著者

石川 将人 北吉 良平 和田 尭 丸田 一郎 杉江 俊治

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.46, no.4, pp.237-244, 2010 (Released:2011-11-03)

参考文献数

7

被引用文献数

1 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

源野 広和 松本 和夫 福島 清司

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.31, no.8, pp.973-981, 1995-08-31 (Released:2009-03-27)

参考文献数

26

被引用文献数

5 8

---

The facial skin temperature can be measured without contact using an infrared camera regardless of room temperature conditions. Moreover, because it varies with autonomic nervous activity that accompanies arousal of the senses, it serves as an effective physiological quantity for evaluating human senses.This report examines the thermal sensation and evaluates it using the facial skin temperature without influence by stress or the change in seasons. In the experiments that were carried out under various types of stress with various types of ambient temperatures in winter and summer, no change due to seasons was found. Consequently, data for both winter and summer were combined and correlation coefficients between the thermal sensation and facial skin temperatures for various parts were determined. In the experiments, the correlation coefficients decreased in the order of cheek, chin, forehead, nose and ear. Even the lowest value of r=0.752 for the ear is still high. In addition, the thermal sensation is estimated by a multiple regression formula using the stepwise method. The partial regression coefficient for the nose excluding the forehead became negative (multiple correlation coefficient R=0.897). Accordingly, the relation between the thermal sensation and the forehead skin temperature can be predicted by the skin temperatures of the other facial parts, and a rise in the thermal sensation accompanying stress can be described by a drop in the skin temperature of the nose.Furthermore, it is suggested that this multiple regression formula is applicable even for different amounts of clothing. The compensation is necessary for changes in the activity level and continuous variations in the ambient temperature.

著者

杉山 純一 臼井 支朗

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.26, no.4, pp.367-374, 1990-04-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

2 2

---

Acoustic impulse response of muskmelons was studied to evaluate their quality. First, linearity and the effects of supporting conditions on the acoustic signals were examined. Secondly we obtained acoustic signals at points which divide the equator of the sample into 24 equal parts. These signals were displayed in a three-dimensional diagram with axes of time, location and sound intensity, and in a two-dimensional map with a gradation of 257 colors. For a more complete visual comprehension, an animation display which shows time changes of the distribution of sound intensity was presented. As a result of these analyses, it became evident that the impulse waveform of acoustic signals induced by impact was transmitted along the surface of the equator with uniform velocity. This transmission velocity became lower as the muskmelon ripened. The lower transmission velocity in the time domain agreed with the lower peak frequency in the frequency domain, both theoretically and practically. Because the wave equation suggests that the transmission velocity depends on the tensile force of the sample, the nondestructive evaluation provides a more direct index of the quality of muskmelons.

著者

玉置 久 森 正勝 荒木 光彦

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.31, no.8, pp.1185-1192, 1995-08-31 (Released:2009-03-27)

参考文献数

13

被引用文献数

18 21

---

In this paper, a method of applying the Genetic Algorithm (GA) to multi-criteria optimization problems is proposed. First, the reproduction operator in GA is made so that the selection is performed in parallel according to each criterion and, at the same time, the Pareto-optimal solutions are always reproduced if such appear in the population. Then, through computational experiments, it is shown that not only one of the Pareto-optimal solutions of a problem but a set of such solutions is obtained by a single run of the proposed method.

著者

Kiminao KOGISO Makoto NOGUCHI Kazuyoshi HATADA Naoki KIDA Naofumi HIRADE Kenji SUGIMOTO

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.3, no.4, pp.229-236, 2010 (Released:2011-11-18)

参考文献数

20

被引用文献数

1 1

---

This paper presents some experimental validation results of an already-proposed switching control method for simultaneous achievement of collision avoidance and tracking control for a vehicle in a non-cooperative situation. To validate the method, an experimental control system is made, in which the vehicle is a toy model car possible to remotely control via infrared ray and a camera is used to measure the vehicle's state. After presenting the constructed control system, the effectiveness of the method is investigated with the results obtained from the several control experiments.

