著者

吉川 恒夫

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.21, no.9, pp.970-975, 1985-09-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

7 36

---

The concept of dynamic manipulability of robot arms is proposed as a quantitative measure of their manipulating ability in positioning and orienting the end-effectors, which takes the arm dynamics into consideration. It is shown that this measure corresponds to the volume of the dynamic manipulability ellipsoid, which is formed by the set of all realizable acceleration of the endeffector under certain constraint on the magnitude of joint driving force. A two-joint link mechanism is analyzed and its best posture is obtained under certain condition from the viewpoint of this measure. A numerical example is also given to illustrate the applicability of this concept to the design of robot manipulators.

著者

岩月 正見 川又 政征 樋口 龍雄

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.23, no.2, pp.149-154, 1987-02-28 (Released:2009-03-27)

参考文献数

10

被引用文献数

1 1

---

This paper proposes performance indeces of robot arms from a new viewpoint of the degrees of controllability and observability. The definitions of the controllability, observability and output-controllability Gramians of linear systems are given to show these degrees, and the physical meanings of these Gramians are explained. Using the products of the eigenvalues of these Gramians, the controllability, observability and output-controllability gains are proposed as the measures of performance evaluation of robot arms. Furthermore, it is shown that manipulability and dynamic manipulability can be obtained as the degrees of observability and output-controllability. As a numerical example, a two link arm is evaluated using the controllability, observability and output-controllability measures.

著者

中島 利郎 仲嶋 一 鷲見 和彦 的場 修

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.746-753, 2010 (Released:2011-12-19)

参考文献数

10

被引用文献数

3 2

---

We have developed a road surface condition detection system using near-infrared light, which enables remote measurement. The developed system can detect the difference of road surface conditions as dry, water, ice, and snow.In this case, we focused on the light-absorption characteristics of water. To remove the affect of the thickness of the water layer, we have proposed a measured metrics as absorption ratio at two wavelengths. The absorption spectra were measured by using a water layer of 1mm thickness. The experimental results showed that the absorption peak shifts to longer wavelength when the water state changes into ice state. A ratio of absorption coefficients at 1300nm and 1410nm is constant even when the layer thickness changes from 0.2mm to 0.8mm. This result indicates that the proposed absorption ratio can be used as a criterion to detect the water state or the ice state.We have also proposed a reflected-light separation method by using polarization characteristics of light. There are two reflected light components. One is the reflected light from the water surface and the other is one from the road surface. The reflected light from the water surface keeps the polarization state of the input. However, the polarization state from the road surface becomes random state because of the rough surface. To remove the surface reflection of the water layer, orthogonal polarization detection of input and output pair is effective. This is confirmed by the experiment.We made a prototype of the above-described detection principle and it was tested by the experiment. As a result, the feasibility of determining road surface conditions such as dry, water and ice is confirmed by simultaneous measurement of light-absorption characteristics and reflection characteristics.

著者

室井 貴史 長屋 征悟 木竜 徹 村山 敏夫

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.50, no.8, pp.608-615, 2014 (Released:2014-08-15)

参考文献数

23

---

In recent years, the applications of an idea on muscle synergies have been increasing in terms of a coordinated muscle activities for motions. However, a few studies have discussed the relationship between muscle synergies and dynamic motions. We examined the relationship for squatting, pedaling, and ski turning that have the different reproducibility. Furthermore, we discussed the influence of muscle fatigue on muscle synergies. As a result, the robustness of muscle synergies are different depending on the degree of reproducibility of motions and the synergy profiles and weights are effective to identify the small number of muscles that should be measured. Nevertheless, muscle synergies should be further studied regarding the assessment of muscle fatigue with the ling-term trend and fatigue-related changes in muscle coordination.

著者

坂元 浩樹 堀江 雄二 吉田 宏 宮崎 智行

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.30, no.5, pp.597-599, 1994-05-31 (Released:2009-03-27)

参考文献数

7

---

An inverted pendulum system mounting a gyroscope was reported. The slanted pendulum was brought to be vertical by applying a control force of a gyroscopic moment. The state-space equations were derived to confirm that the system was controllable. The optimal regulator was designed and the region of its optimal poles was determined by simulation. In experiments with state feedback control obtained from those poles, the gyro-pendulum was kept upright more than an hour and half.

