著者

山崎 大河 仲達 俊介 忻 欣

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.12, pp.1172-1178, 2013 (Released:2013-12-21)

参考文献数

13

被引用文献数

1 1

---

The three-dimensional plot of the time sequences of the elevation angles of the thigh, shank, and foot during human walking has been reported to lie close to a plane, called the planar law showing the intersegmental coordination. For evaluating such coordination, the elevation angle has been regarded as an important coordinate system. However, there exist many other coordinate systems for describing the limb configuration. Even for the same data, the difference of the coordinate system may change the degree of planarity, and also affect the evaluation of the coordination. Here we aim to study the effect of the coordinate system on the planar law. We measure lower limb kinematics during steady walking on a treadmill with various speeds. Then we compare the degrees of planarity of the measured data described in various coordinate systems generated from the measured angles between the vertical and the thigh, the thigh and the shank, and the shank and the foot, and the linear transformations described by regular-three-dimensional matrices composed of elements { 0, 1, -1 }. The result shows that the different coordinate system can lead to a wide range of the planarity, and there exist many coordinate systems yielding higher or lower planarity than the elevation angles. Additionally, we elucidate the mathematical aspects of the planarity that depends on the coordinate systems. It is concluded that the planar law does not necessarily imply the importance of the information described by the elevation angles.

著者

岡島 寛

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.800-807, 2019 (Released:2019-12-14)

参考文献数

29

被引用文献数

3 2

---

Model based control system design has been developed in many fields based on the dynamics of the accurate plant model. The desired control performance of the transient response can not be achieved if the dynamics gap between the plant and its mathematical model is not small. We have proposed a specified compensator to minimize the gap between an actual plant and its nominal model. The proposed compensator is composed of its plant model and an error feedback component. In this paper, we propose a method to analyze error feedback compensation component based on the analysis method using LMIs. Polytopic-type uncertain continuous LTI systems are dealt with in this paper. The robust performance by the model error compensator is analyzed using H2 and H∞ indexes. The effectiveness of our analysis method is shown by numerical examples.

著者

中川 健人 権 裕煥 本仲 君子 三好 誠司

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.31-36, 2020 (Released:2020-02-01)

参考文献数

12

被引用文献数

1

---

In this paper, we assume a situation that multiple quadrotors are flying autonomously in the same space for the purpose of aerial photographing, surveillance, home delivery and so on. In such a situation, an algorithm to avoid mutual collision is needed. D. Zhou et al. proposed an algorithm based on the buffered Voronoi cells (BVC) to reach each target position without mutual collision when the multiple quadrotors fly and confirmed its operation by some simulations. In this research, we verified the performance of the method by numerical simulations using MATLAB. In addition, we confirmed the algorithm by dynamic simulations with four quadrotors using the dynamic simulator V-REP.

著者

岡島 寛 一政 豪 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.51, no.11, pp.794-801, 2015 (Released:2015-11-21)

参考文献数

22

被引用文献数

7 3

---

Model based control system design has been developed in many fields based on the dynamics of the accurate plant model. However, the desired control performance is not achieved if the modeling error is not small. To overcome this problem, we have proposed a compensator to minimize the gap between an actual plant and its nominal model. The proposed compensator is composed of its plant model and an error feedback component. It is difficult to apply the compensator for non-minimum phase plants because of its control structure. In this paper, a parallel feedforward compensator is used to overcome the non-minimum phase characteristics. The effectiveness is shown by numerical examples.

著者

濱野 晃 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.8, pp.763-769, 2013 (Released:2013-08-27)

参考文献数

19

---

This paper proposes a new identification method for continuous-time SISO linear time-invariant models, which does not require the prior knowledge about the system order. First, an appropriately filtered input/output signal is projected onto a finite dimensional signal subspace. Then, based on the projected data, the system order is determined through a nuclear norm minimization which takes account of both model simplicity and output prediction accuracy. Numerical examples are given to demonstrate the effectiveness of the proposed method.

著者

宮崎 文夫 有本 卓

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.428-433, 1978-08-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

6 7

---

Biped locomotion is a type of movement in which the mover makes use of the gravity skillfully. The purpose of this paper is to investigate the dynamics of biped locomotion from the viewpoint of both classical mechanics and modern control theory. To this end, a mathematical model with moderate degrees of freedom is proposed, which is derived as a model of five-link locomotion expressing the essence of human biped locomotion. The structural features of the model are discussed from the viewpoint of freedom of dynamics and controllability. It is then shown that some specific dynamical features of the locomotion model can be characterized in terms of angular momentum. It is finally shown that the ‘gait stability’, which is a special type of stability inherent to biped locomotion, is realized by a proposed control which satisfies the final condition of a swinging leg.