著者

礒川 悌次郎 松井 伸之 西村 治彦

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.35, no.11, pp.1462-1468, 1999-11-30 (Released:2009-03-27)

参考文献数

8

被引用文献数

1 1

---

Genetic Algorithm is well-known as the optimizing algorithm taken after evolutionary strategy, and widely used for engineering problems that occur when designing a system by its self-organizing phenomenon. It is based on Neo-Darwinism, that is, the theory that individuals with advantageous characters to the given environment increase and individuals with disadvantageous ones decrease when mutation occurs in genetic characters in a population. In Genetic Algorithm, there is a premise that all the genetic characters in an organism have some meanings of adaptation. In the natural organisms, however, there are a number of neutral mutations, which is neither advantageous nor disadvantageous to their adaptation. This fact suggests that there is a new possibility of genetic mechanism in designing evolutionary systems. This is the framework motivated by the neutral theory of molecular evolution, which is different from the conventional design based on Neo-Darwinian Genetic Algorithm. In the neutral theory, some genetic characters in an individual are not positively possessed under selection pressure (not by orthogenesis), but allowed to be fixed by chance, remaining neutral to selection pressure (by random genetic drift). This leads to the supplement of redundancy to genetic information which represents an individual, and the appearance of the diversity of genetic information in a population. In this paper, in order to investigate the above point concretely, we adopt the Ladder-Network as a simple model which makes permutation of information. When we evaluate the fitness by using only the degree of correspondence between target alignment and output one, the factor of the number of steps in the network becomes the neutral character which does not directly affect the fitness.

著者

田畑 克彦 西田 佳史 飯田 佳弘 岩井 俊昭

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.1, pp.11-19, 2012 (Released:2012-03-02)

参考文献数

13

被引用文献数

3 4

---

We propose a new navigation system for Automatic Guided Vehicles (AGV) used as a carrier in the factory. The guided marker of the navigation system is composed of ultrasonic transducers instead of the traditional markers such as electromagnetic tape, light reflective tape and so on. The proposed system is available to be used not only indoors but also outdoors and adaptable to a temporary route. The ultrasonic sensor is generically susceptible to noise, so that we make the following propositions. First, a phased array of the ultrasonic sensors is employed in searching a land marker to improve the signal-to-noise ratio. Second, the specific ID with 7bits is assigned as the land marker to avoid the system errors ascribable to an ultrasonic interference. In addition, the proposed system is quite compact in virtue of the embedded technology of a microcomputer and Field Programmable Gate Array (FPGA). This paper reports the development of the proto-type system of navigation system and confirmation of its fundamental performances.

著者

丸茂 喜高 鈴木 宏典 片山 硬

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.10, pp.614-621, 2012 (Released:2012-11-29)

参考文献数

13

被引用文献数

2 3

---

This study proposes an idea that encourages driver's motivation to drive altruistically. We focus on an existing intersection that disturbs the throughput of upstream vehicles by right-turn vehicles waiting a gap acceptance to turn right. We investigated some scenarios that oncoming thru traffic mandatorily give a right-of-way to the right-turn vehicles to make enough time-gap for right turning. Here, it is assumed that the effects of giving a right-of-way to the right-turn vehicles are provided to a driver of approaching thru vehicle via onboard indicator. A verified traffic simulator examines the effects of prioritizing behavior on traffic flow. Numerical analysis showed that the traffic throughout in congested states was gradually improved when prioritized right-turn vehicles increases. Also, penetration of the prior right-turn vehicles is effective to mitigate not only the collision risk at the intersection but also the total CO2 emission over the arterial road.

著者

Shingo ABE Yohei TANAKA Yukako UCHIDA Shinichi HORATA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.11, no.4, pp.372-379, 2018 (Released:2018-07-31)

参考文献数

21

被引用文献数

10

---

In industrial control system (ICS) network, communication is often conducted using custom protocols. Methods for analysis and protection from cyber threats that are specific to ICS network need to be discussed in line with each device and system specification. In this research, the honeypot technology, which is already practiced in IT networks, was further improved for ICS networks so that it responds to packets reaching the honeypots and even conducts counter-scan to collect information of the attack method and its sources. It has been already presented that machines infected with some known malware (e.g. Havex RAT) in ICS networks conduct scan activities against certain devices. For this type of attack, interaction honeypot is considered effective in identifying infected devices out of such scans. In the simulation based on Modbus Stager, which affects programmable logic controller (PLC) operation and connected PCs, the suggested interaction honeypot, namely “traceback honeypot system (THS)” successfully collected payload that is actually sent in the attacks by emulating responses to commands on Modbus protocols. Information obtained from THS-based observation can be used for proactive purposes as in separating infected devices from the operating network and restricting access to certain devices to prevent further infection in the ICS network. This paper discusses methods of tracking attack sources using the THS and preventing further infection within the network based on the search result.

