著者

江上 正 渡邊 孝之 梅本 和希

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.4, pp.268-275, 2017 (Released:2017-04-18)

参考文献数

21

被引用文献数

1

---

We propose a method for vehicle path control that considers sideslip through the combination of a time-state control form and a path control method with nearest point search and we demonstrate the method's effectiveness through experiments with an experimental small four-wheeled vehicle. In the proposed method, combining the time-state control form and path control method with nearest point search for a geometric model that constrains the position of the vehicle in consideration of sideslip allows arbitrary path following through the translational velocity and yaw rate determined from input. The method gives steering angle as input to the yaw rate control system with derived yaw rate taken as a desire value for an equivalent two-wheeled model that considers sideslip. Because cornering power and sideslip angle are difficult to determine in a yaw rate control system, these are estimated using adaptive identification and a state observer, and an adaptive control system is formed. The small four-wheeled vehicle performs path control by use a laser scanner to estimate its position and attitude. The effectiveness of a sideslip angle estimation method that uses motion capture is also demonstrated. We verify that estimates of sideslip angle are nearly identical to measured values, and experiments using a variety of path desired values demonstrate the effectiveness of the proposed path control method.

著者

根武谷 吾 平賀 琢也 氏平 政伸

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.50, no.8, pp.580-587, 2014 (Released:2014-08-15)

参考文献数

21

被引用文献数

1 3

---

We report the results of a preliminary trial to visualize a cell during freezing process using microscopic electrical impedance tomography (micro-EIT). A printed circuit board was developed for micro-EIT with two measurement chambers, 5mm in diameter and 1.6mm in depth. These chambers were filled with ethanol (2mS/cm) which was then kept at -30°C by placing it on a copper block filled with liquid nitrogen and by using a heater with a programmable controller. A grain of Citrus Sudachi and an egg of Cypselurus Agoo Agoo were placed into the measurement chamber and were recorded data during freezing by using a CCD microscope and micro-EIT. When the sample started freezing, the brightness of the sample became higher and the relative impedance in micro-EIT image also increased. Similar results were obtained in all the four trials respectively. Therefore, these results indicate that EIT is useful to observe freezing process of a cell.

著者

Hisao MIYANO

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.23, no.4, pp.394-399, 1987-04-30 (Released:2009-03-27)

参考文献数

13

---

This paper describes a new parameter estimation method for weighted euclidean distance model, in which individual configurations obtained from multidimensional scaling are directly fitted to some common space. The new method is based on an alternating least squares estimation method, and is easily extended for more general weighted euclidean model. Validity of the method is illustrated by using and analyzing a set of artificial data and color perception data.

著者

鍋倉 司樹 岡島 寛 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.50, no.3, pp.295-302, 2014 (Released:2014-03-20)

参考文献数

15

被引用文献数

2

---

AD/DA conversion has become a core technology in digital signal processing. Traditionally, AD/DA systems are composed of the post-filter and the quantizer, and it is required to satisfy the low quantization noise and the low distortion characteristics. However, it is well known that there exists trade-off between these two characteristics. In previous studies, we proposed a new design method of AD/DA system that includes pre-filter, in addition to the traditional AD/DA systems. Post and pre-filters are designed towards the original signal, so as to minimize the effect of noise and distortion due to quantization. In this paper, we verify the AD/DA systems with post and pre-filters by using the voice signal compression system. We evaluate the effectiveness using DMOS (Degradation Mean Opinion Score) method.

著者

Susumu TACHI

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.9, no.6, pp.729-738, 1973-12-30 (Released:2009-03-27)

参考文献数

10

被引用文献数

1 3

---

A method is proposed for separating a desired periodic signal, i.e., for detecting its direction and estimating its Fourier components, from other periodic signals scattered in a field contaminated with Gaussian random noise.The auto-bispectrum of a signal composed of a periodic signal plus Gaussian random noise preserves the information about both relative amplitudes and relative phases of the components of the periodic signal, while it cancels out the over-all phase shift caused by the time delay of the signal.The cross-bispectrum of the two waveforms observed at two different points, on the other hand, preserves information about the inter-regional phase shift of each component.These characteristics are clarified and used as the basis, of the method. The direction of the desired signal is measured by means of the auto- and cross-bispectra of the observed waveforms. The Fourier components of the desired signal are estimated by using the auto-bispectrum, and the desired signal can be reconstructed by means of Fourier synthesis.An example of reconstruction is shown, and the estimation errors of the program used are discussed. The estimated value varies because of finite averaging, and the distribution of the deviation from the true value can be regarded as almost normal. The relative error diminishes almost linearly as the signal/noise ratio increases when the signal/noise ratio is larger than 1.0.

