著者

衣笠 一樹 石川 将人 大須賀 公一

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.49, no.8, pp.755-762, 2013 (Released:2013-08-27)

参考文献数

8

被引用文献数

1 3

---

In this paper, we propose a robotic model of a casterboard, which is a commercial variant of skateboards with twistable footplates and passive inclined caster wheels. We then derive its mathematical model in the form of nonlinear state equation; this system is of much interest from both mechanical and control points of view as a new challenging example of nonholonomic mechanics. Based on an observation in the preceding works concerning locomotion control for nonholonomic systems, we propose a locomotion control method with sinusoidal periodic control to realize forwarding and turning locomotion. The proposed idea is examined by simulations and physical experiments using the prototype robot developed by the authors. Moreover, we also examine influence of the parameters in sinusoidal reference signals on the robot's behavior.

著者

岡島 寛 金田 泰昌 田村 友規 松永 信智

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.4, pp.245-251, 2019 (Released:2019-04-16)

参考文献数

26

被引用文献数

2 3

---

A design method of state estimation observer under outliers and data-lost environment is proposed in this paper. In networked control systems, the data-lost is one of the most important topic for solving. When data-lost occurred, the output data for the control system is disappeared. The data-lost is significant problems if we want to use state feedback. To overcome negative impact by outliers and data-lost, we propose a method to disappear negative impact by outliers and data-lost using median information. The effectiveness of the proposed observer is evaluated by numerical examples.

著者

石川 将人 北吉 良平 和田 尭 丸田 一郎 杉江 俊治

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.46, no.4, pp.237-244, 2010 (Released:2011-11-03)

参考文献数

7

被引用文献数

1 3

---

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

著者

源野 広和 松本 和夫 福島 清司

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.31, no.8, pp.973-981, 1995-08-31 (Released:2009-03-27)

参考文献数

26

被引用文献数

5 8

---

The facial skin temperature can be measured without contact using an infrared camera regardless of room temperature conditions. Moreover, because it varies with autonomic nervous activity that accompanies arousal of the senses, it serves as an effective physiological quantity for evaluating human senses.This report examines the thermal sensation and evaluates it using the facial skin temperature without influence by stress or the change in seasons. In the experiments that were carried out under various types of stress with various types of ambient temperatures in winter and summer, no change due to seasons was found. Consequently, data for both winter and summer were combined and correlation coefficients between the thermal sensation and facial skin temperatures for various parts were determined. In the experiments, the correlation coefficients decreased in the order of cheek, chin, forehead, nose and ear. Even the lowest value of r=0.752 for the ear is still high. In addition, the thermal sensation is estimated by a multiple regression formula using the stepwise method. The partial regression coefficient for the nose excluding the forehead became negative (multiple correlation coefficient R=0.897). Accordingly, the relation between the thermal sensation and the forehead skin temperature can be predicted by the skin temperatures of the other facial parts, and a rise in the thermal sensation accompanying stress can be described by a drop in the skin temperature of the nose.Furthermore, it is suggested that this multiple regression formula is applicable even for different amounts of clothing. The compensation is necessary for changes in the activity level and continuous variations in the ambient temperature.

著者

杉山 純一 臼井 支朗

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.26, no.4, pp.367-374, 1990-04-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

2 2

---

Acoustic impulse response of muskmelons was studied to evaluate their quality. First, linearity and the effects of supporting conditions on the acoustic signals were examined. Secondly we obtained acoustic signals at points which divide the equator of the sample into 24 equal parts. These signals were displayed in a three-dimensional diagram with axes of time, location and sound intensity, and in a two-dimensional map with a gradation of 257 colors. For a more complete visual comprehension, an animation display which shows time changes of the distribution of sound intensity was presented. As a result of these analyses, it became evident that the impulse waveform of acoustic signals induced by impact was transmitted along the surface of the equator with uniform velocity. This transmission velocity became lower as the muskmelon ripened. The lower transmission velocity in the time domain agreed with the lower peak frequency in the frequency domain, both theoretically and practically. Because the wave equation suggests that the transmission velocity depends on the tensile force of the sample, the nondestructive evaluation provides a more direct index of the quality of muskmelons.

