著者

谷口 忠大

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.7, pp.505-508, 2018-07-10 (Released:2018-07-20)

参考文献数

15

著者

築山 俊史

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.27, no.6, pp.497-500, 1988-06-10 (Released:2009-11-26)

参考文献数

9

著者

西田 豊明

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.43, no.12, pp.969-974, 2004-12-10 (Released:2009-11-26)

参考文献数

12

著者

大作 覚 三平 満司 清水 悦郎 富田 晃市

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.2, pp.126-129, 2000-02-10 (Released:2009-11-26)

参考文献数

9

被引用文献数

3

著者

幸村 貴臣 桐林 星河 永谷 圭司

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.1, pp.2-12, 2017

被引用文献数

1

---

In order to perform surveillance missions in case of natural/human-caused disasters, all-terrain mobile manipulators are useful tools for rescue crews' safety. It has a capability to traverse on rough terrain, and to handle objects with the mounted manipulator. For example, the mobile manipulator “Packbot” opened a door in Fukushima Daiichi Nuclear accident in 2011. However, it is well-known that it requires a lot of skill for its teleoperation, particularly in case of missions in narrow and rough terrain. Based on our ex-researches, we found the following issues: (1) According to the rough terrain, the pose of the manipulator is not fitted with the inertial frame of reference, and it prevents an intuitive teleoperation. (2) In narrow areas, the manipulator contacts with the environment because of the lack of environmental information. (3) Communication delay makes more difficult for teleoperation. To solve the above issues, in this research, we implemented a base-altitude synchronous type master-slave controller for the issue (1), teleoperation system with vision and 3D information for the issue (2), and anti-communication-delay-system with 3D point cloud information for the issue (3). To evaluate the above system, we conducted some experiments with non-skilled operators. In this paper, we describe the above system implementation, and report the experimental results to evaluate the above system.

著者

島田 好昭

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.45, no.4, pp.329-334, 2006-04-10 (Released:2009-11-26)

参考文献数

3

著者

我妻 広明

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.54, no.11, pp.808-815, 2015-11-10 (Released:2015-11-20)

参考文献数

50

被引用文献数

1

著者

香取 佳一郎 河村 豊作

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.7, no.1, pp.35-43, 1960-01-30 (Released:2010-10-29)

著者

計量研究所創立60周年記念シンポジウム委員会

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.6, no.3, pp.190-194, 1967-03-10 (Released:2009-11-26)

参考文献数

1

著者

原 進

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.4, pp.241-246, 2018-04-10 (Released:2018-04-19)

参考文献数

26

著者

瀬田 勝男

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.5, pp.318-321, 1998-05-10 (Released:2009-11-26)

著者

桐生 知男

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.11, no.3, pp.312-321, 1972 (Released:2009-11-26)

参考文献数

28

著者

新中 新二

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.38, no.1, pp.17-22, 1999-01-10 (Released:2009-11-26)

参考文献数

7

著者

島田 俊夫

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.15, no.4, pp.347-357, 1976-04-10 (Released:2009-11-26)

参考文献数

12

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

荒井 郁男 富澤 良行 後藤 眞二

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.45, no.6, pp.498-503, 2006-06-10 (Released:2009-11-26)

参考文献数

13

著者

廣瀬 通孝

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.27, no.1, pp.43-48, 1988-01-10 (Released:2009-11-26)

参考文献数

7

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

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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.