-17T12:21:32","slug":"%e3%83%86%e3%82%b9%e3%83%882019-05-01","status":"publish","type":"report","link":"https:\/\/www.comm.tcu.ac.jp\/se1\/report\/632\/","title":{"rendered":"\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u306e\u7d44\u8fbc\u307fCPU\u3078\u306e\u5b9f\u88c5\u3068\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1"},"content":{"rendered":"<section id=\"abstract\">\r\n<h2 class=\"section-title\">\u7814\u7a76\u6982\u8981<\/h2>\r\n<p>\u8fd1\u5e74\uff0c\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1(Model Predictive Control: MPC)\u3092\u9ad8\u901f\u8a08\u7b97\u3057\u3066\u6a5f\u68b0\u7cfb\u306e\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5236\u5fa1\u306b\u9069\u7528\u3059\u308b\u7814\u7a76\u304c\u76db\u3093\u306b\u884c\u308f\u308c\u3066\u3044\u308b\u304c\uff0c\u305d\u306e\u591a\u304f\u306f\u9ad8\u901f\u306a\u6c4e\u7528CPU\u3067\u691c\u8a3c\u3057\u3066\u3044\u308b\uff0e\u3057\u304b\u3057\uff0c\u5b9f\u88fd\u54c1\u306b\u5e83\u304f\u4f7f\u308f\u308c\u3066\u3044\u308b\u7d44\u8fbc\u307fCPU\u306b\u5b9f\u88c5\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u30ea\u30bd\u30fc\u30b9\u306e\u5236\u7d04\u304c\u5927\u304d\u306a\u554f\u984c\u306b\u306a\u308b\uff0e\u305d\u3053\u3067\u7814\u7a76\u8ab2\u984c<a href=\"#reference\">[1]<\/a>\u3067\u306f\uff0c\u5ea7\u6a19\u5909\u63db\u306b\u3088\u308b\u975e\u7dda\u5f62\u7cfb\u306e\u7dda\u5f62\u5316\u3068\u6d6e\u52d5\u5c0f\u6570\u70b9\u6f14\u7b97\u51e6\u7406\u306e\u5de5\u592b\u306b\u3088\u308a\uff0cMPC\u306e\u8a08\u7b97\u6642\u9593\u3092\u524a\u6e1b\u3057\uff0c\u7d44\u8fbc\u307fCPU\u306b\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5236\u5fa1\u5247\u3068\u3057\u3066\u5b9f\u88c5\u3059\u308b\u624b\u6cd5\u3092\u78ba\u7acb\u3059\u308b\uff0e\u3055\u3089\u306b\u305d\u306e\u6709\u52b9\u6027\u3092\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8<a href=\"#reference\">[6][10]<\/a>\u306a\u3069\u306e\u8907\u96d1\u306a\u8eca\u4e21\u578b\u79fb\u52d5\u4f53\u3078\u306e\u9069\u7528\u3092\u901a\u3058\u3066\u5b9f\u8a3c\u3059\u308b\u3053\u3068\u3092\u76ee\u6a19\u3068\u3059\u308b\uff0e\u5e73\u621024\u5e74\u5ea6\u306f\uff0c(I) \u64cd\u8235\u89d2\u5236\u7d04\u3092\u6709\u3059\u308b4\u8f2a\u72ec\u7acb\u64cd\u8235\u8eca\u4e21\u306e\u5236\u5fa1\uff0c(II) \u524d\u8f2a\u64cd\u8235\u578b\u8eca\u4e21\u306e\u53b3\u5bc6\u306a\u7dda\u5f62\u5316\u306b\u3088\u308b\u8a08\u7b97\u901f\u5ea6\u306e\u5411\u4e0a\uff0c(III) \u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u89d2\u5ea6\u306b\u5bfe\u3059\u308bMPC\u306e\u5b9f\u73fe\uff0c\u7b49\u3067\u6210\u679c\u3092\u5f97\u305f\uff0e<\/p>\r\n<article>\r\n<h3 class=\"section-title\">\u80cc\u666f<\/h3>\r\n<article>\r\n<h4 class=\"section-title\">1.MPC\u306e\u6a5f\u68b0\u7cfb\u3078\u306e\u9069\u7528<\/h4>\r\n<p>\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u306f\uff0c\u6709\u9650\u8a55\u4fa1\u533a\u9593\u306e\u6700\u9069\u5236\u5fa1\u554f\u984c\u3092\u30aa\u30f3\u30e9\u30a4\u30f3\u8a08\u7b97\u3067\u7e70\u308a\u8fd4\u3057\u89e3\u3044\u3066\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3059\u308b\u624b\u6cd5\u3067\u3042\u308b\uff0e\u591a\u69d8\u306a\u8a55\u4fa1\u95a2\u6570\u3068\u5236\u7d04\u6761\u4ef6\u306b\u5bfe\u3059\u308b\u6700\u9069\u5236\u5fa1\u3092\u5b9f\u73fe\u3059\u308b\u6709\u52b9\u306a\u5236\u5fa1\u6cd5\u3068\u3057\u3066\u77e5\u3089\u308c\uff0c\u5236\u5fa1\u5468\u671f\u304c\u9577\u3044\u30d7\u30ed\u30bb\u30b9\u5236\u5fa1\u306a\u3069\u306b\u7528\u3044\u3089\u308c\u3066\u304d\u305f\uff0e\u5f93\u6765\u306f\u6700\u9069\u5316\u306e\u8a08\u7b97\u91cf\u304c\u591a\u3044\u3053\u3068\u304c\uff0c\u5236\u5fa1\u5468\u671f\u304c\u77ed\u3044\u6a5f\u68b0\u7cfb\u306b\u7528\u3044\u308b\u969b\u306e\u969c\u5bb3\u3068\u306a\u3063\u3066\u3044\u305f\u304c\uff0c\u8fd1\u5e74\u306e\u8a08\u7b97\u6a5f\u306e\u98db\u8e8d\u7684\u306a\u767a\u9054\u3068\u8a08\u7b97\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u9ad8\u901f\u5316<a href=\"#reference\">[2][3][4]<\/a>\u306b\u3088\u308a\uff0c\u6a5f\u68b0\u7cfb\u306e\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5236\u5fa1\u3078\u306e\u9069\u7528\u304c\u53ef\u80fd\u306b\u306a\u308a\u3064\u3064\u3042\u308b\uff0e<\/p>\r\n<\/article>\r\n<article>\r\n<h4><\/h4>\r\n<h4 class=\"section-title\">2.\u7d44\u8fbc\u307fCPU\u3078\u306e\u5b9f\u88c5\u306b\u304a\u3051\u308b\u554f\u984c\u70b9<\/h4>\r\n<p>\u6a5f\u68b0\u7cfb\u306b\u5bfe\u3059\u308bMPC\u306e\u9069\u7528\u4f8b\u306e\u591a\u304f\u306f\uff0c\u30af\u30ed\u30c3\u30af\u5468\u6ce2\u6570\u304c1GHz\u4ee5\u4e0a\u306e\u9ad8\u901f\u306a\u6c4e\u7528CPU\u306b\u5b9f\u88c5\u3057\u3066\u3044\u308b\uff0e\u3057\u304b\u3057\uff0c\u5b9f\u969b\u306e\u88fd\u54c1\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u308b\u7d44\u8fbc\u307fCPU\u306f\u5b89\u4fa1\u3067\u4fe1\u983c\u6027\u304c\u9ad8\u304f\uff0c\u8c4a\u5bcc\u306a\u5165\u51fa\u529b\u30dd\u30fc\u30c8\u306a\u3069\u3092\u6709\u3059\u308b\u4e00\u65b9\u3067\uff0c\u30af\u30ed\u30c3\u30af\u5468\u6ce2\u6570\u306f\u6570\u5341MHz\uff5e\u6570\u767eMHz\u3067CPU\u306e\u8a08\u7b97\u51e6\u7406\u901f\u5ea6\u304c\u9045\u3044\u4e0a\u306b\uff0c\u30e1\u30e2\u30ea\u5bb9\u91cf\u304c\u5c0f\u3055\u304f\uff0c\u56de\u8def\u5b9f\u88c5\u3055\u308c\u305f\u6570\u5b66\u95a2\u6570\u306f\u9650\u3089\u308c\u308b\uff0e\u3055\u3089\u306b\uff0c\u983b\u7e41\u306b\u767a\u751f\u3059\u308b\u5916\u90e8\u5272\u8fbc\u307f\u304c\u6700\u9069\u5316\u8a08\u7b97\u3092\u4e2d\u65ad\u3059\u308b\u306a\u3069\uff0c\u8a08\u7b97\u30ea\u30bd\u30fc\u30b9\u306b\u53b3\u3057\u3044\u5236\u7d04\u304c\u3042\u308b\uff0e\u3053\u308c\u3089\u306e\u7406\u7531\u304b\u3089\uff0c\u7d44\u8fbc\u307fCPU\u3078\u306eMPC\u306e\u5b9f\u88c5\u306f\u5bb9\u6613\u3067\u306f\u306a\u3044\uff0e<\/p>\r\n<\/article>\r\n<article>\r\n<h4 class=\"section-title\">3.