著者
岡島 寛 金田 泰昌 田村 友規 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.55, no.4, pp.245-251, 2019 (Released:2019-04-16)
参考文献数
26

A design method of state estimation observer under outliers and data-lost environment is proposed in this paper. In networked control systems, the data-lost is one of the most important topic for solving. When data-lost occurred, the output data for the control system is disappeared. The data-lost is significant problems if we want to use state feedback. To overcome negative impact by outliers and data-lost, we propose a method to disappear negative impact by outliers and data-lost using median information. The effectiveness of the proposed observer is evaluated by numerical examples.
著者
伊藤 正美
出版者
公益社団法人 計測自動制御学会
雑誌
計測と制御 (ISSN:04534662)
巻号頁・発行日
vol.21, no.1, pp.34-42, 1982-01-10 (Released:2009-11-26)
参考文献数
98
被引用文献数
1
著者
足立 修一
出版者
公益社団法人 計測自動制御学会
雑誌
計測と制御 (ISSN:04534662)
巻号頁・発行日
vol.56, no.9, pp.630-631, 2017-09-10 (Released:2017-09-20)
参考文献数
8
著者
井上 博允 溝口 博 稲葉 雅幸 池端 重樹 磯貝 文彦
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.23, no.12, pp.1289-1295, 1987-12-30 (Released:2009-03-27)
参考文献数
14
被引用文献数
5

This paper describes a versatile multi-window vision system, which is developed for providing robots with flexible and multiple visual attention capability. Chapter 1 is introduction. A window is a local region to be processed for one attention. The multi window vision system provides a large number of windows. The location, shape, size, and resolution of each window can be controlled by a special LSI, independently and simultaneously. In Chapter 2, we describes the concept and architecture of the multi window vision system. The multi window vision system is designed to build a pandemonium model by means of multi microprocessors. In order to avoid the image access bottleneck in parallel processing, we introduced a transmiter-receiver into the multi window vision system. Chapter 3 describes the transmitter unit which broadcasts input images to the window receivers. In Chapter 4, the details of the logic circuits inside the window control LSI is described. The LSI chip controls window parameters which are location, size, shape, spatial sampling rate, window memory access, and the display of the window image. In Chapter 5, the image processing unit that implements the LSI chips is described. Chapter 6 shows the experimental results using the image processing unit. Chapter 7 is Concluding Remarks.
著者
根津 一嘉
出版者
公益社団法人 計測自動制御学会
雑誌
計測と制御 (ISSN:04534662)
巻号頁・発行日
vol.56, no.2, pp.111-116, 2017-02-10 (Released:2017-02-21)
参考文献数
13
著者
石川 将人 北吉 良平 和田 尭 丸田 一郎 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.46, no.4, pp.237-244, 2010 (Released:2011-11-03)
参考文献数
7
被引用文献数
3

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.
著者
Susumu IKEDA Takuma DOI Keizaburo UCHIKAWA Yoshiharu KURITA
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.3, pp.245-252, 1993-03-31 (Released:2009-03-27)
参考文献数
8

The existence of intrinsic vertical effects of spinning gyroscopes was examined systematically from the viewpoint of precise measurement, using three types of gyroscopes with largely different characteristics. The most precise weighing techniques, such as a reference tare system and various countermeasures, were applied. Slight and symmetrial mass changes observed in the experiment were explained as the parasitic effect of the balance due to the torque of the spinning gyroscopes, utilizing the attenuation constant change under atmospheric conditions. Consequently, the intrinsic vertical effects were found to be virtually zero in this experiment, and even if existent, were estimated to be neither greater than +0.7mg nor less than -0.5mg at a 99% confidence level for the angular momentum of 0.936kg·m2/s.
著者
白井 達也 金子 真
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.4, pp.385-394, 1993-04-30 (Released:2009-03-27)
参考文献数
10

Power transmission systems with timing belt are often used in various machines because of their simple mechanism and easy treatment. However, the diagnosis for those transmission system has not fully established. This paper discusses self-failure diagnosis for a timing belt transmission system using tension-differential-type torque sensor (TDT sensor). A tension pulley is usually incorporated into a part of the transmission system, so that the system can maintain a proper tension during operation. Since such a tension pulley receives force directly from the timing belt, it is expected that the diagnosis of the timing belt can be done with much high S/N ratio and thus with high reliability. Based on this idea, the authors designed a TDT sensor available for a timing belt application, and explored a diagnosis algorithm detectable not only for a timing belt with V-crack but also for a timing belt with blinding at a tooth. Through a number of experiments, we verified the effectiveness of the proposed algorithm and also found an interesting behavior of the sensor signals which is not expected.
著者
梶田 秀司 谷 和男
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.31, no.10, pp.1705-1714, 1995-10-31 (Released:2009-03-27)
参考文献数
17
被引用文献数
7 15

An experimental study of a biped robot is presented. A new scheme named “Linear Inverted Pendulum Mode” is utilized for controlling biped walking on rugged terrain. We developed a 6 d. o. f. biped robot “Meltran II” which has light weight legs and walks in a two dimensional vertical plane. After discussing the control systems for the support leg and the swing leg, we applied these control laws to the real robot and obtained following results.1. Support phase dynamics of the biped robot under the proposed control law can be well represented by a linear model with a viscous term.2. An adequate vertical speed at touchdown and a short duration of two-leg support after touchdown help smooth support leg exchange with a small loss of momentum.Based on these results, a whole biped control system was implemented. In our experiment, biped walking with a half step period of 0.5-1.0s and a half stride of 10-14cm was realized on a flat floor. The maximum walking speed was 24cm/s. Our robot also walked over a box of 3.5cm height at a speed of 20cm/s.