著者

大野 二郎

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.14, no.3, pp.283-290, 1978-06-30 (Released:2009-03-27)

参考文献数

20

被引用文献数

3 2

---

To estimate the accuracy of the optical thermometry, data for emissivities are indispensable. Recently the reliability of the optical thermometry instruments has increased, as seen in the steel making processes. In these processes the near-infrared wavelength is commonly used for detection of the temperature of a radiating surface. But there are little studies about the emissivity of Fe in this wavelength region. In this paper the temperature dependence of spectral emissivity of Fe and related transition metals are studied experimentally and theoretically.The analysis of temperature dependence may clarify the fundamental properties of the emissivity of metals. For example it is observed that the emissivity of Au increases with temperature both in the visible and infrared regions. In the visible region the increase in emissivity can be explained by a shift of the optical absorption edge of a bound electron and in the infrared region the increase is explained by a change in electrical conductivity.The emissivity of transition metals such as Fe in the near-infrared region is affected doubly by the dispersion of bound electrons and by that of free electrons. To analyse this property, the author introduced a classical Drude-Lorentz dispersion model, based on the following study.By the analysis of total emissivity, it is proved that the ratio λτ/σ in the Drude model is independent of temperature difference, where λτ is the characteristic wavelength and σ is the static optical conductivity.By the measurement in the visible region, it is found that emissivities are proportional to λ-2, Where λ is the wavelength. This property is similar to the reflectivity spectrum obtained by the Lorentz dispersion model. This may justify the adoption of Lorentz model to calculate the emissivity of metals.The most interesting phenomenon of the emissivity in the near-infrared region is the presence of so called “X point”, or zero temperature coefficient, which is reported by many researchers. This phenomenon is recognized as the essential property of the emissivity of metals. By using Drude-Lorentz model, the X point can be interpreted as follows:Under the constraint of the dispersion parameters (Ki>10, λτ/σ=constant), Lorentz dispersion acts on the emissivity in the visible region and Drude dispersion acts on it in the infrared region separately. The boundary of these two dispersion models appears in the near infrared region, and in this region, the emissivity is little affected by changing the dispersion parameters, or the minimum temperature variation occurs.Thus it is concluded that the essential characteristics of emissivity for transition metals is not the presence of the X point, but the week-interaction between the Drude dispersion term and Lorentz dispersion term. It is clarified that the temperature variations for the observed emissivities of transition metals could be closely agreed from the visible to infrared wavelength regions with the Drude-Lorentz model.

著者

松井 俊浩

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 = Journal of the Society of Instrument and Control Engineers (ISSN:04534662)

巻号頁・発行日

vol.43, no.1, pp.10-14, 2004-01-10

被引用文献数

1

著者

岡島 寛 浅井 徹 川路 茂保

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.44, no.7, pp.566-574, 2008-07-31 (Released:2013-02-25)

参考文献数

21

被引用文献数

5

---

Path following control problem has been treated in recent years. In past studies, the velocity of the plant is considered as constant value. However, the velocity of the plant must be controlled so as to reduce traveling time. In this paper, velocity control in path following problem is discussed by using optimal control. Since reaching time from the start point to the terminal point is used as a cost, we can obtain good acceleration and deceleration input. Since constraints of path following are included in the optimal control problem, we can achieve not only optimization of the cost but also path following. The effectiveness of the proposed method is examined by numerical examples with a path of non-constant curvature.