著者

大倉 裕貴 藤本 健治 斎藤 暁生 池田 英俊

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.54, no.11, pp.812-820, 2018 (Released:2018-11-22)

参考文献数

21

---

This paper describes a procedure to design potential functions for path following control of port-Hamiltonian systems. The conventional path following control method needs to find a time invariant potential function which takes its minimum on the desired path. It is difficult to find such a function for a complex path, since it has to satisfy additional several constraints. Inspired by the results of the existing trajectory tracking control method of port-Hamiltonian systems, we propose an improved path following control method in which a potential function for path following control is acquired by solving simple partial differential equations.

著者

半田 久志 片井 修 馬場 則夫 椹木 哲夫 小西 忠孝 馬場 充

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.35, no.11, pp.1438-1446, 1999-11-30 (Released:2009-03-27)

参考文献数

15

被引用文献数

1

---

In this paper, we propose a new Genetic Algorithm involving a mechanism of Co-evolution. Our Coevolutionary Genetic Algorithm consists of two Genetic Algorithms (GAs): a traditional GA which searches for the optimal solutions for given problems, and another GA to search for effective schemata in the former GA. Also, we adopt binary coding, partial spaces in genetic space, and rotated partial spaces as the coding method for the individuals in the latter GA, namely, schemata for the former GA. Moreover, we discuss on the effectiveness of coding and fitness evaluation for our Coevolutionary Genetic Algorithm. Several computational results on function optimization problems confirm the effectiveness of our approach.

著者

田中 秀幸 太田 快人 沖村 祐亮

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.253-261, 2011 (Released:2011-12-19)

参考文献数

24

---

This paper studies linear-time-invariant (LTI) modeling of a twin-rotor MIMO system based on the dynamical models derived from the first principles and identification experiments, motivated by building LPV (Linear Parameter Varying) models. The present method proposes using the states of the first-principle-model and the identification-model. Continuous-time local LTI models with a consistent state are obtained in the frequency domain. It is also shown that an LPV model is computed from the local models.

著者

滝内 基弘 橋本 康

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.13, no.5, pp.482-488, 1977-10-30 (Released:2009-03-27)

参考文献数

12

被引用文献数

2 1

---

The leaf temperature was measured by means of an infrared thermometer, which utilized PbTiO3 pyroelectric infrared detector, in connection with plant physiological information.The infrared thermometer was operated with a band pass filter of 9μm to 12μm, in which region the spectral reflectance of leaf is relatively low (less than 1% for tobacco leaf) and the averaged emissibity of leaf estimated by using Weber's method is nearly 1.0. The stability of the infrared thermometer proved to be better than 0.3K in terms of zero drift in a series of continuous operation and its best resolution of temperature was 0.1K. A high sensitive impedance meter was used simultaneously as for the measurement of water content in plants.The leaf temperature response of tobacco plant to light inputs and humidity inputs in various condition was measured in a controlled growth cabinet. The water content in stem, the transpiration and the gas concentration were measured simultaneously. As the result;(1) When the leaf was irradiated, oscillating changes in the leaf temperature in connection with changes in the water content of stem and in the transpiration were clearly observed.(2) The leaf temperature changed more rapidly at a higher air temperature.(3) The amplitude of leaf temperature change was greater at a lower air humidity.(4) A comparison between the results of temperature measurement obtained by thermocouple and those by infrared thermometer showed that the effect of the adhesive that was used for thermal contact of thermocouple on the leaf was not negligible.The results as a whole shows that the information obtained through the measurement of leaf temperature by means of infrared thermometer can present a key to make clear the phenomena in plant growth.

著者

廣瀬 通孝 佐藤 慎一 横山 賢介 広田 光一

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.33, no.7, pp.716-722, 1997-07-31 (Released:2009-03-27)

参考文献数

11

被引用文献数

3 10

---

This paper describes a telecommunication system that can provide realistic sensations of remote place. To minimize the time delay between head movement and displayed image, the system named “Virtual Dome” was developed. This system consists of a rotating camera head that gathers surrounding images of remote place and a graphics workstation in which a virtual spherical screen for looking around is held. In this paper, firstly, the concept and implementation of the Virtual Dome are stated. Next, an approach to improve the efficiency of acquiring images is discussed. Finally, an extension of the Virtual Dome is discussed from 3D sensation view point. Depth information of a scene was extracted using a pair of stereo panoramic image. By making the virtual screen uneven based on the depth information, 3D sensation was synthesized.

