出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.21, no.10, pp.1135-1135, 1985 (Released:2009-03-27)

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.21, no.8, pp.885a-885a, 1985 (Released:2009-03-27)

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.21, no.5, pp.537-537, 1985 (Released:2009-03-27)

著者

太田 憲 小林 一敏

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.9, pp.1265-1272, 1995-09-30 (Released:2009-03-27)

参考文献数

8

被引用文献数

1

---

The measurement of angular velocity and angular acceleration in sports biomechanics is usually based on cinematography. But this method dose not have good accuracy. Authors previously developed angular velocity and angular acceleration measurement system, which used 12 accelerometers. But this system is tedious, beacause of mounting the large number of accelerometers.This paper proposes a measurement system using 9 accelerometers in sports, which accurately measures the rotation motion. This measurement system uses the extended Kalman filter. The accuracy of this method was examined by simulation and experiments.

著者

谷口 忠大 高橋 佑輔

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.11, pp.571-580, 2011 (Released:2012-01-21)

参考文献数

30

被引用文献数

1 3

---

In this paper, we proposed a simple urban model including individuals' travel behavior and residential choice behavior. Multi-agent simulation framework is described. We performed several experiments to evaluate political measures which will solve problems about motorization. As a result, drastic mobility management scheme increased the number of travelers using a train, and the distribution of residences became compact. However, it also increased many agents' total costs of living because of high rent and several kinds of cost including time cost and fatigue cost to reach a station. On the other hand, raising gas price made CO2 emission less and kept total cost of living lower than the drastic mobility management measure. This suggests that to have people use train or bus by changing their attitude might be socially more expensive than to make people chose whether they use car or not under the condition that gas price is raised.

著者

梅谷 陽二 広瀬 茂男

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.10, no.4, pp.513-518, 1974-08-30 (Released:2009-03-27)

参考文献数

9

被引用文献数

1

---

It is a well-known fact in morphology that static forms of living organisms are classified into several fundamental shapes. Some of them can be described by a geometrical function. On the contrary, the posture of a moving animal has scarcely been treated in morphology, with a few exceptions. But it seems that the posture could be represented with an idealized mathematical form if the animal's behavior is conditioned and maintained in uniform and stationary surroundings. The present paper shows one such typical case, discussing the shape of a gliding snake.In this paper the gliding shape of snakes during locomotion on a flat surface in stationary straightforward movement is treated. The authors conclude that two kinds of geometrical curves, Eq. (7) and (10), represent sufficiently the shape of a gliding snake. Especially the curve derived under the assumption that the muscle will repeat contraction and relaxation cycles harmoniously during serpentine movement, which we named as the “serpenoid curve”, is shown to be remarkably similar to that of a living snake. Thus the authors believe that research on the shape of animals is useful not only to zoology but also to the biomechanics of an artificial animal-like vehicle and its designing.

著者

近藤 良 原 辰次 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.22, no.11, pp.1142-1148, 1986-11-30 (Released:2009-03-27)

参考文献数

8

---

In servo systems, it is known empirically that stability margin at the error channel influences the characteristics of the response against reference command. This paper, therefore, presents a method of designing servo system, which has a certain specified stability margin at the output of servo compensator or the error channel.The relation between the stability margin at the input of plant and the one at the output of servo compensator is derived, where the state feedback law for the augmented system of plant and servo compensator is determined using the solution of a generalized Riccati equation. The stability margin at the output of servo compensator can be specified by means of this relation and an adjusting parameter for the state feedback gain, and design guidance is proposed for improving the behavior of the response for command input. It is also shown that the servo system possessing integrity at the error channel or robust stability against saturation of integrator can be designed using the conventional Riccati equation for the augmented system.

著者

柏崎 耕志 米澤 直晃 小菅 一弘 菅原 雄介 平田 泰久 遠藤 央 神林 隆 篠塚 博之 鈴木 公基 小野 右季

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.7, pp.389-398, 2012 (Released:2012-08-16)

参考文献数

18

---

The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

著者

平田 光男 佐藤 隆之 劉 康志 美多 勉

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.34, no.7, pp.741-748, 1998-07-31 (Released:2009-03-27)

参考文献数

12

---

In this paper, we consider an H∞ problem with unstable weighting functions. Such weightings are used to achieve asymptotically disturbance attenuation and/or asymptotically tracking to reference input. Such problems cannot be handled by the standardH∞ control theory. To this problem, we present a necessary and sufficient condition for the existence of a solution by using Riccati inequalities. This condition needs no assumptions on the jω invariant zeros of G12 and G21.