\u7d44\u8fbc\u307fCPU\u3092\u7528\u3044\u305f\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1<\/h4>\r\n<p>\u4e00\u65b9\u3067\u7b46\u8005\u3089\u306f\uff0c\u3053\u308c\u307e\u3067\u306b\uff0c\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3092\u5bfe\u8c61\u3068\u3057\u305f\u6700\u9069\u5316\u8a08\u7b97\u306e\u7d44\u8fbc\u307fCPU\u3078\u306e\u5b9f\u88c5\u6280\u8853\u306e\u78ba\u7acb\u3092\u76ee\u6307\u3057\u7814\u7a76\u3092\u884c\u3063\u3066\u304d\u305f<a href=\"#reference\">[5]<\/a>\uff0e\u7b46\u8005\u304c\u958b\u767a\u3057\u305f\u56f31\u306e\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8<a href=\"#reference\">[6]<\/a>\u306f\uff0c\u30af\u30ed\u30c3\u30af\u5468\u6ce2\u6570\u304c80MHz\u306e\u7d44\u8fbc\u307fCPU\u3092\u642d\u8f09\u3057\uff0c3\u8ef8\u306eSCARA\u578b\u811a\u306e\u5909\u5f62\u306b\u3088\u308a\u9698\u8def\u901a\u904e\u3068\u5b89\u5b9a\u6027\u78ba\u4fdd\u306e\u4e21\u7acb\u304c\u53ef\u80fd\u3067\u3042\u308b\uff0e\u7b46\u8005\u306f\u904e\u53bb\u306b\u5ea7\u6a19\u5909\u63db\u3068\u90e8\u5206\u7684\u306a\u967d\u89e3\u3092\u7528\u3044\u3066\u8a08\u7b97\u91cf\u3092\u5927\u5e45\u306b\u524a\u6e1b\u3057\uff0c\u7d44\u8fbc\u307fCPU\u4e0a\u3067\u8eca\u8f2a\u914d\u7f6e\u306e\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u6700\u9069\u5316\u8a08\u7b97\u3092\u5b9f\u73fe\u3057\u305f<a href=\"#reference\">[6]<\/a>\uff0e\u3055\u3089\u306b\uff0c\u5de6\u53f3\u306e\u8eca\u8f2a\u9593\u8ddd\u96e2\uff08\u30c8\u30ec\u30c3\u30c9\uff09\u306e\u307f\u3092\u5bfe\u8c61\u3068\u3059\u308bMPC\u3092\u5b9f\u88c5\u3057\uff0c\u6e2c\u57df\u30bb\u30f3\u30b5\u3067\u691c\u51fa\u3057\u305f\u969c\u5bb3\u7269\u306e\u56de\u907f\u904b\u52d5\u3092\u4f4e\u901f\u8d70\u884c\u3067\u5b9f\u73fe\u3057\u3066\u3044\u308b<a href=\"#reference\">[7]<\/a>\uff0e\u3057\u304b\u3057\uff0c\u7d4c\u8def\u30fb\u59ff\u52e2\u30fb\u8eca\u8f2a\u4f4d\u7f6e\uff08\u95a2\u7bc0\u89d2\uff09\u3068\u3044\u3046\u591a\u304f\u306e\u5909\u6570\u3092MPC\u306b\u3088\u308a\u6700\u9069\u5316\u3057\uff0c\u9ad8\u901f\u8d70\u884c\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u7d44\u8fbc\u307fCPU\u306b\u5408\u308f\u305b\u305f\u8a08\u7b97\u65b9\u6cd5\u3092\u78ba\u7acb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e<\/p>\r\n<figure><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image01.jpg\" alt=\"\" class=\"size-full wp-image-904 aligncenter\" width=\"300\" height=\"220\" \/>\r\n<figcaption>\u56f31 \u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8<a href=\"#reference\">[6][10]<\/a>\uff1a3\u8ef8SCARA\u811a\u306e\u5148\u7aef\u306b\u99c6\u52d5\u8f2a\u3068\u901f\u5ea6\u30bb\u30f3\u30b5\u3092\u5099\u3048\u308b\uff0e\u6e2c\u57df\u30bb\u30f3\u30b5\u3067\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u3068\u969c\u5bb3\u7269\u691c\u51fa\u3092\u884c\u3044\uff0c\u9698\u8def\u901a\u904e\u3084\u969c\u5bb3\u7269\u56de\u907f\u306a\u3069\u306e\u8a98\u5c0e\u5236\u5fa1\u3092\u5b9f\u73fe\u3059\u308b\uff0e\u5236\u5fa1\u306f\u642d\u8f09\u3057\u305f\u7d44\u8fbc\u307fCPU\u306eSH7058F(\u52d5\u4f5c\u5468\u6ce2\u6570\u306f80MHz)\u306b\u5b9f\u88c5\u3059\u308b<\/figcaption>\r\n<\/figure>\r\n<\/article>\r\n<\/article>\r\n<\/section>\r\n<article class=\"nav-report\">\r\n<div class=\"list-inline\">\r\n<div class=\"list-inline-item\"><a href=\"#abstract\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u6982\u8981<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #goal\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u76ee\u6a19<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #method\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u8a08\u753b\u30fb\u65b9\u6cd5\u306e\u6982\u8981<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #result\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u6210\u679c<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #reference\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u53c2\u8003\u6587\u732e<\/a><\/div>\r\n<\/div>\r\n<\/article>\r\n<section id=\"goal\">\r\n<h2 class=\"section-title\">\u7814\u7a76\u76ee\u6a19<\/h2>\r\n<p>\u672c\u7814\u7a76\u3067\u306f\uff0c\u975e\u7dda\u5f62\u30c0\u30a4\u30ca\u30df\u30c3\u30af\u30b9\u3092\u6709\u3059\u308b\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u969c\u5bb3\u7269\u56de\u907f\u3068\u52d5\u529b\u5b66\u8d70\u884c\u5236\u5fa1\u306e\uff12\u3064\u306e\u975e\u7dda\u5f62\u5236\u5fa1\u554f\u984c\u306b\u3064\u3044\u3066\uff0c\u7d44\u8fbc\u307fCPU\u306b\u5b9f\u88c5\u3057\u305fMPC\u3067\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u6280\u8853\u3092\u78ba\u7acb\u3059\u308b\u3053\u3068\u3092\u76ee\u6a19\u3068\u3059\u308b\uff0e\u4e3b\u306a\u8ab2\u984c\u3068\u305d\u306e\u89e3\u6c7a\u65b9\u6cd5\u3092\u8868\uff11\u306b\u307e\u3068\u3081\u308b\uff0e\u56f32\u306b\u6982\u7565\u3092\u793a\u3059\uff0e<\/p>\r\n<div class=\"table-wrapper\">\r\n<table