著者

岡島 寛 松永 信智 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.45, no.3, pp.153-159, 2009 (Released:2011-11-03)

参考文献数

16

被引用文献数

2 2

---

Electric automobiles with four in-wheel moters have been developed in recent year. By using dynamic differential force between wheels, lateral motion of the automobile can be controlled with yaw moment. This framework is known as “Direct Yaw-moment Control (DYC)”. In many previous works of DYC methods, yaw-moment is used for increasing the stability. However, maneuverability has not been discussed. In this paper, a novel DYC controller is proposed that gives the neutral steering, where neutral steering is a good evaluation index of maneuverability of automobiles. The proposed controller is derived based on the output zeroing control. The effectiveness of proposed method is shown by numerical example.

著者

入部 正継 白旗 晃規廣 喜多 洋允 佐々重 陽祐 太才 遼一

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.47, no.3, pp.173-179, 2011 (Released:2011-12-19)

参考文献数

11

被引用文献数

1

---

In this paper we propose a new type educational program for Mechatronics design which contributes to develop the physical sense and problem solving ability of the students who study Mechatronics design. For this program we provide a new handicraft kit of 4-wheeled car which is composed of inexpensive and commonplace parts, and the performance of the assembled 4-wheeled car is sensitive to its assembly arrangement. And then we implemented this program with the handicraft kit to the university freshmen, and verified its effectiveness, and report the results of the program.

著者

原 裕一郎 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.19, no.7, pp.551-556, 1983-07-30 (Released:2009-03-27)

参考文献数

6

被引用文献数

1 1

---

In harmonic analysis of periodic wave, the discontinuity at the boundary of observation interval increases the spectral leakage. Several temporal windows have been developed to improve the spectral resolution. In Fourier transformation, input signal is transformed into complex data consisting of amplitude and phase. This paper describes the phase transmission characteristics of temporal windows. The phase preservability that the phase of input sinusoidal wave is preserved in peak component, can be improved by applying the windows. Phase error caused by the other harmonics depends on the amplitude transmission characteristics of windows, especially on their band-width. The spectral peak moves from n-th bin to (n+1)-th bin with the increase of input frequency. The frequency, at which the peak is shifted from n to n+1, becomes close to n+0.5 through temporal windows. Experiments of pitch-frequency detection using phase compensation method show that Hanning window and Cos window are more desirable than the others.As a result, the temporal window improves the phase transmission characteristics.

著者

嶋田 明広 韓 鉉庸 川村 貞夫

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.32, no.12, pp.1581-1587, 1996-12-31 (Released:2009-03-27)

参考文献数

10

被引用文献数

3 7

---

In many cases of human hand tasks, grasping and manipulation of objects are most basic motions. However, the physical characteristics of human finger on grasping motions have not yet been sufficiently clarified. For example, the friction effect which is an important characteristic on grasping motions have been hardly investigated. In this study, we pay attention to friction between a finger and an object. At first, we develop a system to measure the friction of fingers. Next, basing on the experimental results obtained from the developed measurement system, we propose a new model of the maximum static friction force of human fingers. Also, we have found out that the friction forces are changed depending on the directions of tangential forces. Finally, we realize a finger tip which is made of silicone rubber and whose characteristics are similar to human fingers.

著者

坂東 麻衣 大須賀 公一 藤井 隆雄 山川 宏

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.7, pp.431-440, 2012 (Released:2012-08-16)

参考文献数

16

被引用文献数

1

---

If two bodies move in circular orbits about their common centre of mass and the mass of the third body is too small to affect the motion of the other two bodies, the problem of the motion of the third body is called circular restricted three-body problem (CR3BP). This system has five equilibrium points which is known as Lagrangian points. Among five equilibrium points, L4 and L5 Lagrangian points are stable while L1, L2 and L3 are unstable. In this paper, we consider the motion in the vicinity of the L4,5 Lagrangian points where the implicit control structure provides an insight into the control structure underlying the problem.

著者

〓 錦華 大山 恭弘 小林 裕之 忻 欣

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.10, pp.797-802, 2005-10-31 (Released:2009-03-27)

参考文献数

17

被引用文献数

2 2

---

This paper presents a new method of improving the disturbance rejection performance of a servo system by estimating an equivalent input disturbance. First, the concept of equivalent input disturbance is defined. Next, the configuration of an improved servo system employing the new disturbance estimation method is described. Then, a method of designing a control law employing the disturbance estimate is explained. Finally, the positioning control of a two-finger robot hand is used to demonstrate the validity of the method.

著者

嶋田 智 西原 元久 山田 一二 田辺 正則 内山 薫

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.20, no.10, pp.946-951, 1984-10-30 (Released:2009-03-27)

参考文献数

10

---

This paper describes an analysis of the temperature characteristic of piezoresistive semiconductor pressure sensors and its improvement. In this analysis the non-linear temperature dependence of thermal expansion of silicon is considered to calculate the thermal stress in the silicon diaphragm. The temperature characteristic of the sensor is then calculated considering the non-linearity of piezoresistive coefficients for temperature. This analysis reveals that the temperature characteristic strongly depends on the difference in thermal expansion between the silicon diaphragm and its mounting die. The appropriate dimension of the mounting die which minimizes this thermal stress is calculated and a trial pressure sensor is manufactured. The trial pressure sensor with a compensating circuit consisting of thermisters and resisters shows a good temperature characteristic; the zero point change and the span change are less than±1% for temperature range -40∼120°C.