著者

高杉 將司 山本 知仁 武藤 ゆみ子 阿部 浩幸 三宅 美博

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.45, no.4, pp.215-223, 2009 (Released:2011-11-03)

参考文献数

37

被引用文献数

3 3

---

The purpose of this study is to clarify the effects of timing control of utterance and body motion in human-robot interaction. Our previous study has already revealed the correlation of timing of utterance and body motion in human-human communication. Here we proposed a timing control model based on our previous research and estimated its influence to realize human-like communication using a questionnaire method. The results showed that the difference of effectiveness between the communication with the timing control model and that without it was observed. In addition, elderly people evaluated the communication with timing control much higher than younger people. These results show not only the importance of timing control of utterance and body motion in human communication but also its effectiveness for realizing human-like human-robot interaction.

著者

渡辺 嘉二郎 真鍋 宗広 吉川 崇

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.42, no.4, pp.404-410, 2006-04-30 (Released:2009-03-27)

参考文献数

22

被引用文献数

4 5

---

Two indices, sleep age and sleep index by the human pulse wave and body movement measured non-invasively by the pneumatic method are presented. The sleep age shows the quality of a whole night sleep and the sleep index shows the sleep characteristics of each minute to estimate the sleep stage in the manner of R-K method. The average error between the estimated sleep ages by the R-K method and the proposed method was 7.8 years. The coincidence rate by direct comparisons of sleep stages for each minute estimated by the R-K method and the proposed was 36.4% and SQRM of errors was one sleep stage. The sleep stages estimated by the proposed method showed the essential human sleep characteristics in whole night sleep.

著者

内海 権三 平林 庄司 渡辺 忠勝

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.118-124, 1981

---

Various nondestructive and breakdown tests were conducted with the two types of traction motors of electric locomotives of JNR which had been in service for many years. This paper describes nondestructive and breakdown characteristics. As the insulation resistance and tan δ are subject to environmental conditions such as humidity and temperature, we should be very careful to prevent their effect. On the other hand, the partial discharge characteristics are relatively little affected by the surrounding, also a considerable correlation is observed among the partial discharge characteristics and the breakdown voltage. This leads to the possibility of degradation judgement to a certain extent by the nondestructive test. The authors proposed the following guidelines for judging insulation detrioration in the partial discharge characteristics when the partial discharge measuring instruments are applied to an insulation test of relatively low voltage electric motor. (1) Partial discharge inception voltage (<i>V_i</i>): More than 1kV. Only for armature winding, more than 1.5kV. The windings which exhibit these test data have necessary insulation strength for operation. (2) Maximum partial discharge magnitude (<i>Q</i>_max): Below 10×10^-9 coulomb. Only for armature winding, below 2×10^-9 coulomb. The windings which exhibit these test data have necessary insulation strength for operation. (3) Partial discharge current(<i>I</i>): Below 3×10⁴× 10^-9A. Only for commutating pole winding, below 2×10⁴×10^-9A. The windings which exhibit these test data have necessary insulation strength for operation.

著者

山田 和明 大倉 和博 上田 完次

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.39, no.3, pp.266-275, 2003-03-31 (Released:2009-03-27)

参考文献数

27

被引用文献数

3

---

We describe a distributed approach to controlling autonomous arm robots. The robots need to acquire cooperative behaviors in order to smoothly lift an object. Each arm robot has its own reinforcement learning unit for decision-making. In investigating this task, we are primarily interested in the question of how to design a reinforcement learning control system for a multi-agent system. An applied reinforcement learning algorithm uses Bayesian discrimination method to segment continuous state and action spaces simultaneously, thereby generating of a set of effective rules. The proposed approach is examined empirically with two real arm robots. The basic dynamics of the reinforcement learning process are also analyzed.

著者

飯村 伊智郎 伊藤 登志也 濱口 孝治 中山 茂

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.9, pp.772-774, 2005

被引用文献数

2

---

This paper proposes a distributed parallel processing of Queen Ant Strategy named "AS_queen" which imitated an ant society which a queen ant governs. It is noted that the proposed processing method satisfies "shortening of average time for search" and "improvement of searching ability" at the same time in the seventy-six cities' configuration of TSPLIB.