class=\"table\">\r\n<tbody>\r\n<tr>\r\n<th>\u7d44\u8fbc\u307fCPU\u5b9f\u88c5\u4e0a\u306e\u8ab2\u984c<\/th>\r\n<th>\u89e3\u6c7a\u65b9\u6cd5<\/th>\r\n<\/tr>\r\n<tr>\r\n<td>\u30af\u30ed\u30c3\u30af\u5468\u6ce2\u6570\u304c\u4f4e\u3044<\/td>\r\n<td>\u975e\u7dda\u5f62\u5ea7\u6a19\u5909\u63db\u306b\u3088\u308b\u90e8\u5206\u7dda\u5f62\u5316\u3067\u51e6\u7406\u901f\u5ea6\u3092\u6539\u5584\u3059\u308b\uff0e\u3055\u3089\u306b\u90e8\u5206\u7684\u306a\u967d\u89e3\u3092\u7528\u3044\u3066\u6700\u9069\u5316\u8a08\u7b97\u306e\u5909\u6570\u3092\u524a\u6e1b\u3057\uff0c\u8a08\u7b97\u901f\u5ea6\u3092\u5411\u4e0a\u3055\u305b\u308b\uff0e<\/td>\r\n<\/tr>\r\n<tr>\r\n<td>\u6570\u5b66\u95a2\u6570\u306e\u56de\u8def\u5b9f\u88c5\u304c\u4e4f\u3057\u3044<\/td>\r\n<td>\u9ad8\u3044\u8a08\u7b97\u7cbe\u5ea6\u304c\u5fc5\u8981\u306a\u6700\u9069\u5316\u8a08\u7b97\u306f\uff0c\u975e\u7dda\u5f62\u5ea7\u6a19\u5909\u63db\u3067\u7dda\u5f62\u5316\u3057\u305f\u5909\u6570\u3067\u53b3\u5bc6\u306b\u6570\u5024\u8a08\u7b97\u3059\u308b\uff0e\u3053\u306e\u6700\u9069\u5316\u8a08\u7b97\u306e\u51e6\u7406\u3068\uff0c\u30c7\u30b8\u30bf\u30eb\u8a08\u6e2c\u5024\u3084\u5236\u5fa1\u5165\u529b\u306e\u9593\u306e\u975e\u7dda\u5f62\u5909\u63db\u30fb\u9006\u5909\u63db\u306f\uff0c\u9ad8\u3044\u8a08\u7b97\u7cbe\u5ea6\u306f\u4e0d\u8981\u306a\u306e\u3067\uff0c\u30eb\u30c3\u30af\u30a2\u30c3\u30d7\u30c6\u30fc\u30d6\u30eb\u3068\u88dc\u9593\u306b\u3088\u308b\u8fd1\u4f3c\u3067\u9ad8\u901f\u8a08\u7b97\u3059\u308b\uff0e<\/td>\r\n<\/tr>\r\n<tr>\r\n<td>\u5272\u8fbc\u307f\u306b\u3088\u308bFPU\u30ec\u30b8\u30b9\u30bf\u306e\u9000\u907f\u304c\u767a\u751f\u3057\uff0c\u6700\u9069\u5316\u304c\u4e2d\u65ad\u3059\u308b<\/td>\r\n<td>\u5272\u8fbc\u307f\u51e6\u7406\u306f\u6574\u6570\u6f14\u7b97\u3067\u8a18\u8ff0\u3057\uff0c\u5272\u8fbc\u307f\u304c\u767a\u751f\u3057\u3066\u3082\u6700\u9069\u5316\u8a08\u7b97\u306eFPU\u30ec\u30b8\u30b9\u30bf\u3092\u9000\u907f\u305b\u305a\u306b\u30aa\u30fc\u30d0\u30d8\u30c3\u30c9\u3092\u6700\u5c0f\u5316\u3059\u308b\uff0e\u30d5\u30a3\u30eb\u30bf\u66f4\u65b0\u3084\u5236\u5fa1\u5165\u529b\u8a08\u7b97\u306a\u3069\u306e\u6d6e\u52d5\u5c0f\u6570\u70b9\u6f14\u7b97\u306f\u6700\u9069\u5316\u8a08\u7b97\u306e\u524d\u5f8c\u3067\u7e8f\u3081\u3066\u5b9f\u884c\u3059\u308b\uff0e<\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table>\r\n<\/div>\r\n<figure class=\"\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image02.jpg\" alt=\"\" class=\"size-full wp-image-905 aligncenter\" width=\"650\" height=\"200\" srcset=\"https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image02.jpg 650w, https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image02-300x92.jpg 300w\" sizes=\"auto, (max-width: 650px) 100vw, 650px\" \/>\r\n<figcaption>\u56f32 \u5de6\uff1a\u4e00\u822c\u7684\u306a\u5b9f\u88c5\u65b9\u6cd5\uff0c\u53f3\uff1a\u63d0\u6848\u624b\u6cd5<a href=\" #reference\">[d]<\/a>\uff0e\u5ea7\u6a19\u30fb\u5165\u529b\u5909\u63db\u3092\u7528\u3044\u3066\u5236\u5fa1\u5bfe\u8c61\u3092\u7dda\u5f62\u5316\u3057\u3066\u9ad8\u901f\u306b\u6700\u9069\u5316\u8a08\u7b97\u3092\u5b9f\u884c\u3057\uff0c\u5165\u51fa\u529b\u306e\u305f\u3081\u306b\u975e\u7dda\u5f62\u6f14\u7b97\u3059\u308b\u969b\u306f\u30eb\u30c3\u30af\u30a2\u30c3\u30d7\u30c6\u30fc\u30d6\u30eb\u3092\u7528\u3044\u308b\u3053\u3068\u306b\u3088\u308a\uff0c\u6700\u9069\u5316\u8a08\u7b97\u306e\u5b9f\u884c\u901f\u5ea6\u3092\u5411\u4e0a\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3055\u3089\u306b\uff0c\u5272\u308a\u8fbc\u307f\u306e\u969b\u306b\u6d6e\u52d5\u5c0f\u6570\u70b9\u6f14\u7b97\u3067\u4f7f\u7528\u3059\u308b\u30ec\u30b8\u30b9\u30bf\u306e\u9000\u907f\u304c\u767a\u751f\u3057\u306a\u3044\u3088\u3046\u306b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5de5\u592b\u3059\u308b\uff0e<\/figcaption>\r\n<\/figure>\r\n<p>\u4e0a\u8a18\u3092\u56f31\u306e\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u7d44\u8fbc\u307fCPU\u306b\u5b9f\u88c5\u3057\uff0c\u5e73\u621026\u5e74\u5ea6\u307e\u3067\u306b\u4e0b\u8a182\u9805\u76ee\u3092\u5b9f\u73fe\u3059\u308b\uff0e\u3053\u308c\u306b\u3088\u308a\u8907\u96d1\u306a\u975e\u7dda\u5f62\u7cfb\u306b\u5bfe\u3057\uff0c\u7d44\u8fbc\u307fCPU\u306b\u5b9f\u88c5\u3057\u305fMPC\u304c\u9069\u7528\u53ef\u80fd\u3067\u3042\u308b\u3053\u3068\u3092\u5b9f\u8a3c\u3067\u304d\u308b\uff0e\u3055\u3089\u306b\uff0c\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u969c\u5bb3\u7269\u56de\u907f\u3068\u904b\u52d5\u5236\u5fa1\u306b\u5bfe\u3059\u308bMPC\u306b\u3088\u308b\u52b9\u7387\u7684\u306a\u8a08\u7b97\u65b9\u6cd5\u3092\u78ba\u7acb\u3067\u304d\u308b\uff0e<\/p>\r\n<p><strong>(a)\u969c\u5bb3\u7269\u56de\u907f\u5236\u5fa1<\/strong>\u3000\u6e2c\u57df\u30bb\u30f3\u30b5\u306e\u8a08\u6e2c\u7bc4\u56f2\u3092\u8a55\u4fa1\u533a\u9593\u3068\u3057\u305f\u8eca\u4f53\u4f4d\u7f6e\u30fb\u65b9\u5411\u3068\u8eca\u8f2a\u4f4d\u7f6e\u306e\u5168\u72b6\u614b\u306b\u5bfe\u3059\u308bMPC\u3092\u88681\u306e\u65b9\u6cd5\u3092\u7528\u3044\u3066\u9ad8\u901f\u8a08\u7b97\u3057\uff0c\u5b9f\u9a13\u3067\u305d\u306e\u6709\u52b9\u6027\u3092\u691c\u8a3c\u3059\u308b\uff0e<\/p>\r\n<p><strong>(b)\u52d5\u529b\u5b66\u30e2\u30c7\u30eb\u306b\u3088\u308b\u8d70\u884c\u5236\u5fa1<\/strong>\u3000\u8eca\u8f2a\u306e\u6a2a\u6ed1\u308a\u89d2\u3092\u8003\u616e\u3057\u305f\u52d5\u529b\u5b66\u30e2\u30c7\u30eb\u306b\u57fa\u3065\u304f\uff0cMPC\u3092\u5b9f\u88c5\u3059\u308b\uff0e\u3053\u308c\u306b\u3088\u308a\uff0c\u524d\u65b9\u306e\u7d4c\u8def\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u8eca\u8f2a\u4f4d\u7f6e\u3092\u5909\u66f4\u3057\uff0c\u30bf\u30a4\u30e4\u767a\u751f\u529b\u914d\u5206\u5236\u5fa1\u3092\u5b9f\u73fe\u3059\u308b\uff0e<\/p>\r\n<\/section>\r\n<article class=\"nav-report\">\r\n<div class=\"list-inline\">\r\n<div class=\"list-inline-item\"><a