著者

玉置 久 森 正勝 荒木 光彦

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.31, no.8, pp.1185-1192, 1995-08-31 (Released:2009-03-27)

参考文献数

13

被引用文献数

18 21

---

In this paper, a method of applying the Genetic Algorithm (GA) to multi-criteria optimization problems is proposed. First, the reproduction operator in GA is made so that the selection is performed in parallel according to each criterion and, at the same time, the Pareto-optimal solutions are always reproduced if such appear in the population. Then, through computational experiments, it is shown that not only one of the Pareto-optimal solutions of a problem but a set of such solutions is obtained by a single run of the proposed method.

著者

林 里奈 加藤 昇平

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.1, pp.2-7, 2019 (Released:2019-01-19)

参考文献数

21

被引用文献数

2

---

Although animal-assisted activity is attracting attention as one of mental health measures, it has many problems in its implementation. We compared stress relief effects in short-term interaction of robot-assisted activity and stuffed animal-assisted activity, which are complementing activities for animal-assisted activity. We confirmed that psychological stress relief effects, especially reducing tension, depression, and confusion and improving vigor, obtained by robot-assisted activity are significantly higher than that obtained by stuffed animal-assisted activity. On the other hand, no significant difference could be confirmed in physiological stress relief effects. Although negative feelings of unsatisfactory due to lack of reactions decreased psychological stress relief effects, some kind of interaction caused by softness were suppressed decreasing physiological stress relief effects combination with physiological stress relief effects by contact with soft things. These are assumed to be factors that results of psychological and physiological evaluations are different.

著者

田辺 健 矢野 博明 岩田 洋夫

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.53, no.1, pp.31-40, 2017 (Released:2017-01-22)

参考文献数

20

被引用文献数

1 1

---

This paper describes the properties of proprioceptive sensations induced by an asymmetric vibration using a vibration speaker-type non-grounded haptic interface. We confirm that the vibration speaker generates a perceived force that pulls or pushes a user's hand in a particular direction when an asymmetric amplitude sound signal that is generated by inverting a part of a sine wave is input. We conducted 5 psychophysical experiments and evaluated the subjects' physical properties in order to apply this phenomenon for a variety of applications. As a result, we confirmed that the vibration speaker was able to control both the direction and magnitude of the reaction force by changing the input signal.

著者

林 里奈 加藤 昇平

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.54, no.1, pp.39-45, 2018 (Released:2018-01-25)

参考文献数

17

---

As the issue of mental stress in severity, researchers have started to make efforts to give healing through the interaction with robots. Most of robots used in therapy developed for interacting in a state to be held. Therefore, the relative evaluation between the expected weight and the weight sense when holding the robot (hereinafter called “subjective sensory weight”) is likely to affect stress relief effects. In this paper, we examined influences of the subjective sensory weight for stress relief effects. According to the assimilation-contrast theory, in consideration of the adaptation-level varied with the users, we divided participants into the assimilation group and the contrast group and carried out the experiments. Psychological evaluation results showed that the reduction in the depression, the anger and the confusion score in the assimilation group were significantly higher than those in the contrast group. Physiological evaluation results showed that the increase in the percentage of alpha waves in the assimilation group was marginally significantly higher than that in the contrast group. These results suggest that it is necessary for improving stress relief effects by interacting robots to set the weight of the robot which was neither more nor less than users had expected.

著者

井上 博允 溝口 博 稲葉 雅幸 池端 重樹 磯貝 文彦

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.23, no.12, pp.1289-1295, 1987-12-30 (Released:2009-03-27)

参考文献数

14

被引用文献数

5

---

This paper describes a versatile multi-window vision system, which is developed for providing robots with flexible and multiple visual attention capability. Chapter 1 is introduction. A window is a local region to be processed for one attention. The multi window vision system provides a large number of windows. The location, shape, size, and resolution of each window can be controlled by a special LSI, independently and simultaneously. In Chapter 2, we describes the concept and architecture of the multi window vision system. The multi window vision system is designed to build a pandemonium model by means of multi microprocessors. In order to avoid the image access bottleneck in parallel processing, we introduced a transmiter-receiver into the multi window vision system. Chapter 3 describes the transmitter unit which broadcasts input images to the window receivers. In Chapter 4, the details of the logic circuits inside the window control LSI is described. The LSI chip controls window parameters which are location, size, shape, spatial sampling rate, window memory access, and the display of the window image. In Chapter 5, the image processing unit that implements the LSI chips is described. Chapter 6 shows the experimental results using the image processing unit. Chapter 7 is Concluding Remarks.

