著者
衣笠 一樹 石川 将人 大須賀 公一
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.49, no.8, pp.755-762, 2013 (Released:2013-08-27)
参考文献数
8
被引用文献数
1 2

In this paper, we propose a robotic model of a casterboard, which is a commercial variant of skateboards with twistable footplates and passive inclined caster wheels. We then derive its mathematical model in the form of nonlinear state equation; this system is of much interest from both mechanical and control points of view as a new challenging example of nonholonomic mechanics. Based on an observation in the preceding works concerning locomotion control for nonholonomic systems, we propose a locomotion control method with sinusoidal periodic control to realize forwarding and turning locomotion. The proposed idea is examined by simulations and physical experiments using the prototype robot developed by the authors. Moreover, we also examine influence of the parameters in sinusoidal reference signals on the robot's behavior.
著者
岡島 寛 金田 泰昌 田村 友規 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.55, no.4, pp.245-251, 2019 (Released:2019-04-16)
参考文献数
26
被引用文献数
1

A design method of state estimation observer under outliers and data-lost environment is proposed in this paper. In networked control systems, the data-lost is one of the most important topic for solving. When data-lost occurred, the output data for the control system is disappeared. The data-lost is significant problems if we want to use state feedback. To overcome negative impact by outliers and data-lost, we propose a method to disappear negative impact by outliers and data-lost using median information. The effectiveness of the proposed observer is evaluated by numerical examples.
著者
杉山 純一 臼井 支朗
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.367-374, 1990-04-30 (Released:2009-03-27)
参考文献数
11
被引用文献数
2 1

Acoustic impulse response of muskmelons was studied to evaluate their quality. First, linearity and the effects of supporting conditions on the acoustic signals were examined. Secondly we obtained acoustic signals at points which divide the equator of the sample into 24 equal parts. These signals were displayed in a three-dimensional diagram with axes of time, location and sound intensity, and in a two-dimensional map with a gradation of 257 colors. For a more complete visual comprehension, an animation display which shows time changes of the distribution of sound intensity was presented. As a result of these analyses, it became evident that the impulse waveform of acoustic signals induced by impact was transmitted along the surface of the equator with uniform velocity. This transmission velocity became lower as the muskmelon ripened. The lower transmission velocity in the time domain agreed with the lower peak frequency in the frequency domain, both theoretically and practically. Because the wave equation suggests that the transmission velocity depends on the tensile force of the sample, the nondestructive evaluation provides a more direct index of the quality of muskmelons.
著者
玉置 久 森 正勝 荒木 光彦
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.31, no.8, pp.1185-1192, 1995-08-31 (Released:2009-03-27)
参考文献数
13
被引用文献数
18 21

In this paper, a method of applying the Genetic Algorithm (GA) to multi-criteria optimization problems is proposed. First, the reproduction operator in GA is made so that the selection is performed in parallel according to each criterion and, at the same time, the Pareto-optimal solutions are always reproduced if such appear in the population. Then, through computational experiments, it is shown that not only one of the Pareto-optimal solutions of a problem but a set of such solutions is obtained by a single run of the proposed method.
著者
井上 博允 溝口 博 稲葉 雅幸 池端 重樹 磯貝 文彦
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.23, no.12, pp.1289-1295, 1987-12-30 (Released:2009-03-27)
参考文献数
14
被引用文献数
5