著者

深尾 隆則 山脇 明 足立 紀彦

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.37, no.11, pp.1034-1039, 2001-11-30 (Released:2009-03-27)

参考文献数

14

---

The control technique which combines H∞ control with adaptive nonlinear control is applied to the active suspension system which is divided into two parts: a main car body part and a hydraulic actuator part. The H∞ control design is used for the body part where the frequency response property is important to improve the ride quality of the automobiles, and the adaptive nonlinear control design is used for the actuator part with the high nonlinearities and the parametric uncertainties which is required to transmit the power to the main body adequately because it gives large effects on the control result. These two design methods are combined by a modified version of backstepping which is a powerful tool for nonlinear control and adaptive control. Finally some simulation results are provided to confirm the usefulness of our method.

著者

飯島 奏望 種村 昌也 千田 有一 東 俊一

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.58, no.8, pp.399-401, 2022 (Released:2022-09-03)

参考文献数

8

---

In this paper, we discuss the estimation of passivity based on input-output data without a system model. In the conventional data-driven estimation method based on the gradient approach, the convergence is slow and a large number of experiments is required. Therefore, we propose the method of reduction in the amount of data for data-driven passivity estimation to MIMO systems. Furthermore, we show the convergence property of the proposed method. In addition, through numerical simulations, the effectiveness of the proposed method is verified.

著者

佐藤 力 宮下 照夫

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.17, no.4, pp.518-523, 1981-07-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

4 4

---

A gyro-two-wheel vehicle was designed, realized and experimented which stably stood during not only running but also stopping. A horizon sensor, a servomoter, a perpendicular gyroscope and electronic circuits were used in order to stabilize the vehicle, whose center of gravity was located at higher position than the supporting plane. After the stability condition was derived in the corresponding differential equations, the detailed structure was shown including mechanical feature, control system and horizon sensor. Finally experimental trajectories were shown to confirm the stability of the vehicle.

著者

山藤 勝彦 橋本 真 山本 建 澤田 賢治

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.57, no.7, pp.324-333, 2021 (Released:2021-07-17)

参考文献数

13

---

Judder is well known as a vibration that occurs in a dry clutch. In order to maintain the ride quality and quietness of dry clutches, research on judder analysis and mechanical design to suppress judder is actively pursued. This paper describes the design and implementation of robust control techniques as an approach to suppressing judder during gear shifting in traction-controlled transmissions. This paper is concerned with transmissions that exhibit strongly nonlinear frictional characteristics that can only be approximated by higher order polynomials. Specifically, the coefficient of friction varies significantly nonlinearly with the rotational speed during gear shifting. In this paper, the controller is designed by expressing this nonlinear property as the uncertainty of the frequency. Simulation and bench test results are presented to validate the validity of such an approach. The results show that judder-free shifting is possible with the proposed approach. Furthermore, the requirements of three controllers are presented by analyzing the robust controllers.

著者

水野 毅 荒木 獻次

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.8, pp.1145-1151, 1996-08-31 (Released:2009-03-27)

参考文献数

10

被引用文献数

9 10

---

A new type of mass-measurement system under weightless conditions is proposed which uses a dynamic vibration absorber as a measuring device. In this system, an object to be measured is fixed to a rotating table (rotor) at a distance from the rotational axis. Since it makes the rotor unbalanced, a centrifugal force whose amplitude is proportional to the mass is generated during rotation. It works as a harmonic excitation and forces a structure supporting the table to vibrate. However, a dynamic vibration absorber attached to the structure is tuned or controlled to reduce the vibration to zero. When the structure does not move at all, the absorber mass vibrates in such a way that the product of the mass and the displacement amplitude is equal to the amount of unbalance, that is, the product of the mass to be measured and its distance from the rotational axis. Therefore, the mass of the object is determined by measuring the displacement amplitude of the absorber mass. In this study, the principles and features of the proposed mass-measurement system are investigated. Experiments are carried out with a developed apparatus having an active dynamic vibration absorber. This apparatus can perform measurement at various rotational speeds because the absorber's natural frequency can be easily tuned by a feedback parameter. Experimental results demonstrate the feasibility of the proposed mass-measurement system.

著者

中野 雄一郎 藤本 悠介 杉江 俊治

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.4, pp.269-274, 2019 (Released:2019-04-16)

参考文献数

8

被引用文献数

3 1

---

This paper proposes an approach for automatic controller tuning based on experimental data only. It determines the controller parameters for a given cost function without knowing the true plant dynamics via Bayesian optimization. The validity of the proposed method is tested through some numerical simulations. Then, the proposed method is applied to PID controller tuning for an actual motor positioning system. The experimental results show that the proposed method improves the control performance effectively.

