著者

平野 旭 辻 敏夫 滝口 昇 大竹 久夫

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.41, no.4, pp.351-357, 2005-04-30 (Released:2009-03-27)

参考文献数

21

被引用文献数

2 4

---

This paper proposes a new model of the membrane potential change of Paramecium for environmental stimuli. The proposed model calculates not only the membrane potential based on the Hodgkin-Huxley equation, but also the internal Ca2+ concentration in cilia that cannot be measured with the actual organism. This will be helpful to reproduce the behavior of Paramecium based on the mechanism of the actual organism. Simulation experiments demonstrate that the proposed computer model can reproduce the characteristics of the actual organism.

著者

下井 信浩

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.37, no.6, pp.577-583, 2001-06-30 (Released:2009-03-27)

参考文献数

14

被引用文献数

3 2

---

This paper is about humanitarian demining activities on anti-personnel mines, such as the problems face during mines detecting and the difficulties of conducting such activities. In present time, there are about 80 million of unmanaged ant-ipersonnel mines left in conflict ended countries throughout in the world. As result, many noncombatants die during peacetime due to the mines and a great amount of moneys is spent on mines management. Through this paper, we suggest some technical solutions on this problem.

著者

安藤 博昭 青柳 多慶夫 村山 栄治 荒井 邦晴

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.12, pp.872-877, 2018 (Released:2018-12-18)

参考文献数

10

---

Performances of main components such as an engine, hydraulic pump, cylinder, valve and so on for a hydraulic excavator have been improved year by year. The system also related with a controller to assist operations have been complex more and more. An excavator is a general construction machine for a civil engineering and performs a various of applications such as a digging, truck loading, lifting and leveling. A powerful digging force and fast motions are required. Besides, very sensitive and accurate operations are needed. There is a response delay of the hydraulic system from an operator input command to a hydraulic cylinder motion as an actuator. When an assist controller to manipulate the bucket is developed, the delay should be considered in order to improve the accuracy. In this paper, we investigate to utilize Smith Predictor for a leveling operation which is required high accuracy as a system with time delay. It's confirmed that Smith Predictor is better than a conventional PID controller to quantitatively compare the following trajectories of the bucket tip to a target.

著者

宮武 信春 森 正三 古田 勝久

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.14, no.4, pp.385-392, 1978-08-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

1 1

---

We developed the method which recursively identify the multi-attribute utility function based on the observation data which consist of the paired comparison questions and answers. In this method, the weights (w1, w2, …, wn) of additive utility function U(a)=∑ni=1wi·ui(ai) are regarded as random variables and the gaussian sum approximation method is used to estimate the posteriori probability density function of the weights conditioned by the data of comparative judgements. In order to test the applicability of this method, we applied it to the following two examples, (1) estimation of the value of time, (2) evaluation of the psychological burden of trip route.

著者

三宮 信夫 島田 亮 中峯 浩

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.29, no.2, pp.211-219, 1993-02-28 (Released:2009-03-27)

参考文献数

10

被引用文献数

13 9

---

The autonomous decentralized system is a system whose functional order is generated only by cooperative interactions among its subsystems. In other words, the system does not have any supervisor for the entire system. Instead, each subsystem has the autonomy to control each part of the system. But, that system has not been realized yet as an artificial. Fortunately, there are many examples of the autonomous decentralized system in the biological and ecological world. In this paper, we consider a fish school as an autonomous decentralized system. The schooling mechanism of a fish behavior is studied by using modeling and simulation techniques.A water tank experiment was carried out to obtain an observation data for fish behavior and to know a special feature of a school. The unknown parameters included in the model were estimated by using a water tank experiment data. The relationship between the information obtained by each individual and the state of school was investigated.

著者

花房 秀郎 浅田 春比古

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.12, no.5, pp.536-542, 1976-10-30 (Released:2009-03-27)

参考文献数

4

被引用文献数

1 2

---

It is desired that artificial fingers can grip various objects with a gripping suitable to their shapes. In this paper, we discuss the matching between the structure of artificial fingers and the shapes of objects. The gripping by a robot is regarded as the restriction of the objects by the fingers. The forces acting on the objects should be balanced for the gripping.First the finger forces depending on the structure of the artificial fingers and the shape of an object are analyzed. Second by introducing the potential function the stability of a gripping form is discussed. When the potential is relative minimum at a certain gripping form, the resultant of all the finger forces acts so as to keep the gripping for all of small deviations. The defined potential can be applied to decide the optimal gripping form and the design of an universal gripper.