著者

林 里奈

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.56, no.1, pp.2-7, 2020 (Released:2020-02-01)

参考文献数

20

---

Demands for interaction designs of therapy robots is projected to increase as the expansion of robot-assisted activity. In consideration of this situation, I compared the influence of users' personality traits on the impression of tolerant, rejective and emotional reaction robots to approach from users. As a result, I confirmed that extraversion and openness personality traits have significant influences on the extroversion and steady in the tolerant reaction robot, and the tolerance in the emotional reaction robot, respectively. I also confirmed that the rejective reaction robot creates significantly the narrow-minded than the others independently of users' personality traits. These results suggest that in designing interactions of therapy robots, it is better to design avoiding rejection reactions for any robot-assisted activity. In addition, it should be noted tolerant and negative reactions in designing interactions of therapy robots for robot-assisted activity expected to have many users who are high in extroversion and openness, respectively.

著者

林 里奈

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.57, no.4, pp.203-208, 2021 (Released:2021-04-17)

参考文献数

19

---

Considering that robot-assisted activities spread to ordinary homes, this study was conducted as a part of acquiring the information on the relationship between users' characteristics, reactions from a robot, and the effects of those reactions. I compared the influence of users' personality traits on psychological stress relief effects obtained by interacting with tolerant, rejective, and emotional reaction robots to approach from users. As a result, I confirmed that agreeableness and neuroticism personality traits have significant influences on relaxing the fatigue obtained by tolerant reactions from a robot and disarming the anger obtained by emotional reactions from a robot, respectively. I also confirmed that improving the vigor obtained by rejective reactions from a robot could not be expected independently of users' personality traits. These results suggest that it should avoid using the robot with a high ratio of rejective reactions in any robot-assisted activities. Besides, it is better to use the robot with a high ratio of tolerant reactions if a user with high agreeableness needs effects of relaxing the fatigue, and use the robot with a high ratio of emotional reactions if a user with high neuroticism needs effects of disarming the anger.

著者

岡島 寛 竹 祐亮 松永 信智 上瀧 剛

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.12, pp.783-791, 2019 (Released:2019-12-14)

参考文献数

24

被引用文献数

3 1

---

Many traditional cultural assets in Kumamoto City were damaged by the Kumamoto Earthquakes in 2016. The Kumamoto Castle disastrously damaged by the earthquakes should be completely repaired because it is one of the most important cultural assets in Japan. The Kumamoto Castle recently celebrated its 400th anniversary. In this paper, we propose database design method of broken stones in the Kumamoto Castle for completely repairing the wall of stones which is called “ISHIGAKI”. It is required to find accurate position of each stone before the Kumamoto Earthquakes. However it is difficult to matching each stones because of the shooting environment problem of the photographs of each stone. It is required to construct ISHIGAKI database for matching collect position of stones. We focus on location after broken ISHIGAKI and the surface area of each stone for increasing the ability to find the collect location. Moreover, we propose the entire ISHIGAKI matching algorithm based on not only image matching but also surface area information and location information of stones.

著者

Susumu IKEDA Takuma DOI Keizaburo UCHIKAWA Yoshiharu KURITA

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.29, no.3, pp.245-252, 1993-03-31 (Released:2009-03-27)

参考文献数

8

---

The existence of intrinsic vertical effects of spinning gyroscopes was examined systematically from the viewpoint of precise measurement, using three types of gyroscopes with largely different characteristics. The most precise weighing techniques, such as a reference tare system and various countermeasures, were applied. Slight and symmetrial mass changes observed in the experiment were explained as the parasitic effect of the balance due to the torque of the spinning gyroscopes, utilizing the attenuation constant change under atmospheric conditions. Consequently, the intrinsic vertical effects were found to be virtually zero in this experiment, and even if existent, were estimated to be neither greater than +0.7mg nor less than -0.5mg at a 99% confidence level for the angular momentum of 0.936kg·m2/s.

著者

岡島 寛 橋爪 壮一郎 大石 凌史 宮原 智新

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.2, pp.135-143, 2019 (Released:2019-02-19)

参考文献数

23

被引用文献数

3 4

---

At the sports and games for elementary and junior high school students, their parents often become personal photographer for the game. They see their child over the frame despite being in the playing field. In addition, problems such as trying to take a good place to compete may occur. We can solve these problems by the conference management side distributing the sports competition videos. So in this paper, we show a method to automatically reconstruct movies using competition movies taken by fixed point cameras and to present high quality movies to viewers.

