著者

服部 元史 中坊 保則 田所 諭 高森 年 山田 和人

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.66, no.644, pp.1243-1249, 2000-04-25

参考文献数

4

被引用文献数

2

---

In order to establish method to design humanoid robots' motions with fertile emotions, the authors are analysing the Bunraku puppet's motions which are generated by the experts of puppet's manupulation. The many puppet's motions with some functions and with some emotions are observed. To simplify the observed puppet's motions, each puppet's motions are divided into the motion of the puppet's axes(the main part of the motion)and the relative motion(accompaniment). In this paper, the motions of the puppet's axes are analysed. The graphs of the motions of the puppet's axes consist of same factors if the motions have the same functions even though they have the different emotions. The graphs of the same factors have similar forms, but their time length and amplitudes differ, if they have the different emotions. The above factors are computed from the data of the motions of the axes based on the wavelet coefficients of the data which express the local forms of the graphs. The authors analyse how the time length and the amplitude of the factor changes as its emotion changes. This knowledge is applied to generate humanoid robots' motions with fertile emotions from their motions with no emotion.

著者

佐々木 圭司 Brata Akas Sureng 島地 重幸

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.599, pp.2779-2784, 1996-07-25

参考文献数

11

被引用文献数

1

---

Recently, the robot assembly industry requires research that deals with flexible parts using human-like skills. We discuss cylinder insertion into a hole of a flexible rubber plate. We show that the magnitude of the insertion force expresses a parabolic field in the three-dimensional space that is composed of position and posture of the cylinder. The parabolic field has a tunneling path from which we can obtain the local minimum insertion force. The tunneling path seems to correspond to the position and posture of cylinder insertion by human skill. This paper proposes a new search method for the tunneling path. The method uses a simple regression model that fits the parbolic field to a narrow zone. The fitting zone shifts as the cylinder insertion advances. Experimental results show that the regression method is a possible search method for the tunneling path.

著者

山口 勝美 菊澤 賢二 魏 源遷 洞口 巖 中根 正喜

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.638, pp.4224-4229, 1999-10-25

参考文献数

5

被引用文献数

1 1

---

One of the authors invented a unique SiC whisker wheel in which the whiskers were aligned normally to the grinding wheel surface. In this paper, grindabilities of the SiC whisker wheel are investigated and compared with those of other wheels of SiC grains, Al<SUB>2</SUB>O<SUB>3</SUB> grains, as well as Al<SUB>2</SUB>O<SUB>3</SUB> long and short fibers which were also aligned normally to the grinding wheel surface, respectively. The main research contents grinding characteristics of a directionally aligned SiC whisker wheel such as material-removal rates, wheel-wear rates, integrity of the ground surfaces, grinding ratios and grinding efficiency. Furthermore, grinding wheels of whiskers and fibers have a common disadvantage : they tend to load easily. The authors introduced a simple method of loading-free grinding to overcome this propensity and investigate some related grinding characteristics under loading-free grinding conditions.

著者

山本 哲彦 花田 真一 中園 邦彦 金城 寛 玉城 史朗

出版者

日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.61, no.591, pp.4276-4281, 1995-11-25

参考文献数

3

被引用文献数

5

---

In this work we consider unstable control objects such as an inverted pendulum. Two evaluation procedures in genetic algorithm (GA) are set. The first involves the following steps : set two limits, -Θ and Θ, on both sides of the unstable equilibrium point, set an initial point θo in [-Θ, Θ], initiate a motion, measure the time when the motion reaches one limit, repeat simulations of neuro-control, select neural networks in order of length of holding times, and apply GA-crossover to superior neural networks of long holding times. The second involves the following steps : select neural networks in order of shortness of settling time to the equilibrium point, and apply GA-crossover to superior neural networks of short settling times. We adopt only the first evaluation procedure in the early generation stages of GA. After the number of neural networks of controllability reaches a sufficient percentage of all the neural networks in a computer, we adopt the second evaluation procedure, and GA evolution is continued. Neural networks of controllability appear at about the 10th generation and evolve to the ability limit predetermined by the structure of neural networks.

