著者

舟橋 康行 加藤 久雄

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.27, no.6, pp.640-646, 1991

被引用文献数

1

---

In this paper, a design method for the deadbeat compensator with optimal robustness for MIMO systems is presented. As the compensator is decided among the class of two-degree-of-freedom robust tracking compensators, it is guaranteed that the deadbeat control and internal stability of the whole system is achieved for nominal process. Zero offset is also achieved for the perturbed process which does not disturb internal stability.<br>Using the Hermite form, the design procedure of this paper is much simpler than the one, proposed in the past, that uses the Smith-McMillan form.<br>And robustness criterion, which is <i>L</i>₂-norm of sensitivity function, is optimized. So it is hoped that the stability region for process perturbation is enlarged and that the influence of process perturbation on the output gets smaller. The minimization of deadbeat steps and the optimization of robustness are achieved simultaneously. It is a merit of two-degree-of-freedom compensation scheme.

著者

渡辺 桂吾

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.8, pp.1106-1113, 1995

被引用文献数

3

---

The functional reasoning and the simplified reasoning, which are special cases of the so-called min-max-centroidal method, have been applied to construct a fuzzy controller or to model a system. It is not necessary known, however, for control engineers to rationally and easily design the conclusion part or any parameters in the conclusion part. In this paper, a new fuzzy reasoning is proposed so that the conclusion consists of a function of mean-values on each membership function in the antecedent. It is then shown that any parameters except for the mean-values in the conclusion can be rationally and easily designed as a slope of stable switching plane (or line) which is basically independent of the control rule, if the conclusion is formally regarded as a VSS (variable structure system) controller with the meanvalues in the antecedent as states. Thus, the laber required for designing the conclusion part can be reduced drastically by using the proposed method, compared with the traditional methods. The effectiveness of the proposed method is illustrated by simulating a fuzzy controller with two inputs-single output reasoning or a fuzzy controller with three inputs-single output reasoning.

著者

渡辺 桂吾

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.1106-1113, 1995-08-31 (Released:2009-03-27)

参考文献数

16

被引用文献数

1 3

---

The functional reasoning and the simplified reasoning, which are special cases of the so-called min-max-centroidal method, have been applied to construct a fuzzy controller or to model a system. It is not necessary known, however, for control engineers to rationally and easily design the conclusion part or any parameters in the conclusion part. In this paper, a new fuzzy reasoning is proposed so that the conclusion consists of a function of mean-values on each membership function in the antecedent. It is then shown that any parameters except for the mean-values in the conclusion can be rationally and easily designed as a slope of stable switching plane (or line) which is basically independent of the control rule, if the conclusion is formally regarded as a VSS (variable structure system) controller with the meanvalues in the antecedent as states. Thus, the laber required for designing the conclusion part can be reduced drastically by using the proposed method, compared with the traditional methods. The effectiveness of the proposed method is illustrated by simulating a fuzzy controller with two inputs-single output reasoning or a fuzzy controller with three inputs-single output reasoning.

著者

奥村 光平 石井 将人 巽 瑛理 奥 寛雅 石川 正俊

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.49, no.9, pp.855-864, 2013 (Released:2013-10-16)

参考文献数

17

被引用文献数

5 2

---

In spite of high demands in a lot of industrial fields, it is viewed as difficult to capture a stuff flying at the speed of hundreds [m/s] order same as acoustic velocity. A high-frame-rate camera (≈10000 [fps]) is often adopted to observe it. However, this method gives us only a short-lasting recorded data. Furthermore, a quite short exposure time (≈ 5 [µs]) and regionally concentrated illumination are required in order to cut down a motion blur. In this paper, a measurement means specialized for such a high-speed object is proposed. A high-speed gaze controller, called Saccade Mirror keeps its camera gaze casting the matter while soaring. We successfully obtained the longer images with brightness and a little motion blur.