This paper describes a versatile multi-window vision system, which is developed for providing robots with flexible and multiple visual attention capability. Chapter 1 is introduction. A window is a local region to be processed for one attention. The multi window vision system provides a large number of windows. The location, shape, size, and resolution of each window can be controlled by a special LSI, independently and simultaneously. In Chapter 2, we describes the concept and architecture of the multi window vision system. The multi window vision system is designed to build a pandemonium model by means of multi microprocessors. In order to avoid the image access bottleneck in parallel processing, we introduced a transmiter-receiver into the multi window vision system. Chapter 3 describes the transmitter unit which broadcasts input images to the window receivers. In Chapter 4, the details of the logic circuits inside the window control LSI is described. The LSI chip controls window parameters which are location, size, shape, spatial sampling rate, window memory access, and the display of the window image. In Chapter 5, the image processing unit that implements the LSI chips is described. Chapter 6 shows the experimental results using the image processing unit. Chapter 7 is Concluding Remarks.
著者
石川 将人 北吉 良平 和田 尭 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.46, no.4, pp.237-244, 2010 (Released:2011-11-03)
参考文献数
7
被引用文献数
3

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.
著者
Susumu IKEDA Takuma DOI Keizaburo UCHIKAWA Yoshiharu KURITA
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.3, pp.245-252, 1993-03-31 (Released:2009-03-27)
参考文献数
8

The existence of intrinsic vertical effects of spinning gyroscopes was examined systematically from the viewpoint of precise measurement, using three types of gyroscopes with largely different characteristics. The most precise weighing techniques, such as a reference tare system and various countermeasures, were applied. Slight and symmetrial mass changes observed in the experiment were explained as the parasitic effect of the balance due to the torque of the spinning gyroscopes, utilizing the attenuation constant change under atmospheric conditions. Consequently, the intrinsic vertical effects were found to be virtually zero in this experiment, and even if existent, were estimated to be neither greater than +0.7mg nor less than -0.5mg at a 99% confidence level for the angular momentum of 0.936kg·m2/s.
著者
白井 達也 金子 真
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.4, pp.385-394, 1993-04-30 (Released:2009-03-27)
参考文献数
10

Power transmission systems with timing belt are often used in various machines because of their simple mechanism and easy treatment. However, the diagnosis for those transmission system has not fully established. This paper discusses self-failure diagnosis for a timing belt transmission system using tension-differential-type torque sensor (TDT sensor). A tension pulley is usually incorporated into a part of the transmission system, so that the system can maintain a proper tension during operation. Since such a tension pulley receives force directly from the timing belt, it is expected that the diagnosis of the timing belt can be done with much high S/N ratio and thus with high reliability. Based on this idea, the authors designed a TDT sensor available for a timing belt application, and explored a diagnosis algorithm detectable not only for a timing belt with V-crack but also for a timing belt with blinding at a tooth. Through a number of experiments, we verified the effectiveness of the proposed algorithm and also found an interesting behavior of the sensor signals which is not expected.
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
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 2

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
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
1 2

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
岡島 寛 橋爪 壮一郎 大石 凌史 宮原 智新
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.2, pp.135-143, 2019 (Released:2019-02-19)
参考文献数
23

At the sports and games for elementary and junior high school students, their parents often become personal photographer for the game. They see their child over the frame despite being in the playing field. In addition, problems such as trying to take a good place to compete may occur. We can solve these problems by the conference management side distributing the sports competition videos. So in this paper, we show a method to automatically reconstruct movies using competition movies taken by fixed point cameras and to present high quality movies to viewers.
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
4

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
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

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
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.52, no.10, pp.518-523, 2016 (Released:2016-10-25)
参考文献数
9

Bonding machines suffer from a problem that a wavering disturbance of air occurs due to heaters and decreases the accuracy of vision sensing for tool positioning. Previous solutions use airflow to clear out heated air from the light path or physical/airflow walls to separate heated air from background air. Although these previous solutions have been in practical use, they have some drawbacks. Airflows reduce the bondability on the chip surface and have negative effects on the generation of FAB (free air ball) at the tip of wires. Physical walls convey heat to cameras and cause their thermal expansion, and the structure of the physical walls may vibrate due to the rapid motion of the other machine components. In order to avoid these drawbacks, we propose a new method that keeps the light path calm using ultrasonic standing wave. The incident ultrasonic wave travels vertical to the light path, and is reflected by a reflection wall. These incident and reflected ultrasonic waves make a standing wave which has a periodic structure of nodes and antinodes. The fluctuation of air is suppressed in this stable structure. To evaluate the performance of the proposed method, experiments were conducted. We took two parameters in the experiments. One was the distance between the light path (observation point) and the reflection wall. The other was the ultrasonic output. The experimental results showed that an antinode of sound pressure of the ultrasonic standing wave was the best part to suppress the fluctuation of the air and moderate ultrasound output was more effective.
著者
浜松 正典 加賀谷 博昭 河野 行伸
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.8, pp.685-691, 2008-08-31 (Released:2013-02-25)
参考文献数
7
被引用文献数
6 5