著者

山本 哲彦 吐合 隆拡 中園 邦彦 金城 寛 玉城 史朗

出版者

日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.601, pp.108-113, 1996-09-25

参考文献数

6

被引用文献数

2

---

Genetic algorithms (GAs) with rough evaluations can prompt the evolution of neural networks that are able to control unstable dynamic systems. The proposed control method exploits the advantage of GAs that time-varying evaluations can be easily incorporated. First an easy evaluation in GAs induces the appearance of neural networks with controllability. Second, an evaluation of settling time prompts the evolution of neural networks that show high performance. The method is applied to the stable control of a bicycle. Neurocontrol of the steering at direction change causes reverse response like that of a human cyclist.

著者

涌井 伸二

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.63, no.612, pp.2693-2700, 1997-08

参考文献数

11

被引用文献数

7

---

The piezo element as a representative displacement type actuator elicits a high-speed response in comparison with the electromagnetic motor. Recently, there has been much research carried out using this feature. However, most of the studies are aimed at realizing higher precision, while there is very little research regarding high-speed. When the positioning mechanism is given, improvement of the positioning performance is entrusted to the feedback loop. At this point, we expect that some methods are prepared in order to improve the positioning performance, because an optimal method can be selected under an actual constrained condition. When we try to realize higher positioning via the feedback loop, we can enumerate technical items, such as realization of the high-speed drive amplifier, optimal tuning of the compensator, and the tuning degree of freedom extension by adding a minor loop. In this paper, these engineering techniques are summarized.

出版者

日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:18848354)

巻号頁・発行日

vol.78, no.786, pp.523-534, 2012

被引用文献数

4

著者

ラクシンチャラーンサク ポンサトーン 小竹 元基 永井 正夫

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.72, no.715, pp.795-801, 2006-03-25

被引用文献数

5 4

---

This paper examines the feasibility of Direct Yaw-moment Control (DYC) in the context of lane keeping system. The DYC, which is generated by differential traction force distribution, is designed with, consideration of the road image information to assist the driver's steering maneuver for lane keeping task. Consequently, the controller is designed to regulate the lateral deviation based on the lane marker position acquired via CCD camera with on-board image processing system. The effectiveness of the proposed control system was verified by actual driving test with micro electric vehicle equipped with two independent in-wheel-motors for generating DYC.

著者

野島 武敏

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.66, no.647, pp.2463-2469, 2000-07-25

参考文献数

8

被引用文献数

9 3

---

The aim of this paper is to invent foldable (or developable) conical shells in their axial direction. Foldable conical shells with several different types of folding patterns have newly been designed by geometrical considerations with the help of Origami concept. By using thin polypropylane sheet as well as papers, the designed conical shells with prescribed folding lines were actually manufactured, and it was verified that the shells are fully folded as expected. The designed models will make it possible to construct foldable/developable structures such as tents and dome-roof or to manufacture new types of industrial products.

著者

小川 侑一 松村 茂樹 北條 春夫 佐藤 太一 梅澤 清彦

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.634, pp.2486-2493, 1999-06-25

参考文献数

8

---

This paper proposes a simulator which can depict the rotational vibration of a spur gear having any types of tooth surface deviation including both tooth profile deviations and tooth helix deviations. The developed simulator is based on a single degree of freedom motion system constructed with equivalent mass, damping and mesh stiffness of a pair of gears. The mesh stiffness is calculated considering the effect of the tooth helix deviation which brings non uniform load distribution along the contact line of a tooth pair. The dynamic load tests have been performed to verify the simulator changing both helix slope deviation of driven gear and torque. The analytical results under each operating conditions are in good agreement with experimental results. Also, the damping ratio of the test gear system is evaluated as 0.03 with measured vibration responses, which is smaller than conventional expectation value of 0.07.

