著者

浅田 春比古

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.22, no.8, pp.891-896, 1986-08-30 (Released:2009-03-27)

参考文献数

10

被引用文献数

1 1

---

In a direct-drive arm, motors are directly coupled to their arm linkages without reducers. This eliminates some defects of traditional gearing such as backlash, friction and deflection, and therfore enables the drive system to have improved control accuracy. The D.C. motors used for the direct-drive arm, however, have a significant amount of torque ripples and deadband, which limits the control accuracy, particularly for compliance and force control.In this paper, a method for the torque feedback control of a direct-drive joint is presented. The motor output torque is directly measured by a strain gage sensor built into the motor. It is found that closed loop torque control can compensate for the complicated nonlinearities and improve the overall control accuracy.First, the design of the torque sensor is presented. The effect of the structural vibration mode which results from the insertion of the flexible torque sensor is analysed, and a design method to place the natural frequency of this mode far above the operating frequencies is shown. Torque feedback control using the sensor is then discussed. The sensor design is verified experimentally, and the control performance using the direct torque feedback is evaluated.

著者

田中 正吾

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.36, no.3, pp.227-233, 2000-03-31 (Released:2009-03-27)

参考文献数

7

被引用文献数

5 4

---

In attaining a high-aged and high-welfare society, various demands have been raised on health monitoring. One demand is to develop an unconstrained and noninvasive measurement instrument for respiration and heart rates. This is because they are the most basic information in monitoring the health of high-aged persons or patients in daily lives. Along this objective, several methods have been studied. But, the methods not only aimed to measure only one signal of the respiration and heart rates, but also were not the methods to assure a complete unconstrained measurement. Moreover, the methods needed much cost in making the equipment.The paper thus proposes a convenient measurement system which makes use of a wire-type respiration pick-up pasted on an air-mat (or water-mat), on which the subjects are laid down, and extracts the respiration and heart rates by applying low-pass and high-pass filters, respectively, to the data. Experiments show that the method offers accurate measurement of respiration and heart rates except for the duration of body movement. The measurement system is thus not only effective, but also easy to use for the cost, the size and the usage of the unconstrained and noninvasive type.

著者

大塚 敏之

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.7, pp.569-574, 2000-07-31 (Released:2009-03-27)

参考文献数

13

被引用文献数

1 1

---

State equations that are at most quadratic with respect to the states are considered as a universal model structure for various classes of nonlinear systems. A necessary and sufficient condition is shown for existence of such quadratic-in-the-state representation for a given nonlinear system. Furthermore, the constructive proof of that necessary and sufficient condition gives an algorithm to obtain the quadratic-in-the-state representation. Illustrative examples demonstrate the algorithm to construct the quadratic-in-the-state representation. The quadratic-in-the-state representation is expected to be useful in identification and control system design.

著者

井上 慎太郎 川嶋 健嗣 舩木 達也 香川 利春

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.42, no.7, pp.837-843, 2006-07-31 (Released:2009-03-27)

参考文献数

8

被引用文献数

2

---

The measurement-integrated simulation (MI-simulation) is a numerical simulation which feedbacks information of experimental results in order to perform simulations under real conditions. Even if using rough grids, the calculation results become closer to those of experiments. Therefore, the reduction of the calculation time is expected. In this paper, we proposed a monitoring system for pipe flow including unsteady condition using the simulation. The MI-simulation was applied to airflows passed an orifice plate in the pipeline. Firstly, the measured velocities at the downstream of the orifice plate under steady condition were feedback to the simulation. Secondly, the effect of the points and number of velocities to the simulation were investigated. Then, the MI-simulation was applied to an oscillatory flow. The effectiveness of the method was confirmed compared with the experimental results. The calculation time could be much shortened compared with general simulations.

著者

山本 知仁 阿部 浩幸 武藤 ゆみ子 三宅 美博

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.45, no.10, pp.522-529, 2009 (Released:2011-11-03)

参考文献数

18

被引用文献数

2 2

---

In this research, we analyzed the dialogue that consisted of an instruction and a response utterance to clarify the relation between cognitive process and timing structure of utterance. The results showed that correlation coefficient between duration of instruction utterance and switching pause had diverse values when fluctuation of instruction utterance duration was too small to be recognized. However, the correlation coefficient between them had positive and high value when fluctuation of instruction utterance was explicitly big. From these results, we discussed that there are two types of utterance structure in human dialogue.

