著者

芝 直樹 小谷 学 赤澤 堅造

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.34, no.8, pp.1080-1087, 1998-08-31

著者

松野 文俊 笠井 正三郎 田中 美和子 若城 邦子

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.7, pp.1011-1019, 1996-07-31

被引用文献数

4 1

---

In this paper we consider robust force control of a one-link flexible arm. Since the tip of the flexible arm contacts with a given constraint surface, a constraint condition should be satisfied. By using Lagrange multiplier method and Hamilton's principle, we derive dynamic equations of the joint angle (an ordinary differential equation), the vibration of the flexible arm (a partial differential equation), and the constraint force. The boundary condition of the derived distributed parameter system is nonhomogeneous. We introduce a new variable and derive a homogeneous boundary condition. By solving an eigenvalue problem, eigenvalues and corresponding eigenfunctions are derived. On the basis of the eigenfunction expansion we derive a finite dimensional modal model. To compensate the spillover instability an optimal controller with low-pass property and a robust <i>H</i>_∞ controller are constructed. The stability of the direct force feedback and the compliance control considering uncertainty of the arm flexibility is analyzed. To demonstrate the validity of the derived model and the effectiveness of the proposed controllers, a set of experiments has been carried out. Experimental results confirm that the robust controllers perform well.

著者

安藤 繁 篠田 裕之 小川 勝也 光山 訓

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.29, no.5, pp.520-528, 1993-05-31 (Released:2009-03-27)

参考文献数

13

被引用文献数

5 21

---

This paper describes a theory, algorithm, and experimental results of a new 3-D sound source localization system which is based on the spatio-temporal derivative method applied to acoustic signals.The principle is outlined as follows. We observe the sound field through amplitude f and its spatiotemporal gradients fx, fy, ft of a single point. An instantaneous distribution of time-varying vectors fx, fy, ft, f in a 4-D gradient space is classified according to its degree of orderness. Each orderness is theoretically related to constraints on possible source locations. Under this classification, we obtain an unambiguous 3-D location of a single source under a second degree of orderness and a co-existing line or plane of double sources under a first degree of orderness.We applied the principle to a sound source visualizer system by which a possibility map of the source locale is accumulated and superposed realtimely on TV images. By several experiments, this system is shown to be able to localize multiple wideband sources such as white noises and human voices while discriminating a number of them.

著者

渡辺 嘉二郎 大西 健司

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.31, no.3, pp.302-307, 1995

被引用文献数

2

---

The tone from a small police whistle when blown into weakly, can be listened into in such a way that the frequency is proportional to the amount of blowing. This fact hints to us some whistle element can be a new flowmeter that detects the flow by the frequency. Here we extract a structure of the whistle element that is desirable as the flowmeter. The spectrum of the whistle tone has several peaks and some frequencies with the peaks are linearly proportional to the flow and the other keeps same values. The whistle itself includes several tone generating mechanisms. This research aims at extracting an element and/or mechanism that generates the tone whose frequency is purely proportional to the flow.<br>First we investigate what role the each component (a) whistle itself, (b) edge and (c) cylindrical cavity plays in the tone generation. We investigated how the tone frequency changes as flow increases for each element and found the cylindrical cavity played the best role as the flowmeter in the sense of the range ability, stability and linearity.

著者

工藤 卓 田口 隆久

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.351-358, 2006-04-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

3 3

---

The spatiotemporal patterns of spontaneous action potential were analyzed, using the multi-site recording system for extracellular potentials of neurons and the living neuronal network cultured on a 2-dimensional electrode array. The map of functional connections between neurons revealed that each culture contained some hub-like neurons, and the connections were drastically re-organized by continuous feedback stimulation. These results strongly suggest that the network structure of the cultured hippocampal neurons is neither stable nor random, but is functionally dynamic and tunable in order to be suitable for certain types of information processing. So we proposed a hypothesis; the interaction to environment generate the specific rules in the spatiotemporal pattern of nerve electrical activities. Our goal is reconstruction of the neural network, which can process “thinking.” in the dissociated culture system.