著者

岡田 徳次 佐藤 秀幸 三富 堅太郎

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.37, no.1, pp.13-20, 2001-01-31 (Released:2009-03-27)

参考文献数

13

被引用文献数

2

---

This paper proposes the measurement principle of a sound source direction in the three-dimensional space. Such kind of differences like the transferring time, phase shift, and level of the sound wave are treated for the measurement in general. Our approach is to use the differences of sound levels by taking the advantage of unidirectional characteristics of the condenser microphone's sensitivity so that the direction is obtained by the simple signal processing. Basically the minimum number of the microphone set is four for composing a tetrapod arrangement. Formulation of the relations among the differences of the sound levels is shown. Also, the logical processing is introduced to remove the affect of the microphone's backside undesirable irregular sensitivity. The calculation procedure for determining the direction is extracted, and experimental results are shown to verify the validity of the measurement.

著者

平田 広則

出版者

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.15, no.5, pp.p654-659, 1979-09

著者

久保 和良 青島 伸治

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.6, pp.712-721, 1995-06-30 (Released:2009-03-27)

参考文献数

22

---

Piano and guitar tone decay analysis has been carried out using reverberation responses calculated by Wigner distributions. The responses are investigated in comparison with record of the conventional short time spectra. The reverberation responses which are intimately related with the internal energy of instrumens represent 1) the envelope of tone decay without fluctuation induced by interference, reflect 2) mutual load effect associated with the oscillators, thus, clearly show 3) the gradients of energy decay curves, and are 4) less influenced by window function length. A guitar under investigation is shown to provide 1) two-step tone decay curve not caused by difference between decay rates of horizontal and vertical vibration modes of the strings (single string tone), and 2) multi-step energy curve with each step having much longer duration than the interference period (two string tone).On the other hand, the analysis of a grand piano reveals the following features:1) two power peaks in the spectra of aftersound are caused by different reasons from each other, 2) multistep energy decay curve is altered by performance style or piano condition, and 3) the partials are exhausted after absorbing energy of the other vibration modes.

著者

松田 守弘 鬼頭 完爾

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.6, pp.645-649, 1981-09-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

1 1

---

With an aim to develop a gloss meter which measures optical quantities closely associated with psychological gloss, several factors prescribing gloss were studied.Thirty steel sheets were coated with different paints, in which 4 vehicles and 3 pigments are appropriately combined. Sensory gloss evaluation by the ranking method was made of those samples by 27 observers. Correlations among the average ranking and the refractive index, surface roughness and color were studied.It is found that factors prescribing the gloss are refractive index, roughness, lightness value and chroma of painted surfaces, among which roughness is the most important factor. Relationships among the gloss, these elemental factors, and the optical characteristics of painted surfaces such as specular and diffuse reflectances are also clarified.

著者

浅井 徹 原 辰次

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.32, no.1, pp.35-44, 1996-01-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

1

---

In this paper, we consider a problem of the simultaneous controller synthesis and modeling for robust control against parametric perturbations. The model is formulated by an LFT representation of a norm bounded uncertainty matrix and a coefficient matrix which represents the uncertainty bound. The modeling of the uncertainty bound is based on the performance of the closed-loop system, while the robust stability and the robust performance is attained by an H∞ control.A sufficient condition for the existence of a robust controller and the corresponding uncertainty bound is proposed in terms of matrix inequalities. Moreover, we show that those inequalities are reduced to be LMIs in some special cases. An application to a linear AC motor verifies the effectiveness of the proposed method.

著者

大石 隆文 古田 一雄 近藤 駿介

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.3, pp.203-208, 1997-03-31 (Released:2009-03-27)

参考文献数

5

被引用文献数

2 3

---

This paper is to propose a new architecture of a self-creating and organizing neural network for workspace recognition and navigation of an autonomous mobile robot. The robot assumed in this study learns its workspace with sonar sensors but without dead reckoning. The network proposed is organized into a graph structure rather than a tree with forgetting old links so that few dead nodes and dead links are created; the space of input signal can be covered efficiently by unsupervised learning. Methods of path planning and navigation based on a topological map created by learning has been proposed as well. The proposed architecture was tested by simulation of an autonomous mobile robot with eight sonar sensors, and it was demonstrated that the architecture is useful for the purpose.