著者

伊藤 海斗 林 輝 加嶋 健司 加藤 政一

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.54, no.12, pp.878-885, 2018 (Released:2018-12-18)

参考文献数

18

被引用文献数

2 1

---

The statistical property of wind power fluctuation, which does not fit to the normal distribution because of its high probability of the extremal outlier, is regarded as a source of severe damage to power systems. In view of this, the authors have proposed an evaluation method for the impact of wind power fluctuation on power system quality, assuming that this heavy-tailed uncertainty obeys a power-law. In this paper, we first examine the validity of this assumption based on real data of frequency deviation under wind power interconnection. Then, the evaluation method is improved by extending theoretical results, and is applied to analysis of load frequency control model to verify its advantage over Monte Carlo methods.

著者

矢野 賢一 大原 瑛一 堀畑 聡 青木 隆明 西本 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.45, no.12, pp.638-645, 2009 (Released:2011-11-03)

参考文献数

9

被引用文献数

5 9

---

A robot that supports independent living by assisting with eating and other activities which use the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. The proposed system using adaptive filter estimates tremor frequencies with a time-varying property and individual differences online. In this study, the estimated frequency is used to adjusting the tremor suppression filter which insulates the voluntary motion signal from the sensor signal containing tremor components. These system are integrated into the control system of the Meal-Assist Robot. As a result, the developed system makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.

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.52, no.4, pp.205-212, 2016 (Released:2016-04-15)

参考文献数

14

被引用文献数

1 2

---

This paper is concerned with the behavior of second-order continuous-time LTI systems with the pulse-width-modulation (PWM) input on sampling instants. The input term of the difference equation describing the state transition is a nonlinear map of the control parameter of the rectangular wave, i.e., duty ratio. It is shown that the nonlinearity can be exactly compensated by varying the center of each rectangular wave as well as its duty ratio.

著者

前田 健太 藤本 博志 堀 洋一

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.50, no.3, pp.259-265, 2014 (Released:2014-03-20)

参考文献数

18

被引用文献数

2 2

---

This paper presents the estimation method of the slip ratio limitation for electric vehicles that ensures traction, based on the tire brush model considering tire side slip. Also the estimated slip ratio limitation is applied to the driving force control, a traction control that has been proposed by the authors' research group. According to the proposed method, vehicle safety can be improved by preventing understeer when cornering with accelerating or decelerating on slippery roads. Effectiveness of the proposed method is verified by experiments using an experimental electric vehicle.

著者

平田 光男 劉 康志 美多 勉 山口 高司

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.29, no.1, pp.71-77, 1993-01-31 (Released:2009-03-27)

参考文献数

6

被引用文献数

13 18

---

The purpose of the head positioning control of hard disk drives is to move the magnetic head onto the desired track swiftly and to keep it on track precisely against various disturbances and plant uncertainty at high frequency. In this paper, we apply H∞ control to the head positioning of hard disk drives. The advantage of H∞ control is that it yields robust feedback system and the trade-off between various specs is easily incorporated into the design. Further, to obtain a good transient response, we adopt the two-degree freedom control scheme. Experimental results are presented to demonstrate the control effects.

著者

Kazuaki ANDO

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.21, no.11, pp.1171-1176, 1985-11-30 (Released:2009-03-27)

参考文献数

7

---

Padé approximants of exp(-sT) have been widely used to realize dead-time elements. The companion form realization, however, is numerically ill behaved, if we use a high order approximant, because coefficients of lower order terms of the monic denominator polynomial become very large. In this paper, the realization based on Cauer type continued fraction expansion is shown to be well behaved. A simple method of getting coefficients of the expansion of the Padé approximant, using the continued fraction expansion of the exponential function, is proposed. By simulation, it is shown that the ballancing of the overshoot and the undershoot is attained if we choose the degree L of the mumerator smaller 2 to 5 than the degree M of the denominator, and that the rise time is inversely proportional to L+M.

著者

古田 一雄 森野 耕平

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.1, pp.90-97, 2006-01-31 (Released:2009-03-27)

参考文献数

20

被引用文献数

2 2

---

Increasing demands for participatory approaches of social decision-making is drawing people's interest on public opinion development, but mathematical models used for studying the process so far were insufficient. Dynamics and mechanism of public opinion development therefore were analyzed by multi-agent simulation, which is now a promising approach for analyzing complex. social systems. A simulation model was proposed based on a_decision model that includes both effects of conformity to others and private self-consciousness. Factory that may greatly affect the process were also considered: mass media, personal variation, and bias in true or false of assertion under argument. The result of simulation provided useful insights on the process of public opinion development, e.g., the society splits-into communities of positive and negative opinions, community size increases with increasing conformity to others, and public opinion becomes one-sided by the influence of mass media or bias in true or false of assertion. These findings are both good news and warning for promotion of consensus development in society.