著者

亀谷 均

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.7, pp.602-608, 2001-07-31 (Released:2009-03-27)

参考文献数

10

被引用文献数

1 1

---

Optical computed tomography, optical CT, is the medical imaging modality in which near-infrared light is used to probe biological tissues. To investigate the inside of a highly scattering medium like biological tissue, we have developed the optical CT system which can measure an intensity distribution of light pulses transmitting through highly scattering medium by using the photon counting method. Intensity distributions of transmitted light pulses were measured by changing a concentration of Intralipid-10%, a highly scattering medium, in salt solution. This experiment makes it clear that the FWHM of the intensity distribution increases gradually and a peak existing in the distribution begins to lack with the increase of the concentration of Intralipid-10%. To reconstruct an image of an object, a peak channel and a weighted integral value of the intensity distribution of the transmitted light pulse were used as a projection data in this optical CT system. For instance, an optical CT image of an absorber in salt solution with 1.3% Intralipid-10% was reconstructed from the projection data taken by this method, so the comparatively good experimental result was obtained. Furthermore, image reconstructions of a gumbo and a boiled egg of a quail were performed using the projection data by our method. As a result, we could reconstruct five species in the gumbo and detect that the yolk inclines in the boiled egg.

著者

高野 英彦

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.17, no.3, pp.381-388, 1981-06-30 (Released:2009-03-27)

参考文献数

5

被引用文献数

2

---

This paper deals with a methodology and a system of the profile pattern recognition of a motorcar. The pattern is assumed to be a polygon constructed by simplifying a complicated shape pattern. In the methodology of the motorcar shape recognition, six kinds of parameters of feature extraction are adopted such as the numcer of corners, the number of separated concave corners, the number of continuous concave corners, the aspect ratio, the maximum edge ratio and the size of the pattern.Furthermore, it is proposed to apply the operation of simplifying the pattern when the complicated shape pattern such as a motorcar shape is subjected to the pattern recognition. An analysis of human being in the complicated shape pattern recognition has been executed and the experimental results showed two characteristic features of simplification. One is a character which simplifies a corner with respect to a corner angle. Another is a character with respect to a distance between adjacent corners. The stress of each corner is defined from these two characteristic features. If the stress of each corner is smaller than the given threshold stress value, the corner is simplified and neglected.Seven kinds of grouping patterns which are symbolized referring to the sectional profile pattern of a motorcar commonly encountered in the road are considered. The sectional profile pattern is selected as a side pattern of the motorcar. The grouping patterns are a bus, a micro-bus, a large-truck, a truck, a motorcar, a wagon-car and a mini-motorcar. The total number memorized in the minicomputer is 432 kinds of motorcar shapes. The number of the matching patterns as a truck is 36. These are similar and generated by neglecting the convex corners. The concave portion is not neglected, because this portion is a specific feature of the shape.The developed system is featured by the capability of recognizing in less than 3 seconds per one pattern and classifying the patterns into 7 kinds of grouping patterns.

著者

今井 正和 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.20, no.5, pp.435-441, 1984-05-30 (Released:2009-03-27)