href=\" #abstract\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u6982\u8981<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #goal\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u76ee\u6a19<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #method\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u8a08\u753b\u30fb\u65b9\u6cd5\u306e\u6982\u8981<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #result\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u6210\u679c<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #reference\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u53c2\u8003\u6587\u732e<\/a><\/div>\r\n<\/div>\r\n<\/article>\r\n<section id=\"method\">\r\n<h2 class=\"section-title\">\u7814\u7a76\u8a08\u753b\u30fb\u65b9\u6cd5\u306e\u6982\u8981<\/h2>\r\n<p>\u5e73\u621024\u5e74\u5ea6\u306f\uff0c\u88681\u306e\u624b\u6cd5\u3092\u7528\u3044\u305f\u7d44\u8fbc\u307fCPU\u7528MPC\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u88fd\u4f5c\u3059\u308b\uff0e\u307e\u305f\uff0c\u5f93\u6765\u306e\u65b9\u6cd5\u3092\u7528\u3044\u305f\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u969c\u5bb3\u7269\u56de\u907f\u5b9f\u9a13\u3092\u884c\u3044\uff0c\u305d\u306e\u9650\u754c\u3068\u554f\u984c\u70b9\u3092\u660e\u3089\u304b\u306b\u3059\u308b\uff0e\u3055\u3089\u306b\uff0c\u6e2c\u57df\u30bb\u30f3\u30b5\u30b7\u30b9\u30c6\u30e0\u3068\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u3092\u6539\u826f\u3057\u3066\u4fe1\u983c\u6027\u3092\u9ad8\u3081\u308b\uff0e\u5e73\u621025\u5e74\u5ea6\u306b\u306f\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u969c\u5bb3\u7269\u56de\u907f\u5236\u5fa1\u306b\u53d6\u308a\u7d44\u307f\uff0c\u8a55\u4fa1\u95a2\u6570\u306e\u5de5\u592b\u306b\u3088\u3063\u3066\uff0c\u591a\u69d8\u306a\u969c\u5bb3\u7269\u914d\u7f6e\u306b\u5bfe\u5fdc\u3067\u304d\u308bMPC\u5247\u3092\u78ba\u7acb\u3059\u308b\uff0e\u5e73\u621026\u5e74\u5ea6\u306b\u306f\uff0c\u8eca\u8f2a\u306e\u6a2a\u6ed1\u308a\u3092\u8003\u616e\u3057\u305f\u52d5\u529b\u5b66\u30e2\u30c7\u30eb\u306b\u3088\u308b\u9ad8\u901f\u8d70\u884c\u3068\u30bf\u30a4\u30e4\u767a\u751f\u529b\u914d\u5206\u5236\u5fa1\u3092\u884c\u3044\uff0c\u63d0\u6848\u3059\u308b\u624b\u6cd5\u306e\u6027\u80fd\u3092\u691c\u8a3c\u3059\u308b\uff0e<\/p>\r\n<\/section>\r\n<article class=\"nav-report\">\r\n<div class=\"list-inline\">\r\n<div class=\"list-inline-item\"><a href=\" #abstract\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u6982\u8981<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #goal\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u76ee\u6a19<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #method\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u8a08\u753b\u30fb\u65b9\u6cd5\u306e\u6982\u8981<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #result\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u6210\u679c<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #reference\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u53c2\u8003\u6587\u732e<\/a><\/div>\r\n<\/div>\r\n<\/article>\r\n<section id=\"result\">\r\n<h2 class=\"section-title\">\u7814\u7a76\u6210\u679c<\/h2>\r\n<article>\u8fd1\u5e74\uff0c\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1(Model Predictive Control: MPC)\u3092\u9ad8\u901f\u8a08\u7b97\u3057\u3066\u6a5f\u68b0\u7cfb\u306e\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5236\u5fa1\u306b\u9069\u7528\u3059\u308b\u7814\u7a76\u304c\u76db\u3093\u306b\u884c\u308f\u308c\u3066\u3044\u308b\u304c\uff0c\u305d\u306e\u591a\u304f\u306f\u9ad8\u901f\u306a\u6c4e\u7528CPU\u3067\u691c\u8a3c\u3057\u3066\u3044\u308b\uff0e\u3057\u304b\u3057\uff0c\u5b9f\u88fd\u54c1\u306b\u5e83\u304f\u4f7f\u308f\u308c\u3066\u3044\u308b\u7d44\u8fbc\u307fCPU\u306b\u5b9f\u88c5\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u30ea\u30bd\u30fc\u30b9\u306e\u5236\u7d04\u304c\u5927\u304d\u306a\u554f\u984c\u306b\u306a\u308b\uff0e\u305d\u3053\u3067\u7814\u7a76\u8ab2\u984c<a href=\" #reference\">[1]<\/a>\u3067\u306f\uff0c\u5ea7\u6a19\u5909\u63db\u306b\u3088\u308b\u975e\u7dda\u5f62\u7cfb\u306e\u7dda\u5f62\u5316\u3068\u6d6e\u52d5\u5c0f\u6570\u70b9\u6f14\u7b97\u51e6\u7406\u306e\u5de5\u592b\u306b\u3088\u308a\uff0cMPC\u306e\u8a08\u7b97\u6642\u9593\u3092\u524a\u6e1b\u3057\uff0c\u7d44\u8fbc\u307fCPU\u306b\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5236\u5fa1\u5247\u3068\u3057\u3066\u5b9f\u88c5\u3059\u308b\u624b\u6cd5\u3092\u78ba\u7acb\u3059\u308b\uff0e\u3055\u3089\u306b\u305d\u306e\u6709\u52b9\u6027\u3092\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8<a href=\" #reference\">[6][10]<\/a>\u306a\u3069\u306e\u8907\u96d1\u306a\u8eca\u4e21\u578b\u79fb\u52d5\u4f53\u3078\u306e\u9069\u7528\u3092\u901a\u3058\u3066\u5b9f\u8a3c\u3059\u308b\u3053\u3068\u3092\u76ee\u6a19\u3068\u3059\u308b\uff0e\u5e73\u621024\u5e74\u5ea6\u306f\uff0c(I) \u64cd\u8235\u89d2\u5236\u7d04\u3092\u6709\u3059\u308b4\u8f2a\u72ec\u7acb\u64cd\u8235\u8eca\u4e21\u306e\u5236\u5fa1\uff0c(II) \u524d\u8f2a\u64cd\u8235\u578b\u8eca\u4e21\u306e\u53b3\u5bc6\u306a\u7dda\u5f62\u5316\u306b\u3088\u308b\u8a08\u7b97\u901f\u5ea6\u306e\u5411\u4e0a\uff0c(III) \u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u89d2\u5ea6\u306b\u5bfe\u3059\u308bMPC\u306e\u5b9f\u73fe\uff0c\u7b49\u3067\u6210\u679c\u3092\u5f97\u305f\uff0e<\/article>\r\n<article>\r\n<h3 class=\"section-title\">1.4\u8f2a\u72ec\u7acb\u64cd\u8235\u30fb\u99c6\u52d5\u8eca\u4e21\u306eMPC [h][l]<\/h3>\r\n<p>\u56f33\u306b\u793a\u30594 \u8f2a\u3092\u72ec\u7acb\u306b\u64cd\u8235\u30fb\u99c6\u52d5\u3067\u304d\u308b\u5168\u65b9\u5411\u79fb\u52d5\u8eca\u4e21\u306f\uff0c\u72ed\u9698\u306a\u74b0\u5883\u3067\u306e\u904b\u7528\u306b\u9069\u3057\u3066\u3044\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u8eca\u8f2a\u64cd\u8235\u306e\u5236\u7d04\u3092\u8003\u616e\u3057\u305f\u5236\u5fa1\u304c\u6c42\u3081\u3089\u308c\u308b\uff0e\u305d\u3053\u3067\uff0cMPC \u306b\u3088\u308a\u64cd\u8235\u306e\u5236\u7d04\u3092\u967d\u306b\u8003\u616e\u3057\u305f\u5236\u5fa1\u5074\u3092\u69cb\u7bc9\u3057\uff0c\u30af\u30ed\u30c3\u30af\u5468\u6ce2\u6570\u304c80MHz \u306e\u30eb\u30cd\u30b5\u30b9\u30a8\u30ec\u30af\u30c8\u30ed\u30cb\u30af\u30b9\u793e\u88fd\u7d44\u8fbc\u307fCPU\u306eSH7058F\u306b\u5b9f\u88c5\u3057\u305f\uff0e\u305d\u306e\u7d50\u679c\uff0c\u76ee\u6a19\u8ecc\u9053\u8ffd\u5f93\u6027\u3092\u4fdd\u3061\u306a\u304c\u3089\uff0c\u64cd\u8235\u89d2\u5ea6\u5236\u9650\u3092\u8003\u616e\u3057\u306a\u3044\u5834\u5408\u306b\u767a\u751f\u3057\u305f\u5207\u8fd4\u3057\u3092\u56de\u907f\u3057\u3066\u9023\u7d9a\u306a\u64cd\u8235\u89d2\u5ea6\u3092\u5b9f\u73fe\u3057<a href=\" #reference\">[h]<\/a>\uff0c\u969c\u5bb3\u7269\u56de\u907f\u306b\u6210\u529f\u3057\u305f<a href=\" #reference\">[l]<\/a>\uff0e<\/p>\r\n<figure><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image03.jpg\" alt=\"\" class=\"size-full wp-image-906 aligncenter\" width=\"300\" height=\"220\" \/>\r\n<figcaption>\u56f33 4\u8f2a\u72ec\u7acb\u64cd\u8235\u30fb\u99c6\u52d5\u8eca\u4e21\uff1a\u30ec\u30fc\u30b6\u30fc\u6e2c\u57df\u30bb\u30f3\u30b5\u3067\u6e2c\u5b9a\u3057\u305f\u74b0\u5883\u3068\u5730\u56f3\u60c5\u5831\u304b\u3089\u81ea\u5df1\u4f4d\u7f6e\u3092\u6e2c\u5b9a\u3057\uff0c\u30ad\u30e3\u30b9\u30bf\u578b\u30aa\u30c9\u30e1\u30fc\u30bf\u306e\u30aa\u30c9\u30e1\u30c8\u30ea\u60c5\u5831<a href=\" #reference\">[10]<\/a>\u3068\u30ab\u30eb\u30de\u30f3\u30d5\u30a3\u30eb\u30bf\u3067\u7d44\u307f\u5408\u308f\u305b\u3066\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u306e\u7cbe\u5ea6\u3092\u9ad8\u3081\uff0c\u3088\u308a\u6b63\u78ba\u306a\u81ea\u5f8b\u79fb\u52d5\u3092\u5b9f\u73fe\u3059\u308b\uff0e\uff2d\uff30\uff23\u306b\u3088\u308a\u8eca\u8f2a\u64cd\u8235\u306e\u5236\u7d04\u3092\u8003\u616e\u3057\uff0c\u969c\u5bb3\u7269\u56de\u907f\u3092\u5b9f\u73fe\u3067\u304d\u308b\uff0e\u30ce\u30fc\u30c8PC\u306f\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u5c02\u7528\u3067\u3042\u308a\uff0cMPC\u306e\u8a08\u7b97\u306b\u306f\u4f7f\u7528\u3057\u306a\u3044\uff0e<\/figcaption>\r\n<\/figure>\r\n<\/article>\r\n<article>\r\n<h3 class=\"section-title\">2.\u975e\u30db\u30ed\u30ce\u30df\u30c3\u30af\u8eca\u4e21\u306e\u969c\u5bb3\u7269\u56de\u907f\u3068\u8eca\u5eab\u5165\u308c [b][g][j][n]<\/h3>\r\n<p>\u969c\u5bb3\u7269\u56de\u907f\u3084\u9053\u5e45\u306b\u3088\u308a\u7d4c\u8def\u3092\u5236\u9650\u3055\u308c\u305f\u79fb\u52d5\u3067\u306f\uff0c\u5236\u7d04\u6761\u4ef6\u3092\u967d\u306b\u6271\u3048\u308bMPC \u306f\u6709\u52b9\u3067\u3042\u308b\uff0e\u4f4e\u901f\u8d70\u884c\u3057\u8eca\u8f2a\u306e\u6a2a\u6ed1\u308a\u3092\u7121\u8996\u3067\u304d\u308b\u524d\u8f2a\u64cd\u8235\u8eca\u306e\u904b\u52d5\u5b66\u306f\u975e\u30db\u30ed\u30ce\u30df\u30c3\u30af\u7cfb\u3067\u3042\u308b\u304c\uff0c\u975e\u7dda\u5f62MPC\u3067\u306f\u8a08\u7b97\u91cf\u304c\u5897\u52a0\u3059\u308b\uff0e\u305d\u3053\u3067\uff0c\u6642\u9593\u8ef8\u72b6\u614b\u5909\u63db\u3092\u9069\u7528\u3057\u3066\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u306b\u5206\u89e3\u3057\u3066\u7dda\u5f62\u5316\u3057\uff0c\u7d4c\u8def\u8ffd\u5f93\u554f\u984c\u306bMPC\u3092\u9069\u7528\u3057\u305f\uff0e\u305d\u306e\u7d50\u679c\uff0c\u7d44\u8fbc\u307fCPU\u306eAMD Geode(\u30af\u30ed\u30c3\u30af\u5468\u6ce2\u6570\u306f500MHz) \u3067\u306e\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5236\u5fa1<a href=\" #reference\">[n]<\/a>\u3068\uff0c\u969c\u5bb3\u7269\u56de\u907f\u3092\u542b\u3093\u3060\u8eca\u5eab\u5165\u308c\u5236\u5fa1<a href=\" #reference\">[b][g][j]<\/a>\u3092\u5b9f\u73fe\u3057\u305f\uff0e\u30dd\u30c6\u30f3\u30b7\u30e3\u30eb\u3092\u56f34 \u306b\u793a\u3059\uff0e<\/p>\r\n<figure><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image04.jpg\" alt=\"\" class=\"size-full wp-image-907 aligncenter\" width=\"390\" height=\"240\" srcset=\"https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image04.jpg 390w, https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image04-300x185.jpg 300w\" sizes=\"auto, (max-width: 390px) 100vw, 390px\" \/>\r\n<figcaption>\u56f34 \u975e\u30db\u30ed\u30ce\u30df\u30c3\u30af\u8eca\u4e21\u306e\u969c\u5bb3\u7269\u56de\u907f\u3068\u8eca\u5eab\u5165\u308c\u5236\u5fa1\u306e\u30dd\u30c6\u30f3\u30b7\u30e3\u30eb<a href=\" #reference\">[g]<\/a>\uff1a\u8d64\u3044\u70b9\u304c\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3067\uff0c\u305d\u3053\u304b\u3089\u53f3\u306b\u4f38\u3073\u308b\u9ed2\u3044\u70b9\u5217\u304c\u6700\u9069\u5316\u3055\u308c\u305f\u8eca\u4e21\u306e\u4e88\u6e2c\u4f4d\u7f6e\u3067\u3042\u308b\uff0e\u56db\u89d2\u3044\u969c\u5bb3\u7269\u306e\u30dd\u30c6\u30f3\u30b7\u30e3\u30eb\u3092\u907f\u3051\u308b\u3088\u3046\u306b\uff0c\u7d4c\u8def\u3092\u4e88\u6e2c\u3057\u306a\u304c\u3089\u6700\u9069\u306a\u79fb\u52d5\u3092\u5b9f\u73fe\u3067\u304d\u308b\uff0e<\/figcaption>\r\n<\/figure>\r\n<\/article>\r\n<article>\r\n<h3 class=\"section-title\">3.