著者

山田 克彦

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.29, no.4, pp.447-454, 1993-04-30 (Released:2009-03-27)

参考文献数

9

被引用文献数

2 4

---

Attitude control of a space robot by the manipulator arm is considered in this paper. For the purpose, we give an effective algorithm to find the arm trajectory from the initial posture of the arm to the final posture identical to the initial one. The criterion of the algorithm is to suppress the arm motion. From the algorithm, we introduce a measure to evaluate the easiness of the attitude control by the arm motion. Numerical study is executed to examine the value of the measure for every direction of the attitude change. The result shows that there is no direction where the attitude change is extremely difficult. Numerical simulation is also executed to verify that the proposed trajectory gives the desired attitude change.

著者

阿部 直人 市原 裕之

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.7, pp.563-568, 2000

被引用文献数

6

---

This paper deals with an iterative approach of closed-loop identification and IMC (internal model control) design for input time delay systems. IMC is one of simple design methods for systems with time delay, however, IMC requires system parameters exactly. In this paper, a joint design method of closed-loop identification and IMC structure for input time delay systems is proposed. The control purpose, which is similar to the windsurfer approach, is to achieve the increase in the bandwidth of the closed-loop system. A multiplicative uncertainty of input time delay systems becomes smaller, when an IMC filter time constant is chosen smaller. A simulation example is shown to illustrate these results.

著者

木村 駿介 中村 文一 伊吹 竜也 三平 満司

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.6, pp.337-345, 2017 (Released:2017-06-15)

参考文献数

17

被引用文献数

1

---

Coordinates transformation is a fundamental tool for nonlinear system control. Particularly, the transformation is also applied to state constrained problems. This paper investigates a coordinates and input transformation method, and proposes a new transformation method named “system revival transformation.” The system revival transformation generates a virtual system having the same state equation as an original system. By the proposed transformation, a controller for state constrained systems can be designed by using a controller for unconstrained systems. For general nonlinear systems, the paper provides a mathematical definition of the system revival transformation and proves global asymptotic stability. Moreover, a system revival transformation design method is also presented for control affine nonlinear systems. The effectiveness of the system revival transformation is confirmed through a stabilization problem of a two-wheeled mobile robot.

著者

江上 正 渡邊 孝之 梅本 和希

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.4, pp.268-275, 2017 (Released:2017-04-18)

参考文献数

21

被引用文献数

1

---

We propose a method for vehicle path control that considers sideslip through the combination of a time-state control form and a path control method with nearest point search and we demonstrate the method's effectiveness through experiments with an experimental small four-wheeled vehicle. In the proposed method, combining the time-state control form and path control method with nearest point search for a geometric model that constrains the position of the vehicle in consideration of sideslip allows arbitrary path following through the translational velocity and yaw rate determined from input. The method gives steering angle as input to the yaw rate control system with derived yaw rate taken as a desire value for an equivalent two-wheeled model that considers sideslip. Because cornering power and sideslip angle are difficult to determine in a yaw rate control system, these are estimated using adaptive identification and a state observer, and an adaptive control system is formed. The small four-wheeled vehicle performs path control by use a laser scanner to estimate its position and attitude. The effectiveness of a sideslip angle estimation method that uses motion capture is also demonstrated. We verify that estimates of sideslip angle are nearly identical to measured values, and experiments using a variety of path desired values demonstrate the effectiveness of the proposed path control method.

著者

根武谷 吾 平賀 琢也 氏平 政伸

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.580-587, 2014 (Released:2014-08-15)

参考文献数

21

被引用文献数

1 3

---

We report the results of a preliminary trial to visualize a cell during freezing process using microscopic electrical impedance tomography (micro-EIT). A printed circuit board was developed for micro-EIT with two measurement chambers, 5mm in diameter and 1.6mm in depth. These chambers were filled with ethanol (2mS/cm) which was then kept at -30°C by placing it on a copper block filled with liquid nitrogen and by using a heater with a programmable controller. A grain of Citrus Sudachi and an egg of Cypselurus Agoo Agoo were placed into the measurement chamber and were recorded data during freezing by using a CCD microscope and micro-EIT. When the sample started freezing, the brightness of the sample became higher and the relative impedance in micro-EIT image also increased. Similar results were obtained in all the four trials respectively. Therefore, these results indicate that EIT is useful to observe freezing process of a cell.