著者

木下 源一郎 高瀬 国克 森 政弘

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.7, no.1, pp.25-30, 1971-02-28 (Released:2009-03-27)

参考文献数

9

---

This paper proposes an artificial-tactile pattern recognition which is composed of the recognition by touching the object surface with the artificial-tactile sense and the recognition by grasping the object with the artificial-hand.The hint of this proposition was found in the function of the tactile sense of a human hand.The fundermental principle of the artificial-tactile pattern recognition is to process a stress distribution that the unknown object produces in the artificial-tactile sense elements.In the proposed method, the 3-dimensional stress distribution is partitioned into the 2-dimensional peripheral pattern and the threshold decrement by an analogy with the threshold phenomena in the living body. The object surface is recognized as a sequence of the peripheral processing at each threshold decrement.A simple experiment classifying cylinders and square pillars was performed by the artificialhand with on-off switches instead of the presure sense elements. As the result, a high reliability of recognition is obtained.

著者

山口 博明 野木 滉一郎 米澤 直晃 冨岡 明弘

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.6, pp.574-587, 2018 (Released:2018-06-20)

参考文献数

28

---

This paper presents a novel dynamical path following feedback control method for a snake-like robot. The snake-like robot is an undulatory locomotor transforming its periodic changes in shape into its displacement. To achieve work involving movement, e.g., an inspection task, in its working environment, it is necessary to specify its motion quantitatively. Since each of the links of the locomotor has passive wheels at its midpoint, it is not simple to design a feedback control system which enables the locomotor to follow desired paths (or to track desired trajectories) compared with wheel drive vehicles. Especially, the locomotor has singular attitudes in which the driving of its joints cannot be transformed into its movement. In this control method, a virtual link with a virtual steering system at its tip and a virtual axle at its midpoint connected to a top link through a virtual joint at its tip is caused to follow winding paths, which makes it possible to transform the driving torque of its joints into its propulsion force. The kinematical equations of the locomotor are formulated in a curvilinear coordinate system in which a winding path is one coordinate axis. A part of the kinematical equations describing the motion of the virtual mechanical elements only are converted into a chained form which facilitates to design a kinematical path following feedback control system. By a backstepping method, the acceleration required to realize the desired velocity in the kinematical control system is calculated. Based on the dynamical equations of the locomotor derived in Lagrangian mechanics, the torque of the joints of the locomotor is designed so as to realize the acceleration calculated by the backstepping method. The validity of this dynamical control method is verified by simulations in which the locomotor climbs a slope while following a serpenoid curve path.

著者

星 貴之 早田 滋

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.7, pp.337-338, 2021 (Released:2021-07-17)

参考文献数

1

---

In the previous paper, we proposed a method to stabilize the air over a heater by ultrasonic standing wave for better vision sensing. The phenomenon was not fully understood. This paper reports the observation results by particle image velocimetry.

著者

中村 仁彦 花房 秀郎

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.21, no.5, pp.501-507, 1985-05-30 (Released:2009-03-27)

参考文献数

20

被引用文献数

3 4

---

In this paper, the optimal redundancy utilization of articulated robot arms is discussed. Concerning redundancy utilization of robot arms, the momentary optimal control scheme has been proposed so far, where the null spaces of Jacobian matrices are made optimal use of instantaneously. However, it is not enough when the exact optimality covering the full working time is required. For examples, the energy saving motion is required for robot manipulators of space use. The successful motion may not be always obtained for obstacle avoidance problem in the working space with complicated obstacles, if we apply the momentary optimal control scheme.The globally optimal control scheme of redundancy is formulated based on Maximum Principle. By applying this scheme, the optimal solution is necessarily obtained, if it exists. And the amount of computation is reduced to one dimensional search for the minimum value when the degree of redundancy is equal to one.