著者

梶原 逸朗 山家 勝裕 下嶋 浩

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.64, no.626, pp.3839-3846, 1998-10-25

参考文献数

9

被引用文献数

1

---

Dynamics of multi-link manipulators are highly nonlinear and depend on the time varying configuration. This paper presents a method of gain scheduling which consists in designing an linear time invariant (LTI) controller for each operating point and in switching controller when the operating conditions change. Each LTI controller is designed based on LMI approach in which an optimization problem is defined as a mixed H_2/H_∞ control problem with pole placement. The performances of the force and the position controls are defined by the H_2 norm, and the robust stability according to gain scheduling is evaluated with the H_∞ norm and the pole placement of the closed-loop system. The effectiveness and the practicability of the proposed method are verified by both simulations and experiments with 2-link manipulator system.

著者

小池 関也 山家 勝裕 下嶋 浩

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.64, no.622, pp.2094-2101, 1998-06

参考文献数

15

---

A hybrid control method for a flexible manipulator based on an angular velocity control is presented, which is applicable to curved constraint surfaces. The error of contact force is converted into a velocity vector according to the force/velocity conversion law which consideres both force respose characteristics and variational angular velocity with respect to normal direction of the surface. The velocity vector which is tangent to the constraint surface is calculated using the velocity control law. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vectors. A vibration control law is proposed to reduce overshoot of end point velocity response. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and vibration control term. Motion and force controls without calculating inverse dynamics is performed using DC motors whose desired values are equal to the above desired angular velocity vectors. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

下嶋 浩 松永 義弘 小池 関也 梶原 逸朗

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.633, pp.1849-1856, 1999-05

参考文献数

7

被引用文献数

2

---

An approach for feedback active noise control of a one dimensional duct with multiple control sources based on modal analysis is presented in this paper. Based on experimental modal analysis, the modal parameters of an acoustical system are derived from measured multiple frequency response functions. The state equation of the duct is described by the identified modal parameters. Considering eigenvectors of the acoustical system calculated by finite element method, control sources are located to the duct. A feedback active noise controller is designed based on mixed H_2/H_∞ problem in addition to H_∞ problem, preventing the increase in dimensions of the controllers. Simulations are carried out using the designed controllers. Moreover experiments are carried out using identified controllers based on modal analysis to reduce dimensions of the controllers. The desired performances are obtained by the presented approach.

著者

雉本 信哉 下嶋 浩 柴原 章宏

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.596, pp.1397-1402, 1996-04-25

参考文献数

10

被引用文献数

1

---

A new adaptive control algorithm in the frequency domain was proposed. This frequency domain approach is an alternative to the ordinary filtered-x least mean squares (LMS) algorithm in the time domain. A transfer characteristic of an acoustic path is identified adaptively in the frequency domain using the fast Fourier transform (FFT). The real-time control of the noise reduction in an L-formed duct model was carried out. A digital signal processor and a personal computer were used for the active noise control. The maximum noise reduction level of about 30 dB and the average reduction level of about 7 dB were obtained through the experiment. As a result, it was shown that this frequency domain adaptive algorithm has faster convergence compared to the ordinary filtered-x LMS algorithm.

著者

小池 関也 小林 優揮 飯田 裕 下嶋 浩

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.67, no.654, pp.321-328, 2001-02-25

参考文献数

10

被引用文献数

2

---

This paper proposes an active noise controller applicable to a moving evaluation point in one dimensional acoustic field. A combined adaptive feedforward/feedback controller based on filtered-x LMS algorithm is proposed. The feedforward controller is utilized for the noise reduction, and the feedback controller is utilized for the reduction of howling, which occurs with use of acoustic reference signal at feedforward controller. For the sake of stable noise control under moving evaluation point, necessity for a real time identificator of transfer function of the error path, which uses a microphone fixed in the neighborhood of the control speaker, is shown. Stable noise reduction without howling is realized by using above combined controller and the real time identificator with use of acoustic reference signal aiming practical use. A straight duct is chosen as a one dimensional acoustic field. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed controller.

