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

小河 守正

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.58, no.5, pp.262-270, 2022 (Released:2022-06-21)

参考文献数

14

---

This paper is introducing a new practical method for robust I-PD tuning based on the process dynamics model with the model parameter uncertainty. Several types of process dynamics models in the process control field are considered. These are 1st-order lag, 2nd-order lag, integrating system with 1st-order lag, 2nd-order unstable system, and all of which include time delay. The PID settings formula of the I-PD controller is derived to track the reference trajectory by the direct partial model matching method. Given the nominal process model with parameters uncertainty range, the robust PID settings are determined, which provides stable and good control performance over the entire process. For this purpose, the worst process whose control is most likely to become unstable, and the 2nd-worst process whose performance is the worst with the PID settings that stably controls the worst process are searched. If the PID settings based on the 2nd-worst process ensure stability in the worst process, the control performances over the entire process become approximately equivalent. In addition, the maximum overshoot value of the manipulated variable controlling the nominal process is utilized to design the time constant of the reference model and to adjust the control performance properly. A design example is briefly presented to illustrate the applicability of this method.

著者

稲垣 聡 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.49, no.7, pp.727-732, 2013 (Released:2013-08-01)

参考文献数

11

被引用文献数

4 7

---

This paper is concerned with applicability of intelligent PID control which is proposed by Fliess and Join recently. First, we analyze the stability of intelligent PID control systems. It is clarified that the intelligent PID controllers stabilize any linear plants provided that they are minimum phase and their relative degrees are known. Simulation results are given to verify the analysis. Second, an experiment of positioning control is performed to verify the effectiveness of the intelligent PID control method.

著者

岡島 寛 西村 悠樹 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.12, pp.869-874, 2014 (Released:2014-12-23)

参考文献数

22

被引用文献数

4 9

---

This paper deals with a kind of feedback linearization method for the nonlinear affine systems. In case of the standard feedback linearization method, the coordinate transformation is used and the nonlinear terms are canceled by using the nonlinear state feedback. Then, the input-output relation of the systems are linearized in the wide range of the state space. It is well known that the control system does not work well enough if there exists the modeling error and the disturbance. We propose a novel feedback linearization method to achieve good robust performance for the modeling error and disturbance. In our previous researches, a control structure to minimize the model error is proposed for the linear control systems. This structure of the control system is extended to the nonlinear control systems with some improvement. Since the extended control structure includes a feedback path of the error between the plant output and the desired model output, it is expected that the robustness is increasing in the meaning of input-output relation rather than the previous feedback linearization methods. The effectiveness of proposed structure is shown by numerical examples.

著者

田畑 克彦 西田 佳史 飯田 佳弘 岩井 俊昭

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.1, pp.11-19, 2012 (Released:2012-03-02)

参考文献数

13

被引用文献数

3 4

---

We propose a new navigation system for Automatic Guided Vehicles (AGV) used as a carrier in the factory. The guided marker of the navigation system is composed of ultrasonic transducers instead of the traditional markers such as electromagnetic tape, light reflective tape and so on. The proposed system is available to be used not only indoors but also outdoors and adaptable to a temporary route. The ultrasonic sensor is generically susceptible to noise, so that we make the following propositions. First, a phased array of the ultrasonic sensors is employed in searching a land marker to improve the signal-to-noise ratio. Second, the specific ID with 7bits is assigned as the land marker to avoid the system errors ascribable to an ultrasonic interference. In addition, the proposed system is quite compact in virtue of the embedded technology of a microcomputer and Field Programmable Gate Array (FPGA). This paper reports the development of the proto-type system of navigation system and confirmation of its fundamental performances.

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

被引用文献数

2

---

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

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

浅野 洋介 渡邊 孝一 伊藤 裕一 伊藤 正英 栗本 育三郎

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.59, no.1, pp.1-9, 2023 (Released:2023-01-21)

参考文献数

23

---

The authors have proposed Vapor Pressure Deficit (VPD) control methods for a solar-light-type plant factory (greenhouse) with a fog-cooling system. In particular, a proportional feedback controller with a variable gain is adopted in an actual system. In the system, however, there is some dead time—was experimentally confirmed by vision-based observation—which brings vibration to the value of VPD. This paper proposes a VPD control considering the dead time of the fog generation by using a communication disturbance observer with a high pass filter (HPF-CDOB). The stability of the whole control system is verified by the small gain theorem. The effectiveness of the proposed control method was demonstrated via experiments. In the experimental result during the high-temperature phase, the proposed method achieves a 81% reduction of the average error and a 20% reduction of the standard deviation in comparison with the conventional method.

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 3

---

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.

