著者

木名瀬 亘

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.3, no.5, pp.319-326, 1964-05-10 (Released:2010-10-21)

著者

安部 祐一 青井 伸也 土屋 和雄 松野 文俊

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.52, no.11, pp.639-652, 2016 (Released:2016-11-23)

参考文献数

26

被引用文献数

1

---

Multi-legged animals show several types of ipsilateral interlimb coordination. Millipedes show the direct wave gait in which the swing leg movements propagate from posterior to anterior. On the other hand, some centipedes show the retrograde wave gait in which the swing leg movements propagate from anterior to posterior. Interestingly, when some millipede walks in a specific way, it is reported that both direct and retrograde waves of the leg movements can coexist with a source part of the waves (we call it as source wave gaits). However, the mechanism behind the gait generation is still unclear because of the complex nature of the interaction between neural control and body dynamic systems. In this paper, we propose a simple model to gain a better understanding of the mechanism, especially how a local sensory feedback affects multi-legged locomotion. We design a planar multi-legged model and its locomotion control system based on biologically-inspired oscillators with a local sensory feedback, phase resetting. Each oscillator controls each leg, and there are no direct interactions among oscillators. Our simulation results reveal three types of gaits, which have different ipsilateral phase relationships (Direct, retrograde and source wave gaits like animals). These gaits are neither predesigned or predetermined, but emerge through the interaction between the neural control and body dynamic systems through phase resetting. These results suggest that the local sensory feedback is important to form proper interlimb coordination and thereby effectively generates multi-legged gaits. In addition, our mathematical analysis with the simple model successfully extracts the essential feature of these gaits, and suggests that these types of locomotion can exist regardless of the number of legs in our system.

著者

舟橋 康行 加藤 久雄

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.27, no.6, pp.640-646, 1991

被引用文献数

1

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In this paper, a design method for the deadbeat compensator with optimal robustness for MIMO systems is presented. As the compensator is decided among the class of two-degree-of-freedom robust tracking compensators, it is guaranteed that the deadbeat control and internal stability of the whole system is achieved for nominal process. Zero offset is also achieved for the perturbed process which does not disturb internal stability.<br>Using the Hermite form, the design procedure of this paper is much simpler than the one, proposed in the past, that uses the Smith-McMillan form.<br>And robustness criterion, which is <i>L</i>₂-norm of sensitivity function, is optimized. So it is hoped that the stability region for process perturbation is enlarged and that the influence of process perturbation on the output gets smaller. The minimization of deadbeat steps and the optimization of robustness are achieved simultaneously. It is a merit of two-degree-of-freedom compensation scheme.

著者

生駒 俊明

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.9, no.8, pp.610-623, 1970-08-10 (Released:2009-11-26)

著者

伊良皆 啓治 亀井 裕孟 上野 照剛

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.42, no.5, pp.363-367, 2003-05-10 (Released:2009-11-26)

参考文献数

27

著者

森田 耕一郎

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.39, no.6, pp.378-383, 2000-06-10 (Released:2009-11-26)

参考文献数

6

著者

山本 俊行

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.57, no.3, pp.143-149, 2018-03-10 (Released:2018-03-17)

参考文献数

17

著者

渡辺 桂吾

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.8, pp.1106-1113, 1995

被引用文献数

3

---

The functional reasoning and the simplified reasoning, which are special cases of the so-called min-max-centroidal method, have been applied to construct a fuzzy controller or to model a system. It is not necessary known, however, for control engineers to rationally and easily design the conclusion part or any parameters in the conclusion part. In this paper, a new fuzzy reasoning is proposed so that the conclusion consists of a function of mean-values on each membership function in the antecedent. It is then shown that any parameters except for the mean-values in the conclusion can be rationally and easily designed as a slope of stable switching plane (or line) which is basically independent of the control rule, if the conclusion is formally regarded as a VSS (variable structure system) controller with the meanvalues in the antecedent as states. Thus, the laber required for designing the conclusion part can be reduced drastically by using the proposed method, compared with the traditional methods. The effectiveness of the proposed method is illustrated by simulating a fuzzy controller with two inputs-single output reasoning or a fuzzy controller with three inputs-single output reasoning.

著者

坪井 正男

出版者

公益社団法人 計測自動制御学会

雑誌

自動制御 (ISSN:04477235)

巻号頁・発行日

vol.6, no.3, pp.158-163, 1959-05-25 (Released:2010-10-29)

著者

坪井 正男

出版者

公益社団法人 計測自動制御学会

雑誌

自動制御 (ISSN:04477235)

巻号頁・発行日

vol.6, no.2, pp.96-103, 1959-03-25 (Released:2010-10-29)

著者

鄭 立

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.55, no.12, pp.1036-1041, 2016 (Released:2016-12-28)

参考文献数

6

著者

浦井 隆宏

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.54, no.9, pp.659-663, 2015-09-10 (Released:2015-09-25)

参考文献数

1

著者

加納 学 山下 善之

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.44, no.2, pp.125-129, 2005-02-10 (Released:2009-11-26)

参考文献数

9

被引用文献数

5

著者

水野 毅 井村 順一

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.57, no.2, pp.114-118, 2018-02-10 (Released:2018-02-20)

参考文献数

8

著者

奥村 光平 石井 将人 巽 瑛理 奥 寛雅 石川 正俊

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.49, no.9, pp.855-864, 2013 (Released:2013-10-16)

参考文献数

17

被引用文献数

5 2

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In spite of high demands in a lot of industrial fields, it is viewed as difficult to capture a stuff flying at the speed of hundreds [m/s] order same as acoustic velocity. A high-frame-rate camera (≈10000 [fps]) is often adopted to observe it. However, this method gives us only a short-lasting recorded data. Furthermore, a quite short exposure time (≈ 5 [µs]) and regionally concentrated illumination are required in order to cut down a motion blur. In this paper, a measurement means specialized for such a high-speed object is proposed. A high-speed gaze controller, called Saccade Mirror keeps its camera gaze casting the matter while soaring. We successfully obtained the longer images with brightness and a little motion blur.

著者

西田 佳史 北村 光司

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.58, no.2, pp.89-95, 2019-02-10 (Released:2019-02-27)

参考文献数

13

著者

出口 光一郎

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.29, no.12, pp.1114-1122, 1990-12-10 (Released:2009-11-26)

著者

飯田 隆

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.37, no.11, pp.774-776, 1998-11-10 (Released:2009-11-26)

参考文献数

5

被引用文献数

2

著者

鈴木 麗璽 有田 隆也

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.53, no.9, pp.794-800, 2016-09-10 (Released:2017-04-29)

参考文献数

31

著者

内藤 栄一

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.8, pp.588-594, 2017