著者

小池 関也 下嶋 浩 山家 勝裕

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.61, no.590, pp.3999-4006, 1995-10-25

参考文献数

16

被引用文献数

1

---

A simple method is presented for controlling the motion and gripping force in dual flexible manipulators without calculating inverse dynamics. The gripping force is converted into a velocity vector according to the proposed force/velocity conversion law considering the flexibility of the manipulator. The velocity vector of contact point is calculated from the velocity of the object. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vector considering defectional velocity of the flexible links. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and strain feedback term. Coordinative control is performed using DC motors whose desired values are equal to the above desired angular velocity vector. The characteristics of gripping force response of control system is also considered. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

丸山 剛生 柴山 憲文 竹内 博之 下嶋 浩 中原 凱文

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.63, no.616, pp.4224-4230, 1997-12-25

参考文献数

11

---

Equipment to measure the surface hardness of the human body has been designed for the purpose of estimating muscle generating force from the physiological view point. The surface hardness is defined as the reaction force of the body surface under predetermined thrust displacement. The sensor described here is suitable for analysis of human motion and multipoint measurements because of its compactness. From the results of experiments on elbow joints, a relationship was found between the measured hardness and the joint torque. The results also showed that body surface hardness was a function of the joint angle. Moreover, it was shown that muscle forces could be estimated by a neural network when the hardness and joint angle were given.

著者

雉本 信哉 下嶋 浩

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.598, pp.2272-2277, 1996-06-25

参考文献数

7

---

In active noise control, the transfer characteristic of an acoustic feedback path has a considerable influence on the stability of the control system. When the acoustic system has a feedback path, the control system often causes unstable behavior called howling. An adaptive howling canceler designed to prevent thin howling is studied in this paper. This adaptive howling canceler estimates the acoustic feedback path and acts to suppress the howling. In this paper, the effect of this adaptive howling canceler was considered for two different adaptive noise control algorithms. One was the conventional filtered-x LMS (least mean squares) algorithm and the other was the frequency-domain adaptive algorithm proposed by the authors. From computer simulations, it was shown that the howling canceler works effectively with the filtered-x LMS algorithm. On the other hand, the control system became unstable with the frequency-domain adaptive algorithm. To alleviate this unstable behavior, variable output gain was considered. A good result was obtained with this variable gain.

著者

小池 関也 下嶋 浩 榎本 明夫

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.61, no.583, pp.1064-1071, 1995-03-25

参考文献数

16

---

This paper presents a simple method for controlling both the motion and contact force of a flexible manipulator without calculating inverse dynamics. The contact force is converted into a velocity vector according to the proposed force/velocity conversion law considering the flexibility of the manipulator. The velocity vector which is tangent to the constraint surface is calculated using velocity control law. The desired velocity vector is obtained as a sum of the above two velocity vectors, and is converted into angular velocity vectors considering deflectional velocity of the flexible links. The desired angular velocity vector is obtained as a sum of the above angular velocity vector and strain feedback term. Motion and force control is performed using DC motors whose desired values are the above desired angular velocity vectors. Computer simulations and experimental analyses are carried out to clarify the validity of the proposed method.

著者

梶原 逸朗 福田 将直 下嶋 浩

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.64, no.621, pp.1668-1675, 1998-05

参考文献数

5

被引用文献数

5

---

Approach for modeling and feedback noise control of a one-dimensional duct based on experimental modal analysis and LMI is presented in this paper. The modal parameters of a coupled acoustical-structural system are derived from measured noise and vibration data. The state equation of the duct is described by the identified modal parameters. An active noise controller is designed based on LMI approach in which an optimization problem is defined as a mixed H_2/H_∞ control problem. The performances of the noise reduction and the robust stability are described with H_2 and H_∞ norms of the closed loop system, respectively. Frequency response shaping is performed by the presented approach with weighted modal matrix and frequency weighting functions. Simulations and experiments are carried out and the desired performances are obtained by the presented approach.