著者

熊谷 正朗 江村 超

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.11, pp.1040-1047, 2001-11-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

3 4

---

The bipedal walk is a useful method for moving in human live environment. However, there are few research works on biped robots on uneven ground though adaptability to those environments is necessary for them. In this paper, the slope-walk of a biped robot based on stereo vision is described. First, a method to estimate inclination with vision is proposed. This method is based on triangulation. The robot observes the ground in front of it at a certain angle below horizon and measures distance to there with stereo vision. This distance becomes smaller on uphill slope and larger on downhill way. The vision is also used for target detection for followed-walk. The robot detects distance and direction of a target. We propose direct utilization of parallax as distant information and direct conversion from parallax to inclination. These methods provide enough accuracy for walking robot and reduce cost of calculations and calibrations. Secondly, a sensor based walk is proposed. The sequence of walk consists of two parts. One is stabilization phase that absorbs attitude-disturbances of robot caused by environment or alteration of gait. This stabilization uses attitude sensors mounted on the body. The other is stepping phase. We designed simple gaits so that it can be altered easily for slope-walk and curve-walk. The experiments using a biped robot with legs of human type degree of freedoms and a stage that provides various slopes were carried out. The accuracy of slope estimation was about ±1[deg] and the walk through undulating ground of 5[deg] downhill to 5[deg] uphill way was achieved. The results showed that our method gains adaptability of biped robots to slopes.

著者

竹崎 大輔 伊達 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.57, no.3, pp.195-202, 2021 (Released:2021-03-17)

参考文献数

17

---

In this study, assuming a case that two of the three reaction wheels mounted on the spacecraft failed, we examined a method of controlling the attitude with the remaining one reaction wheel. Since what can be done with one reaction wheel is limited, we propose an attitude control method for maximizing the amount of solar power generation using Monte Carlo economic model predictive control, and validated the effectiveness of the method by simulation. Extensive simulations were conducted to verify whether the proposed method is effective for various initial conditions, and it was confirmed that the power generation increased in most cases. Some examples of how the proposed control method behaved are shown and discussed.

著者

仲井 勘 野田 哲男

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.1, pp.24-29, 2014 (Released:2014-02-05)

参考文献数

8

---

Programmable logic controller (PLC) is widely used for sequence control in industrial automation system, and its program is mostly written in ladder diagram. In recent years, as processing performance of PLC has improved remarkably, ladder diagram becomes larger and more complex so that it is not easy to analyze and find the bugs or cause of unexpected control. To solve this problem, this paper describes how to apply a technique of program slicing to ladder diagram. In ladder diagram, data dependence almost represents control dependence, and we define slicing of ladder diagram as extracting directed graph of data dependence. But normally it tends to be divergent because ladder diagram is large and complex. So we focus on the directed graph composed only by frequently referenced data, which expresses the core of control structure, and we divide ladder slicing into three phases; extracting directed graph of data dependence only among frequently referenced data, slicing from start data to core structure, and slicing from core structure to the end destination data. The efficiency of this proposed method is shown through applying to actual ladder diagram analysis.

著者

志水 清孝 本城 仰太 山口 毅

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.38, no.8, pp.686-693, 2002-08-31 (Released:2009-03-27)

参考文献数

16

被引用文献数

2 4

---

In this paper, a new tuning method for PID control is proposed. We set the controlled system to be a controllable and observable SISO system. In the first half, we consider optimal servo problems by 2 methods. For each method, the optimal state feedback rule is obtained by the theory of optimal regulator, and the optimal poles of this closed-loop system are calculated. In the second half, we consider the problem that the poles of closed-loop system by PID control are approximated to the optimal poles as much as possible. This technique is called quasi pole placement. The problem becomes a nonlinear planning problem with some equality constraints, and solved by exterior penalty function method. Finally, the simulation results for the 5 order system are reported, and the effectiveness of this technique is demonstrated.

著者

木村 周平 松村 幸輝

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.6, pp.659-667, 2006-06-30 (Released:2009-03-27)

参考文献数

24

被引用文献数

1

---

The random number generator is one of the important components of evolutionary algorithms. Therefore, when we try to solve function optimization problems using the evolutionary algorithms, we must carefully choose a good pseudo-random number generator. In the evolutionary algorithms, the pseudo-random number generator is often used for creating uniformly distributed individuals. In this study, as the low-discrepancy sequences allow us to create individuals more uniformly than the random number sequences, we apply the low-discrepancy sequence generator, instead of the pseudo-random number generator, to the evolutionary algorithms. Since it was difficult for some evolutionary algorithms, such as binary-coded genetic algorithms, to utilize the uniformity of the sequences, the low-discrepancy sequence generator was applied to real-coded genetic algorithms. The numerical experiments show that the low-discrepancy sequence generator improves the search performances of the real-coded genetic algorithms.