著者

鍋倉 司樹 岡島 寛 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.50, no.3, pp.295-302, 2014 (Released:2014-03-20)

参考文献数

15

被引用文献数

2

---

AD/DA conversion has become a core technology in digital signal processing. Traditionally, AD/DA systems are composed of the post-filter and the quantizer, and it is required to satisfy the low quantization noise and the low distortion characteristics. However, it is well known that there exists trade-off between these two characteristics. In previous studies, we proposed a new design method of AD/DA system that includes pre-filter, in addition to the traditional AD/DA systems. Post and pre-filters are designed towards the original signal, so as to minimize the effect of noise and distortion due to quantization. In this paper, we verify the AD/DA systems with post and pre-filters by using the voice signal compression system. We evaluate the effectiveness using DMOS (Degradation Mean Opinion Score) method.

著者

高杉 將司 山本 知仁 武藤 ゆみ子 阿部 浩幸 三宅 美博

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.45, no.4, pp.215-223, 2009 (Released:2011-11-03)

参考文献数

37

被引用文献数

3 3

---

The purpose of this study is to clarify the effects of timing control of utterance and body motion in human-robot interaction. Our previous study has already revealed the correlation of timing of utterance and body motion in human-human communication. Here we proposed a timing control model based on our previous research and estimated its influence to realize human-like communication using a questionnaire method. The results showed that the difference of effectiveness between the communication with the timing control model and that without it was observed. In addition, elderly people evaluated the communication with timing control much higher than younger people. These results show not only the importance of timing control of utterance and body motion in human communication but also its effectiveness for realizing human-like human-robot interaction.

著者

渡辺 嘉二郎 真鍋 宗広 吉川 崇

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.42, no.4, pp.404-410, 2006-04-30 (Released:2009-03-27)

参考文献数

22

被引用文献数

4 5

---

Two indices, sleep age and sleep index by the human pulse wave and body movement measured non-invasively by the pneumatic method are presented. The sleep age shows the quality of a whole night sleep and the sleep index shows the sleep characteristics of each minute to estimate the sleep stage in the manner of R-K method. The average error between the estimated sleep ages by the R-K method and the proposed method was 7.8 years. The coincidence rate by direct comparisons of sleep stages for each minute estimated by the R-K method and the proposed was 36.4% and SQRM of errors was one sleep stage. The sleep stages estimated by the proposed method showed the essential human sleep characteristics in whole night sleep.

著者

内海 権三 平林 庄司 渡辺 忠勝

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.118-124, 1981

---

Various nondestructive and breakdown tests were conducted with the two types of traction motors of electric locomotives of JNR which had been in service for many years. This paper describes nondestructive and breakdown characteristics. As the insulation resistance and tan δ are subject to environmental conditions such as humidity and temperature, we should be very careful to prevent their effect. On the other hand, the partial discharge characteristics are relatively little affected by the surrounding, also a considerable correlation is observed among the partial discharge characteristics and the breakdown voltage. This leads to the possibility of degradation judgement to a certain extent by the nondestructive test. The authors proposed the following guidelines for judging insulation detrioration in the partial discharge characteristics when the partial discharge measuring instruments are applied to an insulation test of relatively low voltage electric motor. (1) Partial discharge inception voltage (<i>V_i</i>): More than 1kV. Only for armature winding, more than 1.5kV. The windings which exhibit these test data have necessary insulation strength for operation. (2) Maximum partial discharge magnitude (<i>Q</i>_max): Below 10×10^-9 coulomb. Only for armature winding, below 2×10^-9 coulomb. The windings which exhibit these test data have necessary insulation strength for operation. (3) Partial discharge current(<i>I</i>): Below 3×10⁴× 10^-9A. Only for commutating pole winding, below 2×10⁴×10^-9A. The windings which exhibit these test data have necessary insulation strength for operation.

著者

山田 和明 大倉 和博 上田 完次

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.39, no.3, pp.266-275, 2003-03-31 (Released:2009-03-27)

参考文献数

27

被引用文献数

3

---

We describe a distributed approach to controlling autonomous arm robots. The robots need to acquire cooperative behaviors in order to smoothly lift an object. Each arm robot has its own reinforcement learning unit for decision-making. In investigating this task, we are primarily interested in the question of how to design a reinforcement learning control system for a multi-agent system. An applied reinforcement learning algorithm uses Bayesian discrimination method to segment continuous state and action spaces simultaneously, thereby generating of a set of effective rules. The proposed approach is examined empirically with two real arm robots. The basic dynamics of the reinforcement learning process are also analyzed.