著者

礒川 悌次郎 松井 伸之 西村 治彦

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.35, no.11, pp.1462-1468, 1999-11-30 (Released:2009-03-27)

参考文献数

8

被引用文献数

1 1

---

Genetic Algorithm is well-known as the optimizing algorithm taken after evolutionary strategy, and widely used for engineering problems that occur when designing a system by its self-organizing phenomenon. It is based on Neo-Darwinism, that is, the theory that individuals with advantageous characters to the given environment increase and individuals with disadvantageous ones decrease when mutation occurs in genetic characters in a population. In Genetic Algorithm, there is a premise that all the genetic characters in an organism have some meanings of adaptation. In the natural organisms, however, there are a number of neutral mutations, which is neither advantageous nor disadvantageous to their adaptation. This fact suggests that there is a new possibility of genetic mechanism in designing evolutionary systems. This is the framework motivated by the neutral theory of molecular evolution, which is different from the conventional design based on Neo-Darwinian Genetic Algorithm. In the neutral theory, some genetic characters in an individual are not positively possessed under selection pressure (not by orthogenesis), but allowed to be fixed by chance, remaining neutral to selection pressure (by random genetic drift). This leads to the supplement of redundancy to genetic information which represents an individual, and the appearance of the diversity of genetic information in a population. In this paper, in order to investigate the above point concretely, we adopt the Ladder-Network as a simple model which makes permutation of information. When we evaluate the fitness by using only the degree of correspondence between target alignment and output one, the factor of the number of steps in the network becomes the neutral character which does not directly affect the fitness.

著者

田中 颯樹 増田 容一 石川 将人

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.4, pp.305-312, 2019 (Released:2019-04-16)

参考文献数

15

被引用文献数

1

---

This paper is concerned with nonlinear analysis of a 1-d.o.f. vertical hopping robot, composed of its body, foot and a DC motor with crank mechanism. We show that its hopping motion under a constant voltage converges into a stable limit cycle, through physical experiments and numerical simulations. We then clarify this stabilization mechanism based on a simplified mathematical model, by showing that the negative torque-velocity correlation (weakness) of DC motors plays as a feedback law for stabilization. We also show that the limit cycles exhibit period-doubling bifurcation as the applied voltage increases, and the corresponding bifurcation diagram is affected by the weakness parameter of the DC motor.

著者

田中 颯樹 増田 容一 石川 将人

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.4, pp.305-312, 2019

---

<p>This paper is concerned with nonlinear analysis of a 1-d.o.f. vertical hopping robot, composed of its body, foot and a DC motor with crank mechanism. We show that its hopping motion under a constant voltage converges into a stable limit cycle, through physical experiments and numerical simulations. We then clarify this stabilization mechanism based on a simplified mathematical model, by showing that the negative torque-velocity correlation (weakness) of DC motors plays as a feedback law for stabilization. We also show that the limit cycles exhibit period-doubling bifurcation as the applied voltage increases, and the corresponding bifurcation diagram is affected by the weakness parameter of the DC motor.</p>

著者

白井 達也 金子 真

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.29, no.4, pp.385-394, 1993-04-30 (Released:2009-03-27)

参考文献数

10

---

Power transmission systems with timing belt are often used in various machines because of their simple mechanism and easy treatment. However, the diagnosis for those transmission system has not fully established. This paper discusses self-failure diagnosis for a timing belt transmission system using tension-differential-type torque sensor (TDT sensor). A tension pulley is usually incorporated into a part of the transmission system, so that the system can maintain a proper tension during operation. Since such a tension pulley receives force directly from the timing belt, it is expected that the diagnosis of the timing belt can be done with much high S/N ratio and thus with high reliability. Based on this idea, the authors designed a TDT sensor available for a timing belt application, and explored a diagnosis algorithm detectable not only for a timing belt with V-crack but also for a timing belt with blinding at a tooth. Through a number of experiments, we verified the effectiveness of the proposed algorithm and also found an interesting behavior of the sensor signals which is not expected.

著者

南 裕樹 池田 智裕 石川 将人

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.56, no.9, pp.425-431, 2020 (Released:2020-09-12)

参考文献数

13

---

This paper focuses on the quantization problem of connection weights of neural networks. Our previous work proposed a class of quantizers, called noise-shaping quantizer, for the quantization of neural networks. The performance of the proposed quantizer depends on the error diffusion filter. This paper proposes a systematic design method of error diffusion filters based on features of learning data, which is used for the learning of neural networks. In the proposed design method, satisfactory error diffusion filters are given by solving a kind of traveling salesman problems.