著者

大野 二郎

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.14, no.3, pp.283-290, 1978-06-30 (Released:2009-03-27)

参考文献数

20

被引用文献数

3 2

---

To estimate the accuracy of the optical thermometry, data for emissivities are indispensable. Recently the reliability of the optical thermometry instruments has increased, as seen in the steel making processes. In these processes the near-infrared wavelength is commonly used for detection of the temperature of a radiating surface. But there are little studies about the emissivity of Fe in this wavelength region. In this paper the temperature dependence of spectral emissivity of Fe and related transition metals are studied experimentally and theoretically.The analysis of temperature dependence may clarify the fundamental properties of the emissivity of metals. For example it is observed that the emissivity of Au increases with temperature both in the visible and infrared regions. In the visible region the increase in emissivity can be explained by a shift of the optical absorption edge of a bound electron and in the infrared region the increase is explained by a change in electrical conductivity.The emissivity of transition metals such as Fe in the near-infrared region is affected doubly by the dispersion of bound electrons and by that of free electrons. To analyse this property, the author introduced a classical Drude-Lorentz dispersion model, based on the following study.By the analysis of total emissivity, it is proved that the ratio λτ/σ in the Drude model is independent of temperature difference, where λτ is the characteristic wavelength and σ is the static optical conductivity.By the measurement in the visible region, it is found that emissivities are proportional to λ-2, Where λ is the wavelength. This property is similar to the reflectivity spectrum obtained by the Lorentz dispersion model. This may justify the adoption of Lorentz model to calculate the emissivity of metals.The most interesting phenomenon of the emissivity in the near-infrared region is the presence of so called “X point”, or zero temperature coefficient, which is reported by many researchers. This phenomenon is recognized as the essential property of the emissivity of metals. By using Drude-Lorentz model, the X point can be interpreted as follows:Under the constraint of the dispersion parameters (Ki>10, λτ/σ=constant), Lorentz dispersion acts on the emissivity in the visible region and Drude dispersion acts on it in the infrared region separately. The boundary of these two dispersion models appears in the near infrared region, and in this region, the emissivity is little affected by changing the dispersion parameters, or the minimum temperature variation occurs.Thus it is concluded that the essential characteristics of emissivity for transition metals is not the presence of the X point, but the week-interaction between the Drude dispersion term and Lorentz dispersion term. It is clarified that the temperature variations for the observed emissivities of transition metals could be closely agreed from the visible to infrared wavelength regions with the Drude-Lorentz model.

著者

住岡 忠使 細谷 知之 母里 佳裕

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.7, pp.385-397, 2017 (Released:2017-07-13)

参考文献数

13

被引用文献数

1 2

---

In this paper, we propose a vehicle motion control method considering stability at the limit state using nonlinear model predictive control. In order to consider the vehicle limit state, a vehicle model is defined by using a nonlinear tire model that considers combined slip etc. The steering angle and the slip rates of each wheel at the limit lateral acceleration state are calculated on the numerical simulations. In addition, as an application example of the proposed method, results of running a circuit course at the fastest speed using curvature minimum path generation algorithm is demonstrated. Simulation results show that the proposed method can run at the speed at the lateral acceleration limit according to the course shape and it is able to run on the out-in-out trajectory.

著者

岡島 寛 浅井 徹 川路 茂保

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.44, no.7, pp.566-574, 2008-07-31 (Released:2013-02-25)

参考文献数

21

被引用文献数

5

---

Path following control problem has been treated in recent years. In past studies, the velocity of the plant is considered as constant value. However, the velocity of the plant must be controlled so as to reduce traveling time. In this paper, velocity control in path following problem is discussed by using optimal control. Since reaching time from the start point to the terminal point is used as a cost, we can obtain good acceleration and deceleration input. Since constraints of path following are included in the optimal control problem, we can achieve not only optimization of the cost but also path following. The effectiveness of the proposed method is examined by numerical examples with a path of non-constant curvature.

著者

塚越 秀行 佐々木 正志 北川 能 田中 崇裕

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.8, pp.859-866, 2004-08-31 (Released:2009-03-27)

参考文献数

15

被引用文献数

1 5

---

This paper describes the numerical analysis and design for a higher jumping rescue robot using a pneumatic cylinder. First, the basic equations for jumping are derived and the simulation is performed. Then, the relationship between the jumping height and the pressure-receiving area of the cylinder is considered when the volume or the stroke of the cylinder is kept constant. This allows calculation of the optimal cross sectional area. In addition, the jumping height is also affected by the weight ratio between the rod and the cylinder tube. Based on these results, a robot equipped with a cylinder of the appropriate dimensions controlled by a well-selected valve is reengineered and demonstrated. Experimental results show that the improved robot can jump considerably higher than the former design with the same energy efficiency, as shown in the following video. http://www.cm.ctrl.titech.ac.jp/study/jump/home.html.

著者

金森 務 片寄 春弘 志村 哲 井口 征士

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.33, no.8, pp.735-742, 1997-08-31 (Released:2009-03-27)

参考文献数

8

被引用文献数

2 1

---

Recently a field called interactive art, where performers control multimedia interactively, has been established and new musical instruments called hyper instruments have been developed. Most of hyper instruments are focussed on western musical instruments which have been given much attention to standardization. The number of hyper instruments regarding traditional musical instruments is small due to difficulty in realizing measurement of motions or gestures which are closely related with musical expression. This paper describes Cyber-Shakuhachi, a hyper instrument for the shakuhachi. First, we sum up gesture and motion which affect expression of shakuhachi performance. Next, we describe implementation of sensors for the Cyber-Shakuhachi. We are examining the validity of the Cyber-Shakuhachi through the production of the works of computer music. The Cyber-Shakuhachi got evaluation that it contributes to the creativity through the interactive search of new expression.