著者

和田 一義 柴田 崇徳 谷江 和雄

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.42, no.4, pp.386-392, 2006-04-30 (Released:2009-03-27)

参考文献数

41

被引用文献数

4 7

---

A long-term experiment of robot therapy for elderly people has been conducted at a health service facility for the aged since Aug. 2003. Three therapeutic seal robots, named Paro, were introduced at the facility. This paper describes an interim report of the experiment after one year. Face scales, consisting of illustrations of person's faces, were used to evaluate people's moods. In addition, Geriatric Depression Scales were used to measure people's depression. These results showed the feelings of the elderly people had been improved continuously by interaction with the seal robots for the period.

著者

藤本 理唯宇 坂本 登

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.48, no.7, pp.423-430, 2012 (Released:2012-08-16)

参考文献数

11

被引用文献数

1 2

---

In this paper, the problem of swing up and stabilization of an inverted pendulum by a single feedback control law is considered. The problem is formulated as an optimal control problem including input saturation and is solved via the stable manifold approach which is recently proposed for solving the Hamilton-Jacobi equation. In this approach, the problem is turned into the enhancement problem of the domain of validity to include the pending position. After a finite number of iterations, an optimal feedback control law is obtained and its effectiveness is verified by experiments. It is shown that the stable manifold approach can be applied for systems including practical nonlinearities such as saturation by directly deriving a controller satisfying the input limitation of the experimental setup. It is also reported that this system is an example in which non-unique solutions for the Hamilton-Jacobi equation exist.

著者

広瀬 茂男 梅谷 陽二

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.12, no.5, pp.543-547, 1976-10-30 (Released:2009-03-27)

参考文献数

8

被引用文献数

8 38

---

A biomechanical study of living systems suggests us some interesting mechanisms which enable an organism to carry out specific functions. Among various organisms, the authors deal with the organism having a slender configuration and making active and flexible winding motions with muscles attached along the body. In spite of the simple shape, it performs miscellaneous functions which have never been realized in an artificial mechanism.The authors call this type of organism as Active Cord-Mechanism (abbreviated as ACM) and have been studying its motion, control and other problems associated with an engineering application.The basic locomotive motion of ACM on an even ground has already been realized in a snake-like shape.In this paper, some of the problems to develope this locomotive ACM into a more intelligent machine are discussed.First, the installation of tactile sensors is discussed and the biological principle of lateral inhibition is shown to be useful for controlling the ACM with tactile sensors.Second, the efficient and smooth controlling principle is proposed which the authors call the modified first order data hold.Finally, by the ACM mechanical model with tactile sensors and reconstructed controller, more intelligent locomotive experiments have been made, to demonstrate that the locomotion by detecting the obstacle in labyrinth, or the propulsion by pushing a fixed object have been successfully accomplished.Thus the authors believe that this study solves some of the controlling problems of locomotive ACM to develope as an intelligent machine.

著者

山本 悦治 山田 芳文 阿部 善右衛門

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.14, no.2, pp.163-170, 1978-04-30 (Released:2009-03-27)

参考文献数

14

---

Previously we proposed a new application of NMR to measure biological materials in human body noninvasively, using the magnetic focusing technique on the measuring target (MT).The present paper considers how to generate the magnetic focus and demonstrates this technique by using the low-field NMR spectrometer.In the first parts of this paper, the signal error due to the fringe region of MT is evaluated theoretically and the constant field contours for several arrangements of multiple coils are calculated so as to generate the magnetic focus.Simple results are obtained analytically for the axisymmetric field especially. Furthermore, a new approach which enlarges the zero-flux region is proposed to achieve a high S/N ratio.In the latter parts, the construction of 100kHz NMR spectrometer, whose static field H0 is generated by the main solenoid 70cm long and 40cm in diameter with two compensation windings, is described. The proton resonance signals from 1cm3 sample water are obtained with a S/N ratio of 15, which is more than ten times better than the value estimated from the relation S/N∝H02/3.By using the separate samples under the gradient field, a separate signal corresponding quantitatively to each sample is obtained. The signal from a certain specified area near the surface of a large sample has a shifted resonant frequency and an emphasized magnitude when the magnetic focusing technique is applied.