\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u8eca\u4e21\u306eMPC [f]<\/h3>\r\n<p>\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3092\u5bfe\u8c61\u3068\u3057\u3066\uff0c\u95a2\u7bc0\u89d2\u5ea6\u3092\u72b6\u614b\u5909\u6570\u306b\u3068\u308a\uff0c\u3055\u3089\u306b\u89d2\u5ea6\u306e\u5236\u7d04\u3092\u967d\u306b\u8003\u616e\u3057\u305fMPC\u5247\u3092\u5c0e\u51fa\u3057\uff0c\u969c\u5bb3\u7269\u56de\u907f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\uff08\u56f35\uff09\u306b\u304a\u3044\u3066\u305d\u306e\u6709\u52b9\u6027\u3092\u691c\u8a3c\u3057\u305f\uff0e\u4e88\u60f3\u901a\u308a\u5236\u5fa1\u6027\u80fd\u306f\u9ad8\u3044\u304c\u8a08\u7b97\u30b3\u30b9\u30c8\u304c\u9ad8\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3057\u305f\uff0e\u4eca\u5f8c\u306f\u524d\u8ff0\u306e\u975e\u7dda\u5f62\u5909\u63db\u306a\u3069\u306b\u3088\u308b\u8a08\u7b97\u306e\u52b9\u7387\u5316\u306b\u3088\u3063\u3066\u8a08\u7b97\u901f\u5ea6\u3092\u5411\u4e0a\u3055\u305b\uff0c\u5e73\u621025\u5e74\u5ea6\u4ee5\u964d\u306e\u7814\u7a76\u306b\u304a\u3044\u3066\uff0c\u7d44\u8fbc\u307fCPU\u3078\u306e\u5b9f\u88c5\u3092\u76ee\u6307\u3059\uff0e<\/p>\r\n<figure><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image05.jpg\" alt=\"\" class=\"size-full wp-image-908 aligncenter\" width=\"390\" height=\"185\" srcset=\"https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image05.jpg 390w, https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image05-300x142.jpg 300w\" sizes=\"auto, (max-width: 390px) 100vw, 390px\" \/>\r\n<figcaption>\u56f35 \u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u30e2\u30c7\u30eb\u4e88\u6e2c\u969c\u5bb3\u7269\u56de\u907f\u5236\u5fa1\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3<a href=\" #reference\">[f]<\/a>\uff1a\u56f31\u306e\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306b\u3064\u3044\u3066\uff0c\u969c\u5bb3\u7269\u306e\u914d\u7f6e\u3084\u5f62\u72b6\u306b\u5fdc\u3058\u3066\u672a\u6765\u306e\u52d5\u304d\u3092\u4e88\u6e2c\u3057\u306a\u304c\u3089\u95a2\u7bc0\u89d2\u5ea6\u3092\u5909\u5316\u3055\u305b\uff0c\u6700\u5c0f\u9650\u5ea6\u306e\u7d4c\u8def\u5909\u5316\u3067\u969c\u5bb3\u7269\u56de\u907f\u3092\u5b9f\u73fe\u3067\u304d\u308b\uff0e<\/figcaption>\r\n<\/figure>\r\n<\/article>\r\n<article>\r\n<h3 class=\"section-title\">4.\u8eca\u8f2a\u306e\u6a2a\u6ed1\u308a\u3092\u8003\u616e\u3057\u305f\u904b\u52d5\u306e\u6570\u5024\u6700\u9069\u5316\u30fbMPC [a][c][e][k]<\/h3>\r\n<p>\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306b\u5bfe\u3059\u308b\u52d5\u529b\u5b66\u30e2\u30c7\u30eb\u306b\u57fa\u3065\u304fMPC\u3092\u5b9f\u73fe\u3059\u308b\u305f\u3081\u306e\u6e96\u5099\u3068\u3057\u3066\uff0c\u3088\u308a\u7c21\u5358\u306a\u30e2\u30c7\u30eb\u3067\u8a18\u8ff0\u3055\u308c\u308b\u81ea\u52d5\u8eca\u578b\u306e\u8eca\u4e21\u306b\u304a\u3044\u3066\uff0c\u8eca\u8f2a\u306b\u6a2a\u6ed1\u308a\u3092\u6709\u3059\u308b\u30c0\u30a4\u30ca\u30df\u30c3\u30af\u30b9\u306b\u5bfe\u3059\u308b\u975e\u7dda\u5f62\u6570\u5024\u6700\u9069\u5316\u306b\u3088\u308b\u5236\u5fa1<a href=\" #reference\">[k]<\/a>\uff0cMPC<a href=\" #reference\">[e]<\/a>\uff0c\u30ed\u30d0\u30b9\u30c8MPC <a href=\" #reference\">[a][c]<\/a>\u3092\u69cb\u7bc9\u3057\uff0c\u305d\u306e\u6709\u52b9\u6027\u3092\u691c\u8a3c\u3057\u305f\uff0e\uff08\u56f36\uff09<\/p>\r\n<figure><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image06.jpg\" alt=\"\" class=\"size-full wp-image-909 aligncenter\" width=\"650\" height=\"290\" srcset=\"https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image06.jpg 650w, https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image06-300x134.jpg 300w\" sizes=\"auto, (max-width: 650px) 100vw, 650px\" \/>\r\n<figcaption>\u56f36 MPC\u306b\u3088\u308b\u81ea\u52d5\u8eca\u306e\u30ab\u30fc\u30d6\u8d70\u884c\u306b\u304a\u3051\u308b\u904b\u52d5\u5236\u5fa1\u306e\u30a4\u30e1\u30fc\u30b8\u56f3\uff1a\u524d\u65b9\u306e\u6025\u306a\u30ab\u30fc\u30d6\u3092\u4e88\u6e2c\u3057\u306a\u3044\u5834\u5408(Non-predictive)\u306f\uff0c\u30bf\u30a4\u30e4\u767a\u751f\u529b\u306e\u9650\u754c\u306b\u9054\u3057\u3066\u5927\u304d\u304f\u884c\u304d\u904e\u304e\u3066\u3057\u307e\u3046\u304c\uff0cMPC\u306f\uff0c\u4e88\u6e2c\u8a08\u7b97\u3067\u9069\u5207\u306b\u8ecc\u9053\u3092\u4fee\u6b63\u3057\uff0c\u30bf\u30a4\u30e4\u767a\u751f\u529b\u306e\u7bc4\u56f2\u5185\u3067\u52b9\u7387\u7684\u3067\u5b89\u5168\u306a\u30b3\u30fc\u30ca\u30ea\u30f3\u30b0\u3092\u5b9f\u73fe\u3067\u304d\u308b\uff0e<\/figcaption>\r\n<\/figure>\r\n<\/article>\r\n<article>\r\n<h3 class=\"section-title\">5.\u8eca\u4e21\u306e\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a [i][m]<\/h3>\r\n<p>\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u8a98\u5c0e\u5236\u5fa1\u5b9f\u9a13\u306b\u304a\u3044\u3066\uff0c\u8eca\u4e21\u306e\u4f4d\u7f6e\u30fb\u65b9\u5411\u89d2\u306e\u63a8\u5b9a\u3092\u9ad8\u3044\u7cbe\u5ea6\u3067\u5b9f\u73fe\u3059\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308b\uff0e\u305d\u3053\u3067\uff0c\u30ec\u30fc\u30b6\u30fc\u6e2c\u57df\u30bb\u30f3\u30b5\u306b\u3088\u308b\u5468\u56f2\u5f62\u72b6\u306e\u8a08\u6e2c\u7d50\u679c\u3092\u74b0\u5883\u5730\u56f3\u306b\u5bfe\u3057\u3066\u6570\u5024\u6700\u9069\u5316\u306b\u3088\u308a\u9069\u5408\u3055\u305b\u308b\u624b\u6cd5\u3092\u69cb\u7bc9\u3057<a href=\" #reference\">[m]<\/a>\uff0c\u3055\u3089\u306b\u6539\u826f\u3057\u305f\u30ab\u30eb\u30de\u30f3\u30d5\u30a3\u30eb\u30bf\u306b\u3088\u308a\u63a8\u5b9a\u7cbe\u5ea6\u3092\u5411\u4e0a\u3055\u305b\u305f<a href=\" #reference\">[i]<\/a>\uff0e<\/p>\r\n<figure><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image07.jpg\" alt=\"\" class=\"size-full wp-image-910 aligncenter\" width=\"390\" height=\"215\" srcset=\"https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image07.jpg 390w, https:\/\/www.comm.tcu.ac.jp\/se1\/wordpress\/wp-content\/uploads\/2019\/05\/image07-300x165.jpg 300w\" sizes=\"auto, (max-width: 390px) 100vw, 