著者

高松 吉郎 ミシェル メンスレー 出口 欣高 屋代 春樹 川邊 武俊

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.51, no.8, pp.551-560, 2015 (Released:2015-08-19)

参考文献数

14

---

Reduction of noise in a car cabin due to road irregularities has been a subject of research for many years. For reducing such a noise, we propose the H2-based Active Structural Acoustic Control (ASAC) method that uses detailed acoustic models obtained by system identification, from the actuators and the shakers to the driver's ears sound pressure level. During experiments in a semi-anechoic room with a compact car, we verify the effectiveness of the proposed approach by obtaining overall noise reduction over the frequency range of 80∼400Hz at the driver's ears.

著者

清水 駿 渡辺 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.51, no.11, pp.763-768, 2015 (Released:2015-11-21)

参考文献数

12

被引用文献数

1

---

This paper proposes a novel steering operation model scheduled by vehicle velocity. The model is constructed via the H∞ loop shaping. In order to improve driving safety, driver assistance systems have been focused on recently. The analysis by using a driver model is indispensable to design efficiently driver assistance systems. The proposed model must be scheduled by vehicle velocity since the driver's operation characteristics vary according to vehicle velocity. The model shows excellent course following performances in single/double lane change simulations with velocity change.

著者

安部 原也 伊藤 誠 山村 智弘

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.11, pp.688-697, 2012 (Released:2012-11-29)

参考文献数

10

---

In order to clarify the effect of different time headways and lead car's decelerations on visual distraction and its impact on collision risk during car-following a driving simulator study was conducted. Moreover the experimental investigation considered system effectiveness of a forward collision warning system as for decreased collision risk. Results showed that compared to short time headway, long time headway induced long duration time of visual distraction during car-following. This effect was significant when a lead car decreased its speed mildly. Collision risk due to lead car's deceleration was low for long time headway during car-following compared to short time headway even thought visual distraction was induced. However there was a possibility that long time headway led to long duration time of visual distraction resulting in increased collision risk. In case of the alarm trigger logic used in this study, alarms effectiveness for decreasing collision risk was proven because early alarms were given for short time headway. It can be said that longer headway time does not always guarantee decreased collision risk.

著者

名倉 剛

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.46, no.12, pp.765-773, 2010 (Released:2011-12-19)

参考文献数

28

被引用文献数

1 1

---

In order to design tracking control systems for a class of systems with rapid or abrupt changes, it is effective in improving tracking performance to construct preview control systems considering future information of reference signals. In this paper we study the H∞ tracking problems with preview for a class of linear continuous-time Markovian jump systems by the game theoretic approach. The systems are described by the continuous-time switching systems with Markovian mode transition. The necessary and sufficient conditions for the solvability of the H∞ tracking problem by state feedback are given by coupled Riccati differential equations with terminal conditions. Correspondingly feedforward compensators introducing future information are given by coupled differential equations with terminal conditions. We consider three different tracking problems depending on the property of the reference signals. Finally we give numerical examples and verify the effectiveness of the design theory presented in this paper.

著者

江村 超 熊谷 正朗 王 磊 郷古 倫央

出版者

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.35, no.1, pp.17-23, 1999-01

