著者

梅谷 陽二 伊能 教夫

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.133-138, 1981-02-28 (Released:2009-03-27)

参考文献数

9

被引用文献数

1 2

---

Peristalsis can generally be seen in the digestive organs of animals, and serves various purposes such as transporting or mixing the contents of the digestive tracts. Although this peristaltic movement has been studied by many physiologists, its neural controlling mechanisms have not yet been made clear.This paper describes a biomechanical study on the peristaltic transport mechanism of gastrointestines. First of all, referring to the physiological knowledge established so far, the authors made an assumption about the structure of a neural network which should exist in the intestine itself to control a peristaltic motion (as shown in Fig. 2). Secondly, in order to examine the functional property of receptors, a simulation was carried out on a digital computer, and it was found that the receptors had to hold such a property as are responding to the inside pressure caused by the stuffed contents to be transported. Finally, referring to the above mentioned results a mechanical model for peristalsis was made, and its performances of simulation was examined. It resulted that this model expressed physiological phenomena on the intestinal movement very well, and was able to transport solid stuffs in the various shape.Thus the authors believe that the neural network model proposed by them is valid and represents a principal a neural controlling mechanism to transport contents in the intestine.

著者

竹茂 求 那須 潜思 佐々木 正明 高田 稔 鹿股 昭雄 小川 廣幸

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.39, no.6, pp.521-527, 2003-06-30 (Released:2009-03-27)

参考文献数

6

---

As an improved methodology for rapidly enumerating viable bacteria, microbial colonies in agar media are observed in the microscopic fashion at regular rate from the initial stage of culturing while media plate is being incubated. At each sampling time, in order to observe colonies in various depths without focusing on any of them, an agar plate is irradiated by a point light source to project the clear shadow of colonies onto the CCD image sensor. The projected image is processed with a computer to detect the colonies automatically. As the result of the experiment with E. coli, the number of colonies had reached to the plateau after six hours of incubation and the enumeration process was completed.

著者

長谷川 律雄

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.11, pp.1160-1162, 2004-11-30 (Released:2009-03-27)

参考文献数

15

被引用文献数

1

---

The differential equation which represents the relation between rotation and angular rate is called kinematic equation. Direction cosine matrix is considered the standard model for rotation. So, each rotation representation can be connected with direction cosine matrix. This paper shows general method deriving kinematic equations for rotation representations using direction cosine matrix.

著者

加藤 久雄 舟橋 康行

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.34, no.11, pp.1611-1615, 1998

---

When the sampled-data control systems are used, undesirable oscillations between the sampling instance are occasionally observed. Such phenomenon is called ripple. Some studies deal with this problem, and derive the conditions to achieve the ripple-free responses.<br>In this note, we consider the ripple-free tracking problem for sampled-data systems. A proof for the necessary and sufficient conditions to achieve the ripple-free tracking is given. This result also shows the necessity of the continuous-time internal model for the possibility of the ripple-free responses. The feature of our proof is that we use a new concept &ldquo;convergence to the <i>C</i>^&infin; class.&rdquo; We consider this concept makes discussion easier in this note.

著者

長野 鉄明

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.129-137, 2018 (Released:2018-01-25)

参考文献数

13

被引用文献数

1

---

Servo systems are widely used in various position control applications from general industry machine to semiconductor machine. In these systems, it is usually difficult to adjust the controller to high response, because there are mechanical vibrations caused by mechanical resonances and phase delay in high frequency domain. This paper proposes an auto-tuning method of vibration suppression FIR filter using adaptive FIR filter. The auto-tuning method is performed by setting coefficients of adaptive FIR filter outside of control loop to vibration suppression FIR filter in turn. Simulation and experimental results show that the proposed method can suppress the vibration, and can improve stability and response of servo system. Thus, the proposed method can provide auto-tuning of vibration suppression filter under various operating conditions.