Recently, maritime works, such as ocean observation or cable laying works, become efficient with the dynamic positioning control of the vessels. The conventional PID control is still useful but the performance is not enough for precise positioning or multiple waypoints tracking. In this paper, we present the application of real-time nonlinear Receding Horizon control for route tracking problem and control allocation problem for vessels equipped with azimuth thrusters. The performance and usefulness of the proposed method is verified with the actual cable laying works.
著者
仲田 勇人 Peter Martin Anuradha Wijesinghe 白井 隼人 松永 彰生 冨永 浩之
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.54, no.2, pp.175-181, 2018 (Released:2018-02-20)
参考文献数
14
被引用文献数
1

This paper considers an application of a C/GMRES-based model predictive control (MPC) method to a diesel engine air path system. The plant model is derived based on the physical first principle to explicitly take account of plant nonlinearities. Since the plant has unmeasurable states, we employ an extended Kalman filter to estimate them. Then we design a C/GMRES-MPC algorithm and apply it to a real engine. We demonstrate the effectiveness of the present method by showing experimental results using a real vehicle.
著者
李 哲榮 寺野 寿郎
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.16, no.4, pp.579-584, 1980-08-30 (Released:2009-03-27)
参考文献数
10

The story formation defined here means a process of connecting the given sentences, which are logically independent of one another, and creating a new story of which the plot is reasonable. Such a work will be very essential near future to automatic writing of scenario of abstract, but it is not easy because creation is an innate ability of a man. The method suggested here is as follows: (1) a man first makes a fuzzy graph where the verteces are the given short sentences, (2) next he finds the fuzzy labels of verteces and the fuzzy relations among the verteces, (3) according to a given strategy, the computer searches its subgraphs of which the plots are semantically reasonable.These subgraphs corresponds to the backgrounds and episodes of the candidate stories. A new fuzzy graph is mode of these episodes and backgrounds, and the same procedures are repeated until they are converged. As the result some candidate stories are induced. Though the final selection of the candidate stories is done by the computer, the man can easily intervene in it, because a fuzzy integral is adopted here as the criterion function and its fuzzy measures are difined subjectively.Some numerical examples show us the validity of this method.
著者
小林 宏 原 文雄
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.29, no.1, pp.112-118, 1993-01-31 (Released:2009-03-27)
参考文献数
15
被引用文献数
6 15

We propose the concept of Active Human Interface (AHI) that makes the machine (computer and/or robot) respond to human being more actively and for establishing the new paradigm to realize the AHI, as the first step of this study, we investigate the method of machine recognition of human emotions.This paper deals with the neural network method of human emotion recognition from facial expressions. Facial expressions were categorized into 6 groups (Surprise, Fear, Disgust, Anger, Happiness and Sadness), and obtained CCD camera-acquired data with respect to facial characteristic points relating to 3 components of face (Eyebrows, Eyes and Mouth). Then we generated the position information and shape information about the 6 basic facial expressions for 30 clients. These information were input into the Input units of the 4-layered neural network and network learning was carried out by back propagation algorithm. The neural network recognition system of facial expressions showed a high recognition rate up to 80% to 6 basic facial expressions for both the position and shape information and particularly the system showed a smaller rate of mis-recognition between some of 6 basic expressions.