著者

青野 俊宏 小渡 武彦

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.38, no.10, pp.892-898, 2002-10-31 (Released:2009-03-27)

参考文献数

4

---

A throttle-control algorithm that compensates for the delay in manifold filling is proposed. This algorithm takes into account the control characteristics of an electronic-throttle-control actuator and improves the engine output response. The performance of the-algorithm was evaluated in terms of the rising time of manifold pressure and the time needed for switching control. The results showed that the rising time and the time needed for switching control were less than 100ms.

著者

鈴木 雅康 平田 光男

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.54, no.2, pp.194-200, 2018 (Released:2018-02-20)

参考文献数

15

被引用文献数

1

---

This paper is concerned with a control problem for linear systems by means of pulse-width-modulation (PWM)-type input. Since the PWM input system is nonlinear in terms of the duty ratio, its analysis and design for precision control is in general difficult. Nevertheless it turns out that the discrete-time systems on the sampling instants can be exactly transformed to single input linear systems by making the number and center-locations of pulses variable, where the fact that the sets of the vector-values of the input terms are convex is used. In this paper, by utilizing the above fact further, we propose a method exactly transforming the nonlinear discrete-time systems to multi-input linear systems.

著者

星 貴之

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.7, pp.543-552, 2014 (Released:2014-08-02)

参考文献数

19

被引用文献数

4 2

---

Our research group has worked on an ultrasound-based noncontact tactile display. It utilizes a nonlinear effect of ultrasound to produce a force in midair. It is known that an object in the ultrasound field suffers a force (acoustic radiation pressure) in the direction of the ultrasound propagation. The position of the force is controlled three-dimensionally based on the phased array focusing technique: A focal point of ultrasound is generated by setting the phases of hundreds of ultrasound transducers adequately. After the presentations and the demonstrations of this tactile display, it gradually came out that some researchers working on research fields other than tactile display liked to use this device for their own issues. But the previous prototype device had a bulky body and complicated wires, and so it took time and labor to carry, setup, and install it. These drawbacks limited the situations in which it could be used and prevented us from giving it a try to use it in other application areas. In order to break through this difficulty, we newly developed a compact device which generates a noncontact force up to 16mN. It was carried out by integrating driving circuits and cutting out the expandability of the device. This small-sized and light-weighted device is easy to use and so useful for exploring new application areas. In this paper, firstly, the principles of the device are explained. Secondly, the design concept and the specifications of the device are provided. Thirdly, the experiments show that the ultrasound is focused as the theory predicted, the intensity of the output force is surely controlled by PWM, and the frequency characteristics covers up to 1kHz. Finally, the collaborative researches based on the developed ultrasound device are reported as the evidence of application exploration.

著者

小坂 洋明 渡辺 嘉二郎 永岡 秀一

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.11, pp.1880-1888, 1995-11-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

3 1

---

A comfortable man-machine interfaces are required for current advanced systems. Keyboard switches as one of the most frequently used man-machine interfaces should provide comfortable feeling for operation. This paper aims at investigating the relation between reaction force of keyboard switches and human switch operation feeling.We investigate how each reaction force of switches effects to the touch feeling of keyboard switches via sensory test. We made a switch that is assisted by a servo mechanism and can generate arbitrary reaction force characteristics for the sensory test.The results of factor analysis for the questionnaire data obtained in the sensory test show that the most substantial factor is the feeling expressed by the words “Clear”, “Smooth”, “Stiff”, and “Clicking”.Further quantitative relations between the reaction force and feelings are obtained by regression line for the questionnaire data. This quantitative relation provides a sensory guideline for keyboard switch design.Finally, each feeling described by each word is directly evaluated by reaction forces or vice versa on dual scales. The dual scale for reaction forces and degree of feeling can be directly used for designing comfortable keyboard switch.

著者

藤田 真太郎 澤田 賢治 新 誠一 細川 嵩

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.8, pp.367-377, 2021 (Released:2021-08-20)

参考文献数

21

---

Since the damage from cyber-attacks increases, there is an urgent need to research and develop security countermeasures for control systems. In the control system, the controller is an important device. This paper then considers a whitelisting system that models the normal operation sequence of a PLC (Programmable Logic Controller) and detects deviations from the model as abnormal. We propose three methods to auto-generate the whitelisting system by LD (Ladder Diagram): Petri net model generation, constraint condition derivation, and LD conversion. The first method generates Petri net models form SFCs (Sequential Function Charts) that are compatible with LDs. The second method derives whitelist conditions from Petri net models to check whether PLC performs the correct operation sequence. The third method implements the whitelist conditions into LD. The auto-generated whitelisting system enables us to monitor the state transitions of the PLC programs. Further, this paper carries out an experimental validation of the methods using a testbed system.