著者

川崎 晴久 西村 国俊

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.22, no.1, pp.76-83, 1986-01-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

6 24

---

Most existing manipulator control schemes require that the dynamic model of a manipulator be precisely known. There are some control schemes like the adaptive control scheme which do not require a detailed description of the dynamic model. However, it is necessary to verify the effectiveness of these control schemes with an exact dynamic model before applying them to real system.A dynamic model for a manipulator is defined using such mechanical parameters as the mass, center of mass, inertia tensor matrix and friction for each link. Usually, it is difficult to obtain exact values for these parameters.This paper presents a parameter identification scheme for a mechanical manipulator modeled on an open-rigid-link-chained mechanism. Dynamic equations for the manipulators are nonlinear, however linear input-ouput equations for the kinetic parameters of dynamic equations have been developed. Kinetic parameters are estimated by an instrument variable method based on these input-output equations. It is shown by theorem and simulation results that the instrument variable method asmptotically yields consistent estimates of the parameters. Moreover, the effectiveness of the proposed method is verified by experimental results using a 6-degree-of-freedom manipulator.

著者

大内 茂人 劉 康志 佐藤 昭二 美多 勉

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.3, pp.225-231, 1998-03-31 (Released:2009-03-27)

参考文献数

7

被引用文献数

3

---

Mine train control system is consisted of a winder, a train which transports many people to minebottom, and a long wire rope which connects a winder and a train. The mine train control system reported in this paper is the system with the longest rope of about 6700m in the world. This system often generate a rolling of train when the train stops at the station, when using conventional control. In convensional systems, two mine train control systems of the length of 1/2 of all mining galleries were used in order to ristrict the rolling. In these systems, change time was necessary. However, this change time become unnecessary by using a system with the length of 6700m. When using this system, it is the main subject how to control the bigger rolling. We solved the problem on the rolling control of this system by using H∞ control, and got the result that the travel time of the train made 2/3 compared with that of the convensional systems using two mine train control systems, and the train speed of 420m/min which is the maximum speed in the world was achieved.

著者

福井 善朗 中村 文一

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.51, no.12, pp.803-813, 2015 (Released:2015-12-18)

参考文献数

13

被引用文献数

1 3

---

We proposed a Sontag-type feedback controller by using a locally semiconcave practical control Lyapunov function (LS-PCLF) for asymptotic stabilization of a nonlinear system defined on a non-contractible manifold. We also proposed a design method of a nonsmooth control Lyapunov function called the multilayer minimum projection method. However, whether the method can be used as an LS-PCLF design method is not discussed, and we cannot design a controller by using the method and the controller in this situation. In this paper, we study a disassembled differential of a locally semiconcave function to handle an LS-PCLF. The minimal and maximal disassemble differentials, which are special types of a disassembled differential, are introduced. We elucidate that a set of reachable gradients and the Fréchet differential are equivalent to the minimal and maximal disassembled differential, respectively. Based on this fact, we prove that this method can be used as an LS-PCLF design method.

著者

香川 高弘 宇野 洋二 神谷 俊光 河村 耕造

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.44, no.11, pp.886-895, 2008-11-30 (Released:2013-02-25)

参考文献数

26

被引用文献数

1 1

---

A legged locomotor device for paraplegics have been attempted to improve their ADL (Activity of Daily living) and to prevent some complications. A stride control of the system based on the user's intension is important to coordinate the voluntary movements of the user and the assisted movements of the paralyzed legs. In this paper, we propose a human interface with a walker to control the stride length of a legged locomotor device. Assuming that an intended stride is equal to a distance of the preceding movement of the walker, we developed a human interface estimating the movement distance of the walker, where the distance is calculated by polynomial fitting for the acceleration of the movement. In order to evaluate the performance of the proposed human interface, we carried out the experiments for simultaneous measurements of the distance of the walker and the acceleration signal. In this paper, we report the following results;(1) consistency of a stride length and the preceding movement distance of the walker,(2) estimation accuracy by polynomial fitting method, and (3) feasibility of the adjustment of stride length using the proposed method. These results suggest that the proposed human interface is effective to adjust the stride length of a legged locomotor device.