著者

佐野 明人 古荘 純次

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.459-466, 1990-04-30 (Released:2009-03-27)

参考文献数

19

被引用文献数

9 18

---

A biped locomotion robot is expected to be very useful in indoor space designed for human locomotion. In order to achieve a smooth dynamic walking like a human being, it is very important to control a quantity which can represent the state of the biped system as a whole. In regard to biped locomotion systems, an angular momentum of the whole system can be considered as a good index, since it is a stable quantity, as seen from ‘the law of the conservation of angular momentum.’ A control method divided the walking into motions in the sagittal plane and in the lateral plane is adopted. For motion in the sagittal plane, we put the angular momentum close to the smooth reference function given in advance by controlling the ankle torque of supporting leg. For motion in the lateral plane, we treated the motion control as a regulator problem with two equilibrium states. The effectiveness of the proposed control method was examined by the experiments with our walking robot BLR-G2. The BLR-G2 achieved three-dimensional walking where the walking speed is 0.35m/s with stride length 35cm.

著者

乾口 雅弘 白井 正志 坂和 正敏

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.30, no.6, pp.720-728, 1994-06-30 (Released:2009-03-27)

参考文献数

17

被引用文献数

1

---

In this paper, the concept of stochastic dominance is introduced to Dempster-Shafer theory of evidence and several kinds of evidential dominance are proposed. In Dempster-Shafer theory of evidence, the expected utility is obtained as an interval. The seven kinds of inequalities between intervals are defined. The relationships among these seven inequalities are investigated. Using these inequalities, seven kinds of evidential dominance are defined. A necessary and sufficient condition for each evidential dominance is discussed. The usefulness of each evidential dominance is examined by a numerical simulation.

著者

今井 順一 柏木 雄平 木辻 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.55, no.5, pp.342-352, 2019

---

<p>Visual object tracking techniques are widely required by many vision applications. The color-based particle filter is known as one of useful methods for robust object tracking. However, the conventional color-based particle filter has a problem that it is not robust against self-occlusion. Self-occlusion occurs when a part of a target object is hidden by itself from a camera. When the target object moves or rotates, a part of the target disappears because the self-occlusion occurs and other part appears because the self-occlusion is resolved. The conventional color-based particle filter often fails to follow such a change of the target's appearance due to self-occlusion during the tracking process. In this paper, we propose a novel method for robust object tracking against the self-occlusion. The proposed method is based on the color-based particle filter, and it also uses depth information obtained by an RGB-D camera. When the self-occlusion occurs and the target's appearance changes, the proposed method extracts a region for the target object in the input image by the graph cuts based on depth information. However, this process often includes unnecessary regions, especially when some objects are close to the target. Then, the proposed method distinguishes the region for the target from unnecessary ones by investigating expanse of colors around the target. Therefore, the target model is correctly updated and the robust tracking is achieved. In order to verify the effectiveness of the proposed method, we carried out an experiment to compare the proposed method with the conventional one. Experimental results show that the proposed method works well.</p>

著者

國吉 啓介 倉橋 節也

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.49, no.11, pp.1004-1011, 2013 (Released:2013-11-27)

参考文献数

31

被引用文献数

3 1

---

It is important for teacher to design a class while grasping the state of students understanding. In order to grasp the state of students, I need an integrated approach with the state of students understanding and knowledge structure and collaborative learning. So I propose a new simulation that is built with a doubly structural network model. It has an internal network and a social network. An internal network is built from the knowledge structure and the state of students understanding. A social network is built from cooperative relationship in the class. I address two problems. The first is consideration of the effects of teaching strategy given to learning. The second is consideration of the effects of placement given to learning. I found these results, 1) differences in teaching strategy give a change in the learning effect, and teaching strategy that this simulation produces has a high educational effect, 2) if a teacher gives a knowledge only once, dropouts tend to occur, 3) placing the students distributed tends to have the effect of education than placing the students centralized.

著者

黎 子椰 久保 敬司 川村 貞夫

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.11, pp.915-921, 2002-11-30 (Released:2009-03-27)

参考文献数

9

被引用文献数

1 1

---

This study aims at clarifying the effects of internal force between human arms and a bicycle handle on the rotational stiffness of the bicycle handle. Rotational stiffness of the handle is determined by internal force stiffness and stiffness of human arms and body. We use the three-link model to analyze the rotational stiffness due to the internal force, and measure the rotational stiffness on level roads and slopes as a function of the internal force, Through theoretical calculation and experimental results, it is reveraled that the stiffness due to internal force is significantly large in comparison with the stiffness due to the muscle conrraction of arms and body. Moreover, the effective way to generate rotational stiffness of a bicycle handle by using internal force is proposed in this paper.