著者

金 亨俊 山川 宏

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.4, pp.240-250, 2015 (Released:2015-04-15)

参考文献数

18

---

Existing rigid robot arms are often designed to have two or three joints in view of costs and manufacturing points. However at an initial design stage, the number of joints and lengths of arms should be designed more freely and adequately from the points of total efficiency and costs. This study aims at developing and providing a general and convenient method to obtain optimum number of joints and lengths of a rigid robot arm at initial design stage. The design of optimum joints and lengths, of course, depends upon trajectories, obstacles in working space, tasks and other many factors. At an initial design stage it is not so easy to determine optimum number of joints and lengths under consideration such many factors but is worthwhile to study on seeking for a possible method. Hence this study proposes a general design method where a trajectory itself is taken as design variables beside number of joints and lengths of robot arms because a trajectory is considered as one of prominent factors to effect on such two measures energy and manipulability are adopted as objective functions. Then an optimum problem is formulated as multi-objective optimum design problem. This problem is difficult to solve by conventional optimization methods, thus it is solved by multiple loops based on Genetic Algorithm (GA). Based on the proposed method, numerical examples in 2- and 3-dimensional spaces are demonstrated. Model experiments are also carried out. All those results are examined, and show the validity and effectiveness.

著者

梅谷 陽二 伊能 教夫

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.17, no.1, pp.133-138, 1981-02-28 (Released:2009-03-27)

参考文献数

9

被引用文献数

1 2

---

Peristalsis can generally be seen in the digestive organs of animals, and serves various purposes such as transporting or mixing the contents of the digestive tracts. Although this peristaltic movement has been studied by many physiologists, its neural controlling mechanisms have not yet been made clear.This paper describes a biomechanical study on the peristaltic transport mechanism of gastrointestines. First of all, referring to the physiological knowledge established so far, the authors made an assumption about the structure of a neural network which should exist in the intestine itself to control a peristaltic motion (as shown in Fig. 2). Secondly, in order to examine the functional property of receptors, a simulation was carried out on a digital computer, and it was found that the receptors had to hold such a property as are responding to the inside pressure caused by the stuffed contents to be transported. Finally, referring to the above mentioned results a mechanical model for peristalsis was made, and its performances of simulation was examined. It resulted that this model expressed physiological phenomena on the intestinal movement very well, and was able to transport solid stuffs in the various shape.Thus the authors believe that the neural network model proposed by them is valid and represents a principal a neural controlling mechanism to transport contents in the intestine.

著者

竹茂 求 那須 潜思 佐々木 正明 高田 稔 鹿股 昭雄 小川 廣幸

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.39, no.6, pp.521-527, 2003-06-30 (Released:2009-03-27)

参考文献数

6

---

As an improved methodology for rapidly enumerating viable bacteria, microbial colonies in agar media are observed in the microscopic fashion at regular rate from the initial stage of culturing while media plate is being incubated. At each sampling time, in order to observe colonies in various depths without focusing on any of them, an agar plate is irradiated by a point light source to project the clear shadow of colonies onto the CCD image sensor. The projected image is processed with a computer to detect the colonies automatically. As the result of the experiment with E. coli, the number of colonies had reached to the plateau after six hours of incubation and the enumeration process was completed.

著者

長谷川 律雄

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.40, no.11, pp.1160-1162, 2004-11-30 (Released:2009-03-27)

参考文献数

15

被引用文献数

1

---

The differential equation which represents the relation between rotation and angular rate is called kinematic equation. Direction cosine matrix is considered the standard model for rotation. So, each rotation representation can be connected with direction cosine matrix. This paper shows general method deriving kinematic equations for rotation representations using direction cosine matrix.

著者

加藤 久雄 舟橋 康行

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.34, no.11, pp.1611-1615, 1998

---

When the sampled-data control systems are used, undesirable oscillations between the sampling instance are occasionally observed. Such phenomenon is called ripple. Some studies deal with this problem, and derive the conditions to achieve the ripple-free responses.<br>In this note, we consider the ripple-free tracking problem for sampled-data systems. A proof for the necessary and sufficient conditions to achieve the ripple-free tracking is given. This result also shows the necessity of the continuous-time internal model for the possibility of the ripple-free responses. The feature of our proof is that we use a new concept &ldquo;convergence to the <i>C</i>^&infin; class.&rdquo; We consider this concept makes discussion easier in this note.

