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 1

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
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 1

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
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
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
石川 将人 北吉 良平 和田 尭 丸田 一郎 杉江 俊治
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.46, no.4, pp.237-244, 2010 (Released:2011-11-03)
参考文献数
7
被引用文献数
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
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
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

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.
著者
梶田 秀司 谷 和男
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.31, no.10, pp.1705-1714, 1995-10-31 (Released:2009-03-27)
参考文献数
17
被引用文献数
7 15

An experimental study of a biped robot is presented. A new scheme named “Linear Inverted Pendulum Mode” is utilized for controlling biped walking on rugged terrain. We developed a 6 d. o. f. biped robot “Meltran II” which has light weight legs and walks in a two dimensional vertical plane. After discussing the control systems for the support leg and the swing leg, we applied these control laws to the real robot and obtained following results.1. Support phase dynamics of the biped robot under the proposed control law can be well represented by a linear model with a viscous term.2. An adequate vertical speed at touchdown and a short duration of two-leg support after touchdown help smooth support leg exchange with a small loss of momentum.Based on these results, a whole biped control system was implemented. In our experiment, biped walking with a half step period of 0.5-1.0s and a half stride of 10-14cm was realized on a flat floor. The maximum walking speed was 24cm/s. Our robot also walked over a box of 3.5cm height at a speed of 20cm/s.
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
丸茂 喜高 鈴木 宏典 片山 硬
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.48, no.10, pp.614-621, 2012 (Released:2012-11-29)
参考文献数
13
被引用文献数
2 3

This study proposes an idea that encourages driver's motivation to drive altruistically. We focus on an existing intersection that disturbs the throughput of upstream vehicles by right-turn vehicles waiting a gap acceptance to turn right. We investigated some scenarios that oncoming thru traffic mandatorily give a right-of-way to the right-turn vehicles to make enough time-gap for right turning. Here, it is assumed that the effects of giving a right-of-way to the right-turn vehicles are provided to a driver of approaching thru vehicle via onboard indicator. A verified traffic simulator examines the effects of prioritizing behavior on traffic flow. Numerical analysis showed that the traffic throughout in congested states was gradually improved when prioritized right-turn vehicles increases. Also, penetration of the prior right-turn vehicles is effective to mitigate not only the collision risk at the intersection but also the total CO2 emission over the arterial road.
著者
望月 典樹 今永 尚志 中村 壮亮
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.9, pp.418-420, 2021 (Released:2021-09-23)
参考文献数
10

The authors propose a VR system called “Motion-Less VR”, which does not require motion of the real body. In this paper, we developed a system that enables 2-DoF motion of the shoulder and elbow, and basic experiments were conducted.
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
堀井 洋一 吉成 愛 中本 百合菜 郡司 ペギオ幸夫
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.54, no.1, pp.31-38, 2018 (Released:2018-01-25)
参考文献数
13

The model of human's decision process by Bayesian Inference cannot represent the sudden change of the decision manner. Featuring novel Inverse Bayesian Inference, we modeled the decision process including sudden change, and evaluated the effectiveness through psychological experiments. In the experiment, the subjects progress in zigzag toward the goal in virtual 3D space by selecting the left or right. As a result, many unreasonable and sudden change decisions are observed. We show our model of decision process featuring Inverse Bayesian Inference can represent such a sudden change. We also examined examples applied to trends in stock prices and the influence of parameters of Inverse Bayesian inference.
著者
橋本 悠希 小泉 直也
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.51, no.1, pp.64-71, 2015 (Released:2015-01-21)
参考文献数
26
被引用文献数
2 2

Japan (Japanese lacquer) has many kinds of interesting characteristics. Even among them, we focus on electric non-conductance and weakness of ultraviolet rays. From these features, it is assumed that an ultraviolet laser remove Japan locally, and several layers can be connected via removed point. This hypothesis means that it is possible to build a Japan-based multilayered electronic circuit. In this paper, we explain a development method of a Japan-based electronic circuit, and report three experiments to confirm feasibility of our hypothesis. In addition, we discuss application potentiality of Japan-based electronic circuit.