著者

羽生 能行 牧川 方昭 石原 謙

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.5, pp.628-636, 1996-05-31 (Released:2009-03-27)

参考文献数

19

---

In this paper, we have tried to measure physiological responses under mental stress in some daily scenes with a portable digital biosignal memory device. The aim of this study is to search for the method to evaluate objectively the mental stress in daily life. Here we chose the heart rate and the respiratory rate as non-invasive measuring objects and have developed an ambulatory mental stress monitoring system. Daily life stress scenes used here was the graduation thesis presentation, an unexpected police checkup during a car driving and the getting on a roller coaster, and in addition the calculation experiment under the laboratory was done for the comparison with other previous results reported.As a result, the heart rate and the respiratory rate were getting higher, and the respiration was getting irregular under strong mental stress, that is, getting on a jet coaster, presenting a graduation thesis, and a police checkup while driving. Under weak stress, like the calculation in the laboratory and the car driving, the respiratory rate was getting higher and irregular, but the heart rate wasn't remarkably high. From these results, it was suggested that the heart rate, the respiratory rate, and the respiratory irregularity are effective to evaluate the mental stress in daily life.

著者

鎌田 龍太 渡邊 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.55, no.2, pp.92-99, 2019 (Released:2019-02-19)

参考文献数

13

---

A railway crew scheduling problem is an assignment problem of crews for a given operational schedule under the constraint on labor regulations. In this paper, we discuss an automatic railway crew scheduling method based on numerical optimization for a large-scale and complex railway route with branch lines and multiple bases. The proposed method makes the crew schedule automatically using step by step optimization based on a partial pairing, an elastic embedded set partitioning problem and a graph partitioning.

著者

原 裕一郎 井口 征士

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.19, no.7, pp.551-556, 1983

被引用文献数

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 <i>n</i>-th bin to (<i>n</i>+1)-th bin with the increase of input frequency. The frequency, at which the peak is shifted from <i>n</i> to <i>n</i>+1, becomes close to <i>n</i>+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.<br>As a result, the temporal window improves the phase transmission characteristics.

著者

土井 智晴 笹原 龍樹 三藤 大地 玉利 寿靖 金田 忠裕 梅本 敏孝 葭谷 安正

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.12, pp.1005-1012, 2005

---

Interest has grown in the potential application of robot technology at accident and disaster sites where there exists the possibility of secondary disasters, and much effort is being channeled into research in this area. Yet, much of this effort has been directed at advanced, expensive robot technologies. We have been looking at ways of realizing a readily applicable robot technology for such disaster sites, and propose a relatively low-cost rescue robot with simple, intuitive operation, that does not require power supply lines. We report on a simple search device based on a human-powered generator, an improved version of an earlier device using a direct mechanical drive for mobility.

著者

香川 利治

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.18, no.6, pp.617-621, 1982

被引用文献数

2 2

---

A pneumatic nozzle flapper is widely used in pneumatic control systems and is one of the important converting elements. Its transient pressure response has been investigated in several papers, but the case with small time constant has not been reported so far. This paper shows experimentally that the time constant of pneumatic nozzle flapper varies with the direction of pressure step and the position of load capacitor.<br>In the case with steady flow through the load capacitor, the time constant is larger in general than that of side-capacitor, and the time constant of negative pressure response is smaller than that of positive one. These differences are considered to be caused by the heat conduction between air and the capacitor wall.

著者

川上 友暉

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.21, no.4, pp.418-419, 1985

著者

細川 民樹 山下 裕 島 公脩

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.467-473, 1990-04-30 (Released:2009-03-27)

