Control apparatus, learning apparatus, control system, control method, and non-transitory computer readable medium
An object of the present disclosure is to provide a control apparatus capable of adjusting an amount of information to be input to a learner in order to improve the accuracy of a control content in a control target apparatus. A control apparatus ( 10 ) according to the present disclosure includes: a decision unit ( 11 ) configured to decide a measurement period for a sensor to measure a physical amount used to decide a control content in a control target apparatus; an acquisition unit ( 12 ) configured to acquire a result of analyzing the control content in the control target apparatus decided based on the physical amount measured in the measurement period; and a control unit ( 13 ) configured to decide the measurement period of the physical amount based on the result of the analysis.
1 . A control apparatus comprising:
at least one memory storing instructions, and
at least one processor,
wherein the instructions, when executed by the at least one processor, cause the control apparatus to:
receive resolution information indicating a resolution of a sensor of a robot, the resolution information comprising: (i) quantization resolution information indicating a minimum amount of change that can be detected by the sensor, and (ii) time resolution information indicating a minimum time interval between two measurements of the sensor;
determine, for the robot to perform at least one operation, an initial value of a total measurement period for the sensor based on the resolution information;
transmit, to a simulator, at least one total measurement period value comprising the initial value, to cause the simulator to simulate the performance of the robot performing the at least one operation with the at least one total measurement period value;
receive, from the simulator, at least one simulation result indicating whether the simulated performance satisfied a predetermined condition with respect to the at least one total measurement period value;
select, based on one of the at least one simulation result satisfying the predetermined condition, the corresponding total measurement period as a final measurement period; and
output the final measurement period to the robot to cause the robot to use the final measurement period when performing the at least one operation.
2 . The control apparatus according to claim 1 , wherein the instructions, when executed by the at least one processor, cause the control apparatus to:
change the total measurement period when one of the at least one simulation result does not satisfy the predetermined condition.
3 . The control apparatus according to claim 2 , wherein the instructions, when executed by the at least one processor, cause the control apparatus to: repeat changing the total measurement period until one of the at least one simulation result satisfies the predetermined condition.
4 . The control apparatus according to claim 2 , wherein the instructions, when executed by the at least one processor, cause the control apparatus to: change the total measurement period such that the total measurement period becomes longer than a current total measurement period.
5 . The control apparatus according to claim 4 , wherein the instructions, when executed by the at least one processor, cause the control apparatus to change the total measurement period by multiplying the current total measurement period by an integer.
6 . The control apparatus according to claim 1 , wherein the instructions, when executed by the at least one processor, cause the control apparatus to compute the initial value based on a value of Δf/(v×Δt), wherein Δf is a value of the quantization resolution information, Δt is a value of the time resolution information, and v is a minimum speed threshold where speeds below the threshold are multiplied by 0.
7 . An integrated control apparatus and simulator comprising:
at least one memory storing instructions, and
at least one processor,
wherein the instructions, when executed by the at least one processor, cause the integrated control apparatus and simulator to:
receive resolution information indicating a resolution of a sensor of a robot, the resolution information comprising: (i) quantization resolution information indicating a minimum amount of change that can be detected by the sensor, and (ii) time resolution information indicating a minimum time interval between two measurements of the sensor;
determine, for the robot to perform at least one operation, an initial value of a total measurement period for the sensor based on the resolution information;
simulate, using at least one total measurement period value comprising the initial value, the performance of the robot performing the at least one operation;
determine at least one simulation result indicating whether the simulated performance satisfied a predetermined condition with respect to the at least one total measurement period value;
select, based on one of the at least one simulation result satisfying the predetermined condition, the corresponding total measurement period as a final measurement period; and
output the final measurement period to the robot to cause the robot to use the final measurement period when performing the at least one operation.
8 . The integrated control apparatus and simulator according to claim 7 , wherein the instructions, when executed by the at least one processor, cause the integrated control apparatus and simulator to simulate the performance of the robot using a measured value from the sensor and a derivative of the measured value with respect to time.
9 . The integrated control apparatus and simulator according to claim 7 , wherein the instructions, when executed by the at least one processor, cause the integrated control apparatus and simulator to change the total measurement period when one of the at least one simulation result does not satisfy the predetermined condition.
10 . The integrated control apparatus and simulator according to claim 7 , wherein the instructions, when executed by the at least one processor, cause the integrated control apparatus and simulator to repeat changing the total measurement period until one of the at least one simulation result satisfies the predetermined condition.
11 . The integrated control apparatus and simulator according to claim 7 , wherein the instructions, when executed by the at least one processor, cause the integrated control apparatus and simulator to change the total measurement period such that the total measurement period becomes longer than a current total measurement period.
12 . The integrated control apparatus and simulator according to claim 11 , wherein the instructions, when executed by the at least one processor, cause the integrated control apparatus and simulator to change the total measurement period by multiplying the current total measurement period by an integer.
13 . The integrated control apparatus and simulator according to claim 7 , wherein the instructions, when executed by the at least one processor, cause the integrated control apparatus and simulator to compute the initial value based on a value of Δf/(v×Δt), wherein Δf is a value of the quantization resolution information, Δt is a value of the time resolution information, and v is a minimum speed threshold where speeds below the threshold are multiplied by 0.
14 . A control method comprising:
receiving resolution information indicating a resolution of a sensor of a robot, the resolution information comprising: i) quantization resolution information indicating a minimum amount of change that can be detected by the sensor, and (ii) time resolution information indicating a minimum time interval between two measurements of the sensor;
determining, for the robot to perform at least one operation, an initial value of a total measurement period for the sensor based on the resolution information;
simulating, using at least one total measurement period value comprising the initial value, the performance of the robot performing the at least one operation;
determining at least one simulation result indicating whether the simulated performance satisfied a predetermined condition with respect to the at least one total measurement period value;
selecting, based on one of the at least one simulation result satisfying the predetermined condition, the corresponding total measurement period as a final measurement period; and
outputting the final measurement period to the robot to cause the robot to use the final measurement period when performing the at least one operation.