著者

芝 直樹 小谷 学 赤澤 堅造

出版者

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.8, pp.1080-1087, 1998-08-31

著者

松野 文俊 笠井 正三郎 田中 美和子 若城 邦子

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.32, no.7, pp.1011-1019, 1996-07-31

被引用文献数

4 1

---

In this paper we consider robust force control of a one-link flexible arm. Since the tip of the flexible arm contacts with a given constraint surface, a constraint condition should be satisfied. By using Lagrange multiplier method and Hamilton's principle, we derive dynamic equations of the joint angle (an ordinary differential equation), the vibration of the flexible arm (a partial differential equation), and the constraint force. The boundary condition of the derived distributed parameter system is nonhomogeneous. We introduce a new variable and derive a homogeneous boundary condition. By solving an eigenvalue problem, eigenvalues and corresponding eigenfunctions are derived. On the basis of the eigenfunction expansion we derive a finite dimensional modal model. To compensate the spillover instability an optimal controller with low-pass property and a robust <i>H</i>_∞ controller are constructed. The stability of the direct force feedback and the compliance control considering uncertainty of the arm flexibility is analyzed. To demonstrate the validity of the derived model and the effectiveness of the proposed controllers, a set of experiments has been carried out. Experimental results confirm that the robust controllers perform well.

著者

安藤 繁 篠田 裕之 小川 勝也 光山 訓

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.5, pp.520-528, 1993-05-31 (Released:2009-03-27)

参考文献数

13

被引用文献数

5 21

---

This paper describes a theory, algorithm, and experimental results of a new 3-D sound source localization system which is based on the spatio-temporal derivative method applied to acoustic signals.The principle is outlined as follows. We observe the sound field through amplitude f and its spatiotemporal gradients fx, fy, ft of a single point. An instantaneous distribution of time-varying vectors fx, fy, ft, f in a 4-D gradient space is classified according to its degree of orderness. Each orderness is theoretically related to constraints on possible source locations. Under this classification, we obtain an unambiguous 3-D location of a single source under a second degree of orderness and a co-existing line or plane of double sources under a first degree of orderness.We applied the principle to a sound source visualizer system by which a possibility map of the source locale is accumulated and superposed realtimely on TV images. By several experiments, this system is shown to be able to localize multiple wideband sources such as white noises and human voices while discriminating a number of them.

著者

渡辺 嘉二郎 大西 健司

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.3, pp.302-307, 1995

被引用文献数

2

---

The tone from a small police whistle when blown into weakly, can be listened into in such a way that the frequency is proportional to the amount of blowing. This fact hints to us some whistle element can be a new flowmeter that detects the flow by the frequency. Here we extract a structure of the whistle element that is desirable as the flowmeter. The spectrum of the whistle tone has several peaks and some frequencies with the peaks are linearly proportional to the flow and the other keeps same values. The whistle itself includes several tone generating mechanisms. This research aims at extracting an element and/or mechanism that generates the tone whose frequency is purely proportional to the flow.<br>First we investigate what role the each component (a) whistle itself, (b) edge and (c) cylindrical cavity plays in the tone generation. We investigated how the tone frequency changes as flow increases for each element and found the cylindrical cavity played the best role as the flowmeter in the sense of the range ability, stability and linearity.

著者

工藤 卓 田口 隆久

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.42, no.4, pp.351-358, 2006-04-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

3 3

---

The spatiotemporal patterns of spontaneous action potential were analyzed, using the multi-site recording system for extracellular potentials of neurons and the living neuronal network cultured on a 2-dimensional electrode array. The map of functional connections between neurons revealed that each culture contained some hub-like neurons, and the connections were drastically re-organized by continuous feedback stimulation. These results strongly suggest that the network structure of the cultured hippocampal neurons is neither stable nor random, but is functionally dynamic and tunable in order to be suitable for certain types of information processing. So we proposed a hypothesis; the interaction to environment generate the specific rules in the spatiotemporal pattern of nerve electrical activities. Our goal is reconstruction of the neural network, which can process “thinking.” in the dissociated culture system.

著者

川崎 晴久 西村 国俊

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.22, no.1, pp.76-83, 1986-01-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

6 24

---

Most existing manipulator control schemes require that the dynamic model of a manipulator be precisely known. There are some control schemes like the adaptive control scheme which do not require a detailed description of the dynamic model. However, it is necessary to verify the effectiveness of these control schemes with an exact dynamic model before applying them to real system.A dynamic model for a manipulator is defined using such mechanical parameters as the mass, center of mass, inertia tensor matrix and friction for each link. Usually, it is difficult to obtain exact values for these parameters.This paper presents a parameter identification scheme for a mechanical manipulator modeled on an open-rigid-link-chained mechanism. Dynamic equations for the manipulators are nonlinear, however linear input-ouput equations for the kinetic parameters of dynamic equations have been developed. Kinetic parameters are estimated by an instrument variable method based on these input-output equations. It is shown by theorem and simulation results that the instrument variable method asmptotically yields consistent estimates of the parameters. Moreover, the effectiveness of the proposed method is verified by experimental results using a 6-degree-of-freedom manipulator.