参考文献数

9

---

In this paper, we study the stabilization problem of a spacecraft with three independent torque actuators via state feedback. We describe its attitude with the quaternion q_??_(q1, q2, q3, q4), ||q||2_??_q12+q22+q32+q42=1, instead of the rotation matrix R∈SO(3), which is known to have the manifold structure. The purpose of this paper is to derive a global static feedback law such that quaternion q converges to (0, 0, 0, 1).First of all, we cover the manifold SO(3) with four local co-ordinates A: (q1, q2, q3), B: (q1, q2, q4-1), C: (q1, q2, q4-1), D: (q2, q3, q4-1). And, by means of the nonlinear control theory, we obtain four local control laws u=uA(x), u=uB(x), u=uC(x), u=uD(x) corresponding to them. But, each control law has singular points where the inputs diverge. If we adopt an idea that the control laws are switched according to the value of the quaternion in order to avoid the problem of the singular points, the control inputs are not smooth at the switching point. So, we synthesize a new control law u=q42uA+q32uB+q22uC+q12uD from local control laws. The new control law, of which each term is equal to zero at the singular points, is smooth and gives globally stable closed-loop system. Furthermore, its structure is much simpler than four local control laws. This method is applicable to both gas-jet actuators and reaction wheel actuators. The control law for gas-jet actuators is the special case of the control law derived in Ref. 5).

著者

岡本 裕幸 山田 勝紀 米澤 洋

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.6, pp.620-625, 1990-06-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

1 2

---

An Image Processing System (IPS) for an automatic Surface Plate (SP) scraper system has been studied. First, the SP was took a red lead print, then the IPS made two images of the SP using a monochromatic ITV camera. One image was photographed through a blue filter glass, another was photographed through an orange filter glass. Secondly, values of densities of the image was subtracted from another. And the subtracted image was binalized at a threshold level which was determined by the new preprocess and OTSU method. Thus the red lead area was separated with a base area of the SP. Thirdly, the IPS calculated positions to be scrape in consideration of characteristics of a scrape unit and a robot control system.Before introduction of the IPS, it took 3 days to determine the scrape positions, but now it takes only 20min (max). As the IPS automatically processes all jobs except photographing, a beginner can treat the IPS.

著者

村田 忠彦 石渕 久生 田中 英夫

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.5, pp.583-590, 1995-05-31 (Released:2009-03-27)

参考文献数

17

被引用文献数

3 2

---

In this paper, we apply a genetic algorithm to flowshop scheduling problems and examine two hybridizations of a genetic algorithm with other search algorithms. We also propose a genetic algorithm for multi-objective optimization problems. First we examine various genetic operators for the flowshop scheduling problem for minimizing the makespan. By computer simulations, we show that a two-point crossover and a shift change mutation are effective for this problem. Next we compare the genetic algorithm with other search algorithms such as local search, taboo search and simulated annealing. By computer simulations, it is shown that the genetic algorithm is a bit inferior to the others. In order to improve the performance of the genetic algorithm, we examine the hybridization of the genetic algorithm with other search algorithms. Finally, we propose a selection operator and an elitist strategy of the genetic algorithm for multi-objective problems. The high performance of our multi-objective genetic algorithm is demonstrated by computer simulations.

著者

安部 祐一 青井 伸也 土屋 和雄 松野 文俊

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.52, no.11, pp.639-652, 2016 (Released:2016-11-23)

参考文献数

26

被引用文献数

1

---

Multi-legged animals show several types of ipsilateral interlimb coordination. Millipedes show the direct wave gait in which the swing leg movements propagate from posterior to anterior. On the other hand, some centipedes show the retrograde wave gait in which the swing leg movements propagate from anterior to posterior. Interestingly, when some millipede walks in a specific way, it is reported that both direct and retrograde waves of the leg movements can coexist with a source part of the waves (we call it as source wave gaits). However, the mechanism behind the gait generation is still unclear because of the complex nature of the interaction between neural control and body dynamic systems. In this paper, we propose a simple model to gain a better understanding of the mechanism, especially how a local sensory feedback affects multi-legged locomotion. We design a planar multi-legged model and its locomotion control system based on biologically-inspired oscillators with a local sensory feedback, phase resetting. Each oscillator controls each leg, and there are no direct interactions among oscillators. Our simulation results reveal three types of gaits, which have different ipsilateral phase relationships (Direct, retrograde and source wave gaits like animals). These gaits are neither predesigned or predetermined, but emerge through the interaction between the neural control and body dynamic systems through phase resetting. These results suggest that the local sensory feedback is important to form proper interlimb coordination and thereby effectively generates multi-legged gaits. In addition, our mathematical analysis with the simple model successfully extracts the essential feature of these gaits, and suggests that these types of locomotion can exist regardless of the number of legs in our system.