著者

長野 鉄明

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.129-137, 2018 (Released:2018-01-25)

参考文献数

13

被引用文献数

1

---

Servo systems are widely used in various position control applications from general industry machine to semiconductor machine. In these systems, it is usually difficult to adjust the controller to high response, because there are mechanical vibrations caused by mechanical resonances and phase delay in high frequency domain. This paper proposes an auto-tuning method of vibration suppression FIR filter using adaptive FIR filter. The auto-tuning method is performed by setting coefficients of adaptive FIR filter outside of control loop to vibration suppression FIR filter in turn. Simulation and experimental results show that the proposed method can suppress the vibration, and can improve stability and response of servo system. Thus, the proposed method can provide auto-tuning of vibration suppression filter under various operating conditions.

著者

佐野 明人 古荘 純次

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.459-466, 1990-04-30 (Released:2009-03-27)

参考文献数

19

被引用文献数

9 18

---

A biped locomotion robot is expected to be very useful in indoor space designed for human locomotion. In order to achieve a smooth dynamic walking like a human being, it is very important to control a quantity which can represent the state of the biped system as a whole. In regard to biped locomotion systems, an angular momentum of the whole system can be considered as a good index, since it is a stable quantity, as seen from ‘the law of the conservation of angular momentum.’ A control method divided the walking into motions in the sagittal plane and in the lateral plane is adopted. For motion in the sagittal plane, we put the angular momentum close to the smooth reference function given in advance by controlling the ankle torque of supporting leg. For motion in the lateral plane, we treated the motion control as a regulator problem with two equilibrium states. The effectiveness of the proposed control method was examined by the experiments with our walking robot BLR-G2. The BLR-G2 achieved three-dimensional walking where the walking speed is 0.35m/s with stride length 35cm.

著者

乾口 雅弘 白井 正志 坂和 正敏

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.30, no.6, pp.720-728, 1994-06-30 (Released:2009-03-27)

参考文献数

17

被引用文献数

1

---

In this paper, the concept of stochastic dominance is introduced to Dempster-Shafer theory of evidence and several kinds of evidential dominance are proposed. In Dempster-Shafer theory of evidence, the expected utility is obtained as an interval. The seven kinds of inequalities between intervals are defined. The relationships among these seven inequalities are investigated. Using these inequalities, seven kinds of evidential dominance are defined. A necessary and sufficient condition for each evidential dominance is discussed. The usefulness of each evidential dominance is examined by a numerical simulation.

著者

今井 順一 柏木 雄平 木辻 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.55, no.5, pp.342-352, 2019

---

<p>Visual object tracking techniques are widely required by many vision applications. The color-based particle filter is known as one of useful methods for robust object tracking. However, the conventional color-based particle filter has a problem that it is not robust against self-occlusion. Self-occlusion occurs when a part of a target object is hidden by itself from a camera. When the target object moves or rotates, a part of the target disappears because the self-occlusion occurs and other part appears because the self-occlusion is resolved. The conventional color-based particle filter often fails to follow such a change of the target's appearance due to self-occlusion during the tracking process. In this paper, we propose a novel method for robust object tracking against the self-occlusion. The proposed method is based on the color-based particle filter, and it also uses depth information obtained by an RGB-D camera. When the self-occlusion occurs and the target's appearance changes, the proposed method extracts a region for the target object in the input image by the graph cuts based on depth information. However, this process often includes unnecessary regions, especially when some objects are close to the target. Then, the proposed method distinguishes the region for the target from unnecessary ones by investigating expanse of colors around the target. Therefore, the target model is correctly updated and the robust tracking is achieved. In order to verify the effectiveness of the proposed method, we carried out an experiment to compare the proposed method with the conventional one. Experimental results show that the proposed method works well.</p>

著者

國吉 啓介 倉橋 節也

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.49, no.11, pp.1004-1011, 2013 (Released:2013-11-27)

参考文献数

31

被引用文献数

3 1

---

It is important for teacher to design a class while grasping the state of students understanding. In order to grasp the state of students, I need an integrated approach with the state of students understanding and knowledge structure and collaborative learning. So I propose a new simulation that is built with a doubly structural network model. It has an internal network and a social network. An internal network is built from the knowledge structure and the state of students understanding. A social network is built from cooperative relationship in the class. I address two problems. The first is consideration of the effects of teaching strategy given to learning. The second is consideration of the effects of placement given to learning. I found these results, 1) differences in teaching strategy give a change in the learning effect, and teaching strategy that this simulation produces has a high educational effect, 2) if a teacher gives a knowledge only once, dropouts tend to occur, 3) placing the students distributed tends to have the effect of education than placing the students centralized.