著者

飯村 伊智郎 伊藤 登志也 濱口 孝治 中山 茂

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.9, pp.772-774, 2005

被引用文献数

2

---

This paper proposes a distributed parallel processing of Queen Ant Strategy named "AS_queen" which imitated an ant society which a queen ant governs. It is noted that the proposed processing method satisfies "shortening of average time for search" and "improvement of searching ability" at the same time in the seventy-six cities' configuration of TSPLIB.

著者

和田 一義 柴田 崇徳 谷江 和雄

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.42, no.4, pp.386-392, 2006-04-30 (Released:2009-03-27)

参考文献数

41

被引用文献数

4 7

---

A long-term experiment of robot therapy for elderly people has been conducted at a health service facility for the aged since Aug. 2003. Three therapeutic seal robots, named Paro, were introduced at the facility. This paper describes an interim report of the experiment after one year. Face scales, consisting of illustrations of person's faces, were used to evaluate people's moods. In addition, Geriatric Depression Scales were used to measure people's depression. These results showed the feelings of the elderly people had been improved continuously by interaction with the seal robots for the period.

著者

藤本 理唯宇 坂本 登

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.48, no.7, pp.423-430, 2012 (Released:2012-08-16)

参考文献数

11

被引用文献数

1 2

---

In this paper, the problem of swing up and stabilization of an inverted pendulum by a single feedback control law is considered. The problem is formulated as an optimal control problem including input saturation and is solved via the stable manifold approach which is recently proposed for solving the Hamilton-Jacobi equation. In this approach, the problem is turned into the enhancement problem of the domain of validity to include the pending position. After a finite number of iterations, an optimal feedback control law is obtained and its effectiveness is verified by experiments. It is shown that the stable manifold approach can be applied for systems including practical nonlinearities such as saturation by directly deriving a controller satisfying the input limitation of the experimental setup. It is also reported that this system is an example in which non-unique solutions for the Hamilton-Jacobi equation exist.

著者

広瀬 茂男 梅谷 陽二

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.12, no.5, pp.543-547, 1976-10-30 (Released:2009-03-27)

参考文献数

8

被引用文献数

8 38

---

A biomechanical study of living systems suggests us some interesting mechanisms which enable an organism to carry out specific functions. Among various organisms, the authors deal with the organism having a slender configuration and making active and flexible winding motions with muscles attached along the body. In spite of the simple shape, it performs miscellaneous functions which have never been realized in an artificial mechanism.The authors call this type of organism as Active Cord-Mechanism (abbreviated as ACM) and have been studying its motion, control and other problems associated with an engineering application.The basic locomotive motion of ACM on an even ground has already been realized in a snake-like shape.In this paper, some of the problems to develope this locomotive ACM into a more intelligent machine are discussed.First, the installation of tactile sensors is discussed and the biological principle of lateral inhibition is shown to be useful for controlling the ACM with tactile sensors.Second, the efficient and smooth controlling principle is proposed which the authors call the modified first order data hold.Finally, by the ACM mechanical model with tactile sensors and reconstructed controller, more intelligent locomotive experiments have been made, to demonstrate that the locomotion by detecting the obstacle in labyrinth, or the propulsion by pushing a fixed object have been successfully accomplished.Thus the authors believe that this study solves some of the controlling problems of locomotive ACM to develope as an intelligent machine.

著者

山本 悦治 山田 芳文 阿部 善右衛門

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.14, no.2, pp.163-170, 1978-04-30 (Released:2009-03-27)

参考文献数

14

---

Previously we proposed a new application of NMR to measure biological materials in human body noninvasively, using the magnetic focusing technique on the measuring target (MT).The present paper considers how to generate the magnetic focus and demonstrates this technique by using the low-field NMR spectrometer.In the first parts of this paper, the signal error due to the fringe region of MT is evaluated theoretically and the constant field contours for several arrangements of multiple coils are calculated so as to generate the magnetic focus.Simple results are obtained analytically for the axisymmetric field especially. Furthermore, a new approach which enlarges the zero-flux region is proposed to achieve a high S/N ratio.In the latter parts, the construction of 100kHz NMR spectrometer, whose static field H0 is generated by the main solenoid 70cm long and 40cm in diameter with two compensation windings, is described. The proton resonance signals from 1cm3 sample water are obtained with a S/N ratio of 15, which is more than ten times better than the value estimated from the relation S/N∝H02/3.By using the separate samples under the gradient field, a separate signal corresponding quantitatively to each sample is obtained. The signal from a certain specified area near the surface of a large sample has a shifted resonant frequency and an emphasized magnitude when the magnetic focusing technique is applied.