著者

松尾 芳樹 中野 道雄

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.25, no.8, pp.896-903, 1989-08-30 (Released:2009-03-27)

参考文献数

4

---

A feedback control scheme for PWM systems is considered, on the basis of a conventional triangular carrier wave scheme.When disturbances such as power supply fluctuation or switching delay exist, the conventional PWM scheme produces output error because of its open loop structure. To cope with this, the present scheme adopts a feedback switching control structure that measures mean output error during each period of the triangular carrier wave and determines the subsequent switching timing to eliminate the error. The scheme is realized by adding a simple circuit to the conventional one. The resulting PWM system has an integral compensation property, thereby the mean output error should vanish in the steady-state. Moreover, when its input and disturbances are of step-type, the response settles down perfectly in 2 periods. Furthermore, a feed forward path can be easily implimented, which makes the input response similar to that of the conventional open loop scheme.The authors have applied the scheme to a PWM controlled voltage source in a DC electric motor velocity control system. Results of experiments on the system verify the abovementioned merits of the present scheme.

著者

鈴木 太郎 北村 光教 天野 嘉春 橋詰 匠

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.399-405, 2012 (Released:2012-08-16)

参考文献数

15

---

This paper describes a GNSS (Global Navigation Satellite System) precise point positioning (PPP) technique that can be applied to mobile robots in urban environments. The multipath signals, which from invisible satellites in urban area, cause serious effect on the GNSS positioning. Our proposed technique mitigates GNSS multipath signals by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites by using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and the surrounding buildings, which are captured in white, because of the difference in the atmospheric transmittance rates between visible light and IR rays. Positioning evaluation was carried out only with visible satellites that have less multipath errors. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.

著者

金川 雅和 小木曽 公尚

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.2, pp.128-135, 2015 (Released:2015-02-17)

参考文献数

8

---

This paper presents a method for estimating player's belief related to Bayesian Nash equilibrium in a class of static Bayesian games. The method is to construct a feedback control system for a nonlinear plant that expresses evolution of a mixed strategy and a belief of the games. A numerical example confirms that their beliefs can be estimated by the proposed method.

著者

小林 弘幸 大村 卓矢 山本 知仁

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.4, pp.233-239, 2015 (Released:2015-04-15)

参考文献数

17

被引用文献数

4

---

Speech dialogue systems, such as Apple's “Siri,” have gradually become more widespread, and in the near future, a greater number of general users will have the opportunity to communicate with such systems. To facilitate this, it is necessary for the system to communicate more naturally with users, and to realize that both verbal and nonverbal information must be taken into consideration. In this research, using an available speech recognition platform, we have developed simple dialogue system that consider utterance timing and evaluated it. As a result, it is clarified that the mean error of generated pause duration is controlled within 20msec, and the proper fixed pause duration is turned to be 600msec in this system. Moreover, the evaluation of generative models of pause duration showed that the model that synchronized the utterance duration weakly or fixed pause duration (600msec) model tended to get best results.

著者

杉山 久佳

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.44, no.12, pp.1009-1011, 2008-12-31 (Released:2013-02-25)

参考文献数

4

被引用文献数

3

---

Noncontact power supply network is investigated for multi-robot rescue systems. This network is based on wireless non-radiative mid-range energy transfer using magnetic resonances. The fundamentals of magnetic resonance and a basic analysis are shown about power supply network consists of three robots. As a result, parallel configuration of two power supplying robots is confirmed to have an advantage over serial one.

著者

山田 光

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.26, no.4, pp.375-381, 1990-04-30 (Released:2009-03-27)

参考文献数

13

---

A new method of Differential Non-linearity (DNL) error correction for the successive approximation A/D converter (SAADC) is proposed.The SAADC has very short conversion time and is very useful in various fields. But it has the largest DNL in comparison with any other type of ADC.The DNL is the channel width irregularity of ADC, and is the most difficult error to deal with since it cannot be eliminated by adjustment.The most famous research to equalize the channel width of SAADC is the Gatti's “Sliding Scale Method” proposed 28 years before approximately.This new method of DNL error correction is based upon the peculiar feature of the SAADC.First, the generation mechanism of DNL error is analyzed.Second, a new method of DNL error correction is proposed.Finally, the feasibility of this newly proposed method is confirmed through the computer simulations.

著者

古賀 雅伸 古田 勝久

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.10, pp.1191-1198, 1993

被引用文献数

1

---

This paper describes a high-performance computer aided control system design language MATX which integrates numerical analysis, matrix computation, and symbolic manipulation in an easy way to use. One-variable polynomials, rational-functions, and symbolic matrices comprised of those elements are essential to the study of system theory. We take advantage of this fact and combine numerical computation and one-variable symbolic manipulation facility. Since MATX allows the definition and manipulation of these objects in a natural symbolic fashion, problem solutions are expressed almost exactly as they are written mathematically. Therefor, the user can solve a lot of control system design problems in much shorter time than describing programs in other programming languages. MATX will play an important role in developing and examining new design algorithms in system theory.