390px\" \/>\r\n<figcaption>\u56f37\u6e2c\u57df\u30bb\u30f3\u30b5\u306b\u3088\u308b\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\uff1a\u5468\u56f2\u74b0\u5883\u306e\u5730\u56f3\u60c5\u5831\u3068\u6e2c\u57df\u30bb\u30f3\u30b5\u306b\u3088\u308b\u8ddd\u96e2\u60c5\u5831\u306e\u8aa4\u5dee\u304b\u3089\uff0c\u8eca\u4e21\u306e\u81ea\u5df1\u4f4d\u7f6e\u3092\u6570\u5024\u7684\u6700\u9069\u5316\u306b\u3088\u3063\u3066\u7cbe\u5ea6\u3088\u304f\u63a8\u5b9a\u3059\u308b\uff0e\u3055\u3089\u306b\uff0c\u8eca\u4e21\u306b\u642d\u8f09\u3057\u305f\u30aa\u30c9\u30e1\u30c8\u30ea\u306e\u8a08\u6e2c\u7d50\u679c\u3068\u30ab\u30eb\u30de\u30f3\u30d5\u30a3\u30eb\u30bf\u3067\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u306b\u3088\u308a\uff0c\u63a8\u5b9a\u7cbe\u5ea6\u3068\u9811\u5f37\u6027\u3092\u5411\u4e0a\u3055\u305b\u305f\uff0e<\/figcaption>\r\n<\/figure>\r\n<\/article>\r\n<\/section>\r\n<article class=\"nav-report\">\r\n<div class=\"list-inline\">\r\n<div class=\"list-inline-item\"><a href=\" #abstract\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u6982\u8981<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #goal\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u76ee\u6a19<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #method\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u8a08\u753b\u30fb\u65b9\u6cd5\u306e\u6982\u8981<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #result\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u7814\u7a76\u6210\u679c<\/a><\/div>\r\n<div class=\"list-inline-item\"><a href=\" #reference\"><i class=\"fa fa-chevron-circle-right\"><\/i>\u53c2\u8003\u6587\u732e<\/a><\/div>\r\n<\/div>\r\n<\/article>\r\n<section id=\"reference\">\r\n<h2 class=\"section-title\">\u53c2\u8003\u6587\u732e<\/h2>\r\n<article>[1] 2012\uff5e2014\u5e74\u5ea6 \u79d1\u5b66\u7814\u7a76\u8cbb\u88dc\u52a9\u91d1 \u57fa\u76e4\u7814\u7a76\uff08C\uff09\uff0c\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u306e\u7d44\u8fbc\u307f\uff23\uff30\uff35\u3078\u306e\u5b9f\u88c5\u3068\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1\uff08\u8ab2\u984c\u756a\u53f724560555\uff09\uff0c\u91ce\u4e2d \u8b19\u4e00\u90ce\uff0c2012\uff5e2014.<br \/>[2] Y. Wang and S. Boyd, \u201cFast model predictive control using online optimization\u201d, IEEE Transactions on Control Systems Technology, Vol.18, No. 2, pp.267-278, 2010.<br \/>[3] M.N. Zeilinger, C.N. Jones, M. Morari, \u201cReal-Time Suboptimal Model Predictive Control Using a Combination of Explicit MPC and Online Optimization\u201d, IEEE Transactions on Automatic Control, Vol.56, Issue 7, pp.1524 \u2013 1534, 2011.<br \/>[4] T. Ohtsuka, \u201cA Continuation\/GMRES Method for Fast Computation of Nonlinear Receding Horizon Control\u201d, Automatica, Vol.40, No.4, pp. 563-574, 2004.<br \/>[5] 2009\uff5e2011\u5e74\u5ea6 \u79d1\u5b66\u7814\u7a76\u8cbb\u88dc\u52a9\u91d1 \u57fa\u76e4\u7814\u7a76\uff08C\uff09\uff0c\u811a\u8eca\u8f2a\u578b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u6700\u9069\u811a\u914d\u7f6e\u306b\u95a2\u3059\u308b\u7814\u7a76\uff08\u8ab2\u984c\u756a\u53f721560475\uff09\uff0c\u91ce\u4e2d \u8b19\u4e00\u90ce\uff0c2009\uff5e2011.<br \/>[6] Kenichiro Nonaka, Nonlinear Tracking Control and Leg Optimal Allocation for Wheeled Mobile Robots with 3DOF SCARA Legs, 9th Int. Conf. on Motion and Vibration Control, 2008.<br \/>[7] \u5927\u5ddd \u529f\uff0c\u91ce\u4e2d \u8b19\u4e00\u90ce\uff0c\u7d4c\u8def\u306e\u9053\u5e45\u3092\u8003\u616e\u3057\u305f\u811a\u8eca\u8f2a\u578b\u30ed\u30dc\u30c3\u30c8\u8eca\u8f2a\u4f4d\u7f6e\u306e\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\uff0c\u8a08\u6e2c\u81ea\u52d5\u5236\u5fa1\u5b66\u4f1a\u7523\u696d\u8ad6\u6587\uff0c10\u5dfb23\u53f7\uff0cpp.190-197\uff0c2011.<br \/>[8] \u6817\u5cf6\u4f51\u5178\uff0c\u91ce\u4e2d\u8b19\u4e00\u90ce\uff0c\u53cd\u5fa9\u6570\u5024\u8a08\u7b97\u306b\u3088\u308bSMC\u3092\u7528\u3044\u305f\u524d\u8f2a\u64cd\u8235\u8eca\u306e\u975e\u7dda\u5f62\u30ed\u30d0\u30b9\u30c8\u64cd\u8235\u99c6\u52d5\u7d71\u5408\u5236\u5fa1\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6C\u7de8\uff0c77\u5dfb782\u53f7\uff0cpp.3705-3720\uff0c2011.<br \/>[9] Naoki Takahashi, Kenichiro Nonaka, Model Predictive Obstacle Avoidance and Wheel Allocation Control of Mobile Robots Using Embedded CPU\uff0cJournal of System Design and Dynamics, Vol.6, No.4, pp. 447-465\uff0c2012.<br \/>[10] \u91ce\u4e2d\u8b19\u4e00\u90ce\uff0c\u6e21\u8fba\u967d\u5e73\uff0c\u30ad\u30e3\u30b9\u30bf\u578b\u30aa\u30c9\u30e1\u30fc\u30bf\u3068\u975e\u7dda\u5f62\u30aa\u30d6\u30b6\u30fc\u30d0\u3092\u7528\u3044\u305f\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u901f\u5ea6\u63a8\u5b9a\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6(C\u7de8)\uff0c 78\u5dfb791\u53f7\uff0cpp.155-171\uff0c2012.