参考文献数

5

被引用文献数

1 1

---

In recent years, over one million loudspeakers are manufactured a month for TV sets, radio sets, etc.. The purpose of the loudspeaker is to produce high-fidelity sound. As abnormal sound is not permissible, all of them must be inspected at the end of production line. It is painful for human inspectors to listen to the fullpower sound.In this paper, a method to inspect the loudspeaker by acoustic signal processing techniques. The spectral map shows that it is not necessary to sweep the frequency of the driving signal but sufficient to fix it to the free air resonance frequency (f0). In this system, f0 is measured by a loudspeaker tester and a sine wave of frequency f0 is generated by a micro-computer and a DA converter. Every loudspeaker is driven by this sinusoidal wave of its full power. Its sound, acquired synchronously to the driving frequency, is emphasized with a high frequency band-pass filter and digitized into 12 bits. Its power spectral distribution, obtained by Fast Fourier Transform through an array processor, is inspected by a linear classification method. In the classification process, we use the distance from the average power spectrum of normal loudspeakers. The number of abnormal loudspeakers tested is 38, which has been extracted during two days in a production line.The result showed that the learning rate was 100% and the recognition rate was 89.5%. Misrecognized sounds were so critical that some human inspectors gave an undecisive classification. The automatic loudspeaker inspection method provides a better environment for human inspectors and is effective to quality control of the products.

著者

堀内 道治 磯部 孝

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.28, no.5, pp.537-546, 1992-05-31 (Released:2009-03-27)

参考文献数

3

---

An orifice plate is provided in the midst of a flow tube about 30cm long. A reciprocating piston device with the cylinder coaxial with the meter run is located at about 5 flow tube diameters upstream of the orifice meter. On the downstream side, it forms a discharge flow tube and is open to the atmosphere at the end. This simple equipment enables us to obtain a particular type of pulsating air flow through the orifice under specified conditions, so that we attempted to formulate mathematically the changes of the state of air in the flow tube in an operating condition.In making formulation, it was found that the principle of conservation of energy furnishes a satisfactory basis for reasoning. The increasing rate of the total amount of energy income and expenditure in the air in each section of the flow tube separated by the orifice plate is equated with the increasing rate of the internal energy of the air in that section. A set of ordinary differential equations obtained as the result of formulation is numerically integrated on a personal computer. The instantaneous values of pressure calculated in the upstream section of the flow tube were found to be satisfactorily in agreement with those observed from the oscillogram.

著者

藤本 博志 堀 洋一 河村 篤男

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.36, no.9, pp.766-772, 2000-09-30 (Released:2009-03-27)

参考文献数

23

被引用文献数

26 35

---

In this paper, a novel perfect tracking control method based on the multirate sampling control is proposed, in which the concept of the two-degree-of-freedom preview control is employed. In the proposed method, it is assumed that the usual single-rate robust feedback controller such as the disturbance observer or the H∞ controller already exists, and only the feedforward controller is designed by using the multirate sampling control. The advantages of the proposed method are that 1) the controller can be designed without considering the unstable zeros of the discrete-time plant, 2) the states of the plant match the desired trajectories at every sampling point, 3) high robust performance is assured by the robust feedback controller.An illustrative example of position control using a servo motor is presented, and the advantages of this approach are demonstrated.

著者

池辺 洋 稲葉 清右衛門 伊藤 康平 南 潔 山口 文夫

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.1, no.1, pp.84-92, 1965-03-31 (Released:2009-03-27)

参考文献数

3

---

This paper presents the results of theoretical analysis and experiment of rotary hydraulic servomotor which consists of a pilot valve and an axial piston motor.It is well known that oil leakage problem can not be ignored in an axial piston motor. Unlike in a linear motor (e.g. cylinder-and-piston type motor), there is considerable oil leakage not only between high and low pressure sides (internal leakage) but also between shell and each side (external leakage).To the authors' knowledge, there have been few papers describing theoretical analysis of rotary hydraulic servomotor taking the external leakage into consideration.In this paper the authors analyze servomotor taking its external and internal leakages into consideration and in this analysis they introduce a new method of approximation for the “load pressure vs. load flow characteristics” of pilot valve.The result of this theoretical analysis fairly well coincides with that of experimental result.From the result of the above mentioned theoretical and experimental researches, it becomes evident that the existence of external leakage is equivalent to an increase in internal leakage.

