著者

福田 敏男 植山 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.31, no.11, pp.1137-1142, 1992-11-10 (Released:2009-11-26)

参考文献数

31

著者

和田 一義 柴田 崇徳 谷江 和雄

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.42, no.4, pp.386-392, 2006-04-30 (Released:2009-03-27)

参考文献数

41

被引用文献数

4 7

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A long-term experiment of robot therapy for elderly people has been conducted at a health service facility for the aged since Aug. 2003. Three therapeutic seal robots, named Paro, were introduced at the facility. This paper describes an interim report of the experiment after one year. Face scales, consisting of illustrations of person's faces, were used to evaluate people's moods. In addition, Geriatric Depression Scales were used to measure people's depression. These results showed the feelings of the elderly people had been improved continuously by interaction with the seal robots for the period.

著者

井口 哲夫

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.45, no.6, pp.541-546, 2006-06-10 (Released:2009-11-26)

参考文献数

7

著者

藤本 理唯宇 坂本 登

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.423-430, 2012 (Released:2012-08-16)

参考文献数

11

被引用文献数

1 2

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In this paper, the problem of swing up and stabilization of an inverted pendulum by a single feedback control law is considered. The problem is formulated as an optimal control problem including input saturation and is solved via the stable manifold approach which is recently proposed for solving the Hamilton-Jacobi equation. In this approach, the problem is turned into the enhancement problem of the domain of validity to include the pending position. After a finite number of iterations, an optimal feedback control law is obtained and its effectiveness is verified by experiments. It is shown that the stable manifold approach can be applied for systems including practical nonlinearities such as saturation by directly deriving a controller satisfying the input limitation of the experimental setup. It is also reported that this system is an example in which non-unique solutions for the Hamilton-Jacobi equation exist.

著者

裴 鐘石 我妻 壽彦 在戸 立夫 水野 皓司

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.41, no.4, pp.275-280, 2002-04-10 (Released:2009-11-26)

参考文献数

16

著者

吉井 征治 作道 正俊

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.18, no.3, pp.244-249, 1979-03-10 (Released:2009-11-26)

参考文献数

11

著者

大岡 崇

出版者

公益社団法人 計測自動制御学会

雑誌

計測 (ISSN:04500024)

巻号頁・発行日

vol.7, no.4, pp.209-214, 1957-04-01 (Released:2009-04-21)

参考文献数

17

著者

畠 悠 長久保 哲三

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.4, pp.234-236, 1960-07-30 (Released:2010-10-29)

参考文献数

3

著者

西沢 潤一

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.13, no.1, pp.103-113, 1974-01-10 (Released:2009-11-26)

参考文献数

41

著者

松尾 優

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.12, no.8, pp.649-655, 1973-08-10 (Released:2009-11-26)

参考文献数

24

著者

中鉢 憲賢 櫛引 淳一

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.20, no.10, pp.954-959, 1981-10-10 (Released:2009-11-26)

参考文献数

26

著者

広瀬 茂男 梅谷 陽二

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.12, no.5, pp.543-547, 1976-10-30 (Released:2009-03-27)

参考文献数

8

被引用文献数

8 38

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A biomechanical study of living systems suggests us some interesting mechanisms which enable an organism to carry out specific functions. Among various organisms, the authors deal with the organism having a slender configuration and making active and flexible winding motions with muscles attached along the body. In spite of the simple shape, it performs miscellaneous functions which have never been realized in an artificial mechanism.The authors call this type of organism as Active Cord-Mechanism (abbreviated as ACM) and have been studying its motion, control and other problems associated with an engineering application.The basic locomotive motion of ACM on an even ground has already been realized in a snake-like shape.In this paper, some of the problems to develope this locomotive ACM into a more intelligent machine are discussed.First, the installation of tactile sensors is discussed and the biological principle of lateral inhibition is shown to be useful for controlling the ACM with tactile sensors.Second, the efficient and smooth controlling principle is proposed which the authors call the modified first order data hold.Finally, by the ACM mechanical model with tactile sensors and reconstructed controller, more intelligent locomotive experiments have been made, to demonstrate that the locomotion by detecting the obstacle in labyrinth, or the propulsion by pushing a fixed object have been successfully accomplished.Thus the authors believe that this study solves some of the controlling problems of locomotive ACM to develope as an intelligent machine.

著者

Hilding ELMQVIST

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.4, pp.296-306, 2014-04-10 (Released:2017-03-18)

参考文献数

18

著者

和気 典二 清水 豊

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.14, no.12, pp.910-918, 1975-12-10 (Released:2009-11-26)

参考文献数

20

被引用文献数

8

著者

浅野 種正

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.31, no.6, pp.670-675, 1992-06-10 (Released:2009-11-26)

参考文献数

18

著者

金井 寛

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.22, no.10, pp.859-867, 1983-10-10 (Released:2009-11-26)

参考文献数

44

被引用文献数

1

著者

春名 正光 近江 雅人

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.11, pp.915-921, 2006-11-10 (Released:2009-11-26)

参考文献数

24

被引用文献数

4

著者

出口 弘

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.1, pp.59-70, 2016-01-10 (Released:2016-01-30)

参考文献数

36

被引用文献数

1

著者

山本 悦治 山田 芳文 阿部 善右衛門

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.14, no.2, pp.163-170, 1978-04-30 (Released:2009-03-27)

参考文献数

14

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Previously we proposed a new application of NMR to measure biological materials in human body noninvasively, using the magnetic focusing technique on the measuring target (MT).The present paper considers how to generate the magnetic focus and demonstrates this technique by using the low-field NMR spectrometer.In the first parts of this paper, the signal error due to the fringe region of MT is evaluated theoretically and the constant field contours for several arrangements of multiple coils are calculated so as to generate the magnetic focus.Simple results are obtained analytically for the axisymmetric field especially. Furthermore, a new approach which enlarges the zero-flux region is proposed to achieve a high S/N ratio.In the latter parts, the construction of 100kHz NMR spectrometer, whose static field H0 is generated by the main solenoid 70cm long and 40cm in diameter with two compensation windings, is described. The proton resonance signals from 1cm3 sample water are obtained with a S/N ratio of 15, which is more than ten times better than the value estimated from the relation S/N∝H02/3.By using the separate samples under the gradient field, a separate signal corresponding quantitatively to each sample is obtained. The signal from a certain specified area near the surface of a large sample has a shifted resonant frequency and an emphasized magnitude when the magnetic focusing technique is applied.

著者

小野 英一

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.45, no.3, pp.185-190, 2006-03-10 (Released:2009-11-26)

参考文献数

11

被引用文献数

1