<\/article>\r\n<article>\r\n<h3 class=\"section-title\">\u7814\u7a76\u6210\u679c<\/h3>\r\n<p>[a]Kenichiro Nonaka, Takatsugu Oda, \u201cModel Predictive Sliding Mode Control for Four Wheel Steering and Driving Vehicles\u201d, Proceedings of 7th IFAC Symposium on Advances in Automotive Control, pp.784-789, 2013\/9<br \/>[b]Kentaro Oyama, Kenichiro Nonaka, \u201cModel Predictive Parking Control for Nonholonomic Vehicles Using Time-State Control Form\u201d, Proceedings of European Control Conference 2013, pp.458-465, 2013\/7<br \/>[c]\u5c0f\u7530\u8cb4\u55e3, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u3068\u30b9\u30e9\u30a4\u30c7\u30a3\u30f3\u30b0\u30e2\u30fc\u30c9\u5236\u5fa1\u306b\u3088\u308b\u5c0f\u578b\u96fb\u6c17\u81ea\u52d5\u8eca\u306e\u6700\u9069\u30ed\u30d0\u30b9\u30c8\u5236\u5fa1\u201d, \u81ea\u52d5\u8eca\u6280\u8853\u4f1a\u6625\u5b63\u5927\u4f1a\u4e88\u7a3f\u96c6, \u767a\u8868\u756a\u53f7244, 2013\/05<br \/>[d]\u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u8eca\u4e21\u578b\u79fb\u52d5\u4f53\u3078\u306e\u5b9f\u6642\u9593\u6700\u9069\u5236\u5fa1\u306e\u5b9f\u88c5\u201d, \u7b2c\uff11\uff13\u56de\u5236\u5fa1\u90e8\u9580\u5927\u4f1a\uff08\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u30bb\u30c3\u30b7\u30e7\u30f3\uff1a\u79fb\u52d5\u4f53\u306e\u8a98\u5c0e\u5236\u5fa1\u306b\u304a\u3051\u308b\u5b9f\u6642\u9593\u6700\u9069\u5316\u30fb\u6700\u9069\u5236\u5fa1\uff09, 2013\/03.<br \/>[e]\u5c0f\u7530\u8cb4\u55e3, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u30ad\u30e3\u30f3\u30d0\u89d2\u5236\u5fa1\u3092\u8003\u616e\u3057\u305f\u5c0f\u578b\u56db\u8f2a\u64cd\u8235\u99c6\u52d5\u96fb\u6c17\u81ea\u52d5\u8eca\u306e\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u201d, \u7b2c13\u56de\u5236\u5fa1\u90e8\u9580\u5927\u4f1a, \u767a\u8868\u756a\u53f7PS-001, 2013\/03.<br \/>[f]Naoki Takahashi, Kenichiro Nonaka, \u201cModel Predictive Obstacle Avoidance Control for Leg\/Wheel Mobile Robots with Optimized Articulated Leg Configuration\u201d, 51st IEEE Conference on Decision and Control, pp.1782-1789, 2012\/12.<br \/>[g]\u5c0f\u5c71\u5065\u592a\u90ce, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u969c\u5bb3\u7269\u304c\u5b58\u5728\u3059\u308b\u74b0\u5883\u4e0b\u306b\u304a\u3051\u308b\u30e2\u30c7\u30eb\u4e88\u6e2c\u8eca\u5eab\u5165\u308c\u5236\u5fa1\u201d, \u7b2c13 \u56de\u8a08\u6e2c\u81ea\u52d5\u5236\u5fa1\u5b66\u4f1a\u30b7\u30b9\u30c6\u30e0\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u90e8\u9580\u8b1b\u6f14\u4f1a\u6982\u8981\u96c6, pp.2111-2114, 2012\/12.<br \/>[h]\u9ad8\u6a4b\u76f4\u6a39, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u64cd\u8235\u89d2\u306e\u5236\u7d04\u3092\u967d\u306b\u8003\u616e\u3057\u305f\u5168\u65b9\u5411\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u30e2\u30c7\u30eb\u4e88\u6e2c\u7d4c\u8def\u8ffd\u5f93\u5236\u5fa1\u201d, \u7b2c13 \u56de\u8a08\u6e2c\u81ea\u52d5\u5236\u5fa1\u5b66\u4f1a\u30b7\u30b9\u30c6\u30e0\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u90e8\u9580\u8b1b\u6f14\u4f1a\u6982\u8981\u96c6, pp.2107-2110, 2012\/12.<br \/>[i]\u5ee3\u753a\u60a0\u592a\u90ce, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u74b0\u5883\u5f62\u72b6\u3092\u8003\u616e\u3057\u305fLRF\u8a08\u6e2c\u3068\u30aa\u30c9\u30e1\u30c8\u30ea\u306eEKF\u878d\u5408\u306b\u3088\u308b\u8eca\u4e21\u306e\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u201d, \u7b2c55\u56de\u81ea\u52d5\u5236\u5fa1\u9023\u5408\u8b1b\u6f14\u4f1a, pp.1356-1359, 2012\/11.<br \/>[j]\u5c0f\u5c71\u5065\u592a\u90ce, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u5207\u308a\u8fd4\u3057\u52d5\u4f5c\u3092\u6709\u3059\u308b\u975e\u30db\u30ed\u30ce\u30df\u30c3\u30af\u8eca\u4e21\u306e\u6642\u9593\u8ef8\u72b6\u614b\u5236\u5fa1\u5f62\u3092\u7528\u3044\u305f\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u201d,\u7b2c41\u56de\u5236\u5fa1\u7406\u8ad6\u30b7\u30f3\u30dd\u30b8\u30a6\u30e0\u8cc7\u6599 , pp.79-84, 2012\/09.<br \/>[k]\u7d30\u8c37\u77e5\u4e4b, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u8d85\u5e73\u9762\u3078\u306e\u62d8\u675f\u3092\u8003\u616e\u3057\u305f\u975e\u7dda\u5f62\u89b3\u6e2c\u5668\u3068\u30b9\u30e9\u30a4\u30c7\u30a3\u30f3\u30b0\u30e2\u30fc\u30c9\u306b\u3088\u308b\u8eca\u4e21\u5236\u5fa1\u5b9f\u9a13\u201d, \u7b2c41\u56de\u5236\u5fa1\u7406\u8ad6\u30b7\u30f3\u30dd\u30b8\u30a6\u30e0\u8cc7\u6599, pp.55-62, 2012\/09.<br \/>[l]\u9ad8\u6a4b\u76f4\u6a39, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u5c40\u6240\u505c\u7559\u70b9\u3092\u8003\u616e\u3057\u305f\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u30e2\u30c7\u30eb\u4e88\u6e2c\u969c\u5bb3\u7269\u56de\u907f\u5236\u5fa1\u201d, Dynamics and Design Conference 2012, 10\u9801, 2012\/09.<br \/>[m]\u5ee3\u753a\u60a0\u592a\u90ce, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201cLRF\u3068\u30c7\u30c3\u30c9\u30ec\u30b3\u30cb\u30f3\u30b0\u306e\u878d\u5408\u306b\u3088\u308b\u8eca\u4e21\u306e\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u201d, \u7b2c29\u56de\u8a98\u5c0e\u5236\u5fa1\u30b7\u30f3\u30dd\u30b8\u30a6\u30e0, pp.31-38, 2012\/05.<br \/>[n]\u5c0f\u5c71\u5065\u592a\u90ce, \u91ce\u4e2d\u8b19\u4e00\u90ce, \u201c\u7d4c\u8def\u5236\u7d04\u3092\u8003\u616e\u3057\u305f\u975e\u30db\u30ed\u30ce\u30df\u30c3\u30af\u8eca\u4e21\u306e\u305f\u3081\u306e\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u201d, \u7b2c\uff12\uff19\u56de\u8a98\u5c0e\u5236\u5fa1\u30b7\u30f3\u30dd\u30b8\u30a6\u30e0, pp.65-72, 2012\/05<\/p>\r\n<\/article>\r\n<\/section>","protected":false},"featured_media":824,"template":"","meta":{"footnotes":""},"report_taxonomy":[24],"class_list":["post-632","report","type-report","status-publish","has-post-thumbnail","hentry","report_taxonomy-fiscal2013"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v17.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.comm.tcu.ac.jp\/se1\/report\/632\/\" \/>\n<meta property=\"og:locale\" content=\"ja_JP\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\u306e\u7d44\u8fbc\u307fCPU\u3078\u306e\u5b9f\u88c5\u3068\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1 - \u6771\u4eac\u90fd\u5e02\u5927\u5b66 \u7406\u5de5\u5b66\u90e8\" \/>\n<meta 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