著者

木村 幸男 古賀 澄夫

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.20, no.4, pp.357-360, 1984-04-30 (Released:2009-03-27)

参考文献数

9

被引用文献数

1

---

It is well known that the faster runs a train, the more dissipates its energy. In train schedule the running time is settled in advance, so the train needs to be operated in fixed time between stations. As the train could adopt various operation patterns in the fixed schedule, the requisite energy for the train operation varies according to its patterns even in the fixed time and distance. We can, therefore, consider a train operation method which minimizes the requisite energy.Our simple model of train operation enables to show that the train running energy is minimized when it runs in constant speed as long as possible in a specific time and distance supposing that the train moving energy were collected by the regenerating process in the brake operation.While in case of no regeneration of the energy we gained another operation pattern of the minimum energy. The minimum energy has followed from the train operation that after keeping the constant train speed and coasting, the brake should be applied at the instant of a calculated speed when the train stops. But a commuters' train can not take the sufficient coasting time in it's frequently stopped and comparatively high speed operation. We have made clear the energy minimum operation of such a commuters' train as a special case of the no energy regeneration.

著者

増井 陽二 三好 孝典 寺嶋 一彦

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.45, no.2, pp.83-90, 2009-02-01 (Released:2011-11-02)

参考文献数

11

---

An entirely novel shape measurement method to obtain 3D shapes is proposed, based on a bilateral vibration touch probe that outputs feedback voltage in accordance with its position. A bilateral vibration touch probe, with high-stiffness, is developed. The proposed probe consists of a piezo-electric device and a thin needle, and generates feedback voltage according to the relative distance from the object. The structure of this probe is simple, so that it is able to withstand high rates of acceleration during the measurement process. The shape measurement is performed in an object of unknown shape and the shape of the object can be found by scanning the object surface. Moreover, a nonlinear synchronous multi-axis control algorithm is proposed in order to scan the surface of arbitrary objects and measure their 3D shape. The effectiveness of the proposed algorithm is demonstrated through experiments. When actual width of 1 mm was measured using the proposed nonlinear synchronous multi-axis control, a minimum error of 21.7 µm was obtained.

著者

羽根 冬希

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.46, no.8, pp.420-429, 2010 (Released:2011-11-03)

参考文献数

10

被引用文献数

1

---

This paper proposes a method of controlling the tracking errors attributable to current based on a Heading Control System (HCS) which focuses on the aspects controlled by the heading of a Track Control System (TCS) and the aspects comprised in the straight and circular-leg segments of the planned route. The HCS is comprised of a reference heading and a 2-degree-of-freedom control (2DOFC) system to provide course keeping and course changing functions. The proposed method pertains to a tracking control loop for both the straight-leg and circular-leg segments of the route and involves separating the TCS into the HCS control loop and the tracking control loop and adopting a reference route derived from the reference heading and ship speed. In the straight-leg segments of the route, constant current components are estimated based on the tracking errors from the reference route and these current component estimates are used to correct side slip angle through feed back control. In the circular-leg segments of the route, the current component estimates are used to correct side slip angle and the turn rate through the reference heading and 2DOFC. As the ship's heading follows the reference heading by means of the feed forward control operation, the side slip angle cancels the current component of the route's normal direction. The rate of turn relates to changes in ground speed (sum of current and ship speed) to maintain a constant radius. Additionally, reach is estimated from the reference heading and the feed forward control. Reach refers to the distance from the start position of the circular-leg. The validity of this proposed method was verified by simulation results.

著者

大屋 勝敬 和田 慎 小林 敏弘

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.40, no.4, pp.474-476, 2004-04-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

1

---

By using velocity estimation a new robust trajectory tracking control scheme is developed in this paper for wheeled mobile robots. The developed controller has the following features; i) The proposed controller has robustness not only for the weight and the moment of inertia but also for radius of wheels and distance from the reference point to both wheels. ii) It is easy by using design parameters to improve tracking performance.