参考文献数

7

被引用文献数

4

著者

江村 超 熊谷 正朗 王 磊 郷古 倫央

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.35, no.1, pp.17-23, 1999

被引用文献数

1

---

Dynamically walking robots require attitude sensors of high resolution and wide-band frequency response. If these characteristics are not good enough, it is difficult to control the robots stably. Rate gyros are widely used attitude sensors in walking robots, but the rate gyro which has both characteristics of sufficiently high resolution and wide-band frequency response is heavy and expensive. Therefore, the authors tried to get a small, light and low-cost rate gyro which has excellent characteristics both in resolution and response frequency by using multiple sensors and subtraction type of filters.<br>In this paper, first, a method to expand response frequency of rate gyros without reducing their resolution and an idea of subtraction type of filters which are useful for expanding frequency range are presented. The subtraction type of filter means the filter that has a transfer function obtained by subtracting another transfer function from 1 (unity). This filter provides flat response after composing two signals whose response frequency ranges are different each other. In this case, one is a signal obtained from a rate gyro whose resolution is high enough but response frequency is low, and the other is a signal obtained from a rate gyro whose resolution is low but response frequency is high enough.<br>If we use an inclinometer together with rate gyros, we can sufficiently decrease zero-drift of gyros, because the inclinometer senses angular displacement by referencing gravity direction and its zero stability is high enough. However, the inclinometer is influenced by horizontal acceleration. This means that we have to use a low-pass filter whose cutoff frequency is extremely low to eliminate signal component induced by horizontal acceleration. Attitude sensor using two rate gyros mentioned above and one inclinometer showed good characteristics concerning zero stability, resolution and response frequency range.

著者

段野 勝 林 庄司 朝倉 俊行

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.8, pp.973-975, 1993-08-31 (Released:2009-03-27)

参考文献数

2

---

Most efficient bicycle riding under similar tiredness was to get mutching between human and load impedance. This impedance was scarcely found the difference among individuals, and the optimum gear selection for the slop and speed of bicycle could be proved.

著者

松田 浩一 高井 幸秀 吉田 耕作 西村 勝 松山 峯雄 澤田 泰明

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.544-552, 1995-05-31 (Released:2009-03-27)

参考文献数

6

被引用文献数

1 2

---

This paper describes about cutting stock scheduling system using simulated annealing method. The cutting stock problem is that of combinatorial optimization. The following functions are needed for the cutting stock scheduling system.1) Balance adjusting function for productivity, yield rate and delivery time.2) The results of scheduling have to satisfy constraint condition of coil cutting machine.3) There is time limitation for making cutting stock schedule. To overcome these problem, we realize new cutting stock scheduling system through following methods.1) Weights for each evaluated item are introduced and sum of these items are minimized by simulated annealing.2) The new neighborhood structure is developed for this problem which can satisfy constraint condition of coil cutting machine.3) The adjusting parameter for calculation time is newly introduced for Huang's annealing schedule, so that we can select best solution under the limit of calculation time.This cutting stock scheduling system is applied to plate plant and used as one of production planning system.

著者

稲垣 伸吉 丹羽 智哉 鈴木 達也

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.6, pp.282-290, 2011 (Released:2011-12-19)

参考文献数

12

被引用文献数

4 1

---

This paper proposes a novel locomotion control, called Follow-the-Contact-Point (FCP) gait control, for a centipede-like multi-legged robot. The centipede-like multi-legged robot is composed by connecting segments, which have a trunk and a pair of legs, via a passive joint. This control method is motivated from behavioral knowledge of a centipede that each leg always contacts on the point which the anterior leg contacted. The FCP gait control realizes the walking behavior of centipede via decentralized event-driven control structure. In addition, merely by planning and allocating the contact point of legs of a head segment adequately, the robot can change the moving direction and also climb over an obstacle. We clarify the feasibility of the FCP gait control by showing the result of physical simulation of a 20-legged robot.

著者

明石 一 熊本 博光

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.9, no.4, pp.378-386, 1973-08-30 (Released:2009-03-27)

参考文献数

8

---

This paper deals with the discrete least square approximation of multivariable functions whose values are given only at the lattice points.First, the solution is obtained as a linear combination of the values of the function at the lattice points, and it is shown that the deterministic method requires evaluation of the sum of an extremely large number of terms.Next, to overcome this difficulty, the problem is converted into that of evaluating the expected values of two probabilistic models. An algorithm based on simulating these models by means of choosing the lattice points at random is proposed for the evaluation of these expected values. The method of sampling the lattice points is also discussed.Moreover, the following points are shown.(i) The values of the parameters which are necessary to execute the algorithm can be obtained easily regardless of the number of independent variables.(ii) In two typical cases the proposed algorithm requires less computational labour than the deterministic method.(iii) The algorithm is effective in the following situations:(a) The situation when the values (data) of the function to be approximated can be measured only at the lattice points(b) The situation when the function is a composite functionA numerical example is also presented.