著者

佐野 佑子 神鳥 明彦 島 圭介 田村 康裕 高木 寛 辻 敏夫 野田 正文 東川 史子 横江 勝 佐古田 三郎

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.47, no.6, pp.272-281, 2011 (Released:2011-12-19)

参考文献数

13

被引用文献数

1 2

---

We tested the repeatability of a finger tapping device with magnetic sensors to determine its reliability. This device, which was developed to assist in the diagnosis of movement disorders such as Parkinson's disease (PD) and strokes, measures the distance between the first and index fingers during finger tapping movements (opening and closing the fingers repeatedly). We evaluated three types of repeatability based on ICC (interclass correlation coefficient) and Welch's test (test for equal means in a oneway layout): repeatability when measured at different times, when using different devices, and when using different measurers. We calculated these three types for three finger tapping tasks on both hands for 21 characteristics calculated from finger tapping waveforms. Results demonstrated that the repeatability when using different devices is high regardless of the task or hand. The repeatability when measuring at different times and when using different measurers is high at some tasks, but not all. One of the finger tapping tasks (finger tapping movement with the largest amplitude and highest velocity), which is used in a conventional PD diagnosis method (UPDRS), does not have enough repeatability, while other tasks show high repeatability. Results also showed that five characteristics have the highest repeatability (ICC ≥ 0.5 or significance probability of Welch's test ≥ 5% in all tasks): “total moving distance,” “average of local minimum acceleration in opening motion,” “average of local minimum acceleration in closing motion,” “average of local maximum distance” and “average of local minimum velocity”. These results clearly demonstrate the strong repeatability of this device and lead to more precise diagnosis of movement disorders.

著者

山元 弘 茂木 正晴 大槻 崇 柳沢 雄二 野末 晃 山口 崇 油田 信一

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.48, no.8, pp.488-497, 2012 (Released:2012-09-01)

参考文献数

18

被引用文献数

2 6

---

Civil engineering work still involves many dangerous and grueling tasks. So improving work environments and ensuring safety are important challenges facing in this field. It is also essential to develop to prepare for the aging of construction workers and growing shortage of young skilled workers, which will occur in response to the falling birthrate and aging of the future population. This research project was undertaken as challenges to overcome these problems by developing the basic technologies for automated construction system using the three-dimensional information and achieving self-controlled operation by hydraulic excavators which is a typical general purpose construction machine. The developed prototype excavator has achieved the self-control of soil excavation and loading work, with the almost same speed and with the same precision in finished product to those of normal work by human worker.

著者

幸村 貴臣 桐林 星河 永谷 圭司

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.53, no.1, pp.2-12, 2017

被引用文献数

1

---

In order to perform surveillance missions in case of natural/human-caused disasters, all-terrain mobile manipulators are useful tools for rescue crews' safety. It has a capability to traverse on rough terrain, and to handle objects with the mounted manipulator. For example, the mobile manipulator “Packbot” opened a door in Fukushima Daiichi Nuclear accident in 2011. However, it is well-known that it requires a lot of skill for its teleoperation, particularly in case of missions in narrow and rough terrain. Based on our ex-researches, we found the following issues: (1) According to the rough terrain, the pose of the manipulator is not fitted with the inertial frame of reference, and it prevents an intuitive teleoperation. (2) In narrow areas, the manipulator contacts with the environment because of the lack of environmental information. (3) Communication delay makes more difficult for teleoperation. To solve the above issues, in this research, we implemented a base-altitude synchronous type master-slave controller for the issue (1), teleoperation system with vision and 3D information for the issue (2), and anti-communication-delay-system with 3D point cloud information for the issue (3). To evaluate the above system, we conducted some experiments with non-skilled operators. In this paper, we describe the above system implementation, and report the experimental results to evaluate the above system.

著者

サウット ウメルジャン トフティ ハイレット 中野 和司

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.39, no.12, pp.1150-1155, 2003

被引用文献数

9

---

With increasing demand for high fuel efficiency, better exhaust control measures, comfort and high performance on current vehicles, electronic control of the throttle chamber, which decides the engine output, is getting advanced day by day. This trend is expected to continue for future as well. Highly accurate and high performance systems can be constructed by the use of electronic control of the throttle chamber, in idle air quantity control, torque control, traction control, etc.<br>In this paper, precise modeling, identification, and position control of an electronically controlled throttle system, that has heavy nonlinear characteristics of gear, negative pressure, and spring, was shown. System identification was carried out using GA, and using disturbance VSS observers. Sliding mode nonlinear control was proposed for stable and better control of the identified system considering the practical application. The effectiveness of the control method was verified using simulation and experimental results on an experimental system.