著者

塚越 秀行 佐々木 正志 北川 能 田中 崇裕

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.40, no.8, pp.859-866, 2004-08-31 (Released:2009-03-27)

参考文献数

15

被引用文献数

1 5

---

This paper describes the numerical analysis and design for a higher jumping rescue robot using a pneumatic cylinder. First, the basic equations for jumping are derived and the simulation is performed. Then, the relationship between the jumping height and the pressure-receiving area of the cylinder is considered when the volume or the stroke of the cylinder is kept constant. This allows calculation of the optimal cross sectional area. In addition, the jumping height is also affected by the weight ratio between the rod and the cylinder tube. Based on these results, a robot equipped with a cylinder of the appropriate dimensions controlled by a well-selected valve is reengineered and demonstrated. Experimental results show that the improved robot can jump considerably higher than the former design with the same energy efficiency, as shown in the following video. http://www.cm.ctrl.titech.ac.jp/study/jump/home.html.

著者

金森 務 片寄 春弘 志村 哲 井口 征士

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.33, no.8, pp.735-742, 1997-08-31 (Released:2009-03-27)

参考文献数

8

被引用文献数

2 1

---

Recently a field called interactive art, where performers control multimedia interactively, has been established and new musical instruments called hyper instruments have been developed. Most of hyper instruments are focussed on western musical instruments which have been given much attention to standardization. The number of hyper instruments regarding traditional musical instruments is small due to difficulty in realizing measurement of motions or gestures which are closely related with musical expression. This paper describes Cyber-Shakuhachi, a hyper instrument for the shakuhachi. First, we sum up gesture and motion which affect expression of shakuhachi performance. Next, we describe implementation of sensors for the Cyber-Shakuhachi. We are examining the validity of the Cyber-Shakuhachi through the production of the works of computer music. The Cyber-Shakuhachi got evaluation that it contributes to the creativity through the interactive search of new expression.

著者

青野 俊宏 小渡 武彦

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.38, no.10, pp.892-898, 2002-10-31 (Released:2009-03-27)

参考文献数

4

---

A throttle-control algorithm that compensates for the delay in manifold filling is proposed. This algorithm takes into account the control characteristics of an electronic-throttle-control actuator and improves the engine output response. The performance of the-algorithm was evaluated in terms of the rising time of manifold pressure and the time needed for switching control. The results showed that the rising time and the time needed for switching control were less than 100ms.

著者

Noriko SUZUKI Haruka SHODA Rina MATSUBAYASHI Mamiko SAKATA

出版者

The Society of Instrument and Control Engineers

雑誌

SICE Journal of Control, Measurement, and System Integration (ISSN:18824889)

巻号頁・発行日

vol.11, no.3, pp.263-269, 2018 (Released:2018-05-31)

参考文献数

41

---

This paper investigates the effect of a hearer's attitude toward a speaker's multimodal behaviors. Twenty-one university students, nine males and twelve females, participated in this experiment as speakers. Two females, aged 22 years old, performed in the role of hearers. The experiment was carried out under two conditions regarding the hearer's attitude: polite and impolite conditions. The polite hearer nodded, produced back-channel response, and gazed at the speaker, while the impolite hearer did these actions to a lesser extent. Under each condition, the speakers talked about their own experiences to the two different hearers through a within-participants design. The speech, gaze, and body motion of speakers were recorded with a video camera. In addition, the communication skills of speakers, including expressivity, sensitivity, regulation, assertiveness, and responsiveness skills, were measured after the experiment. The speakers' silent pauses, filled pauses, gaze aversion, and representational gestures were compared between the hearers' two politeness conditions. The relationship between the multimodal behaviors and the speakers' communication skills was also analyzed. The results suggest that the speakers' silent pauses, filled pauses, and gaze aversion decreased in the polite hearer condition, while representational gestures increased. From the communication-skills test, the speakers with higher expressivity, sensitivity, and regulation skills but lower assertiveness and responsiveness skills show longer silent pauses under the impolite hearer condition. Moreover, we discuss how the implications of our findings can enhance the relationship between social robots and people.

著者

小坂 洋明 渡辺 嘉二郎 永岡 秀一

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.31, no.11, pp.1880-1888, 1995-11-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

3 1

---

A comfortable man-machine interfaces are required for current advanced systems. Keyboard switches as one of the most frequently used man-machine interfaces should provide comfortable feeling for operation. This paper aims at investigating the relation between reaction force of keyboard switches and human switch operation feeling.We investigate how each reaction force of switches effects to the touch feeling of keyboard switches via sensory test. We made a switch that is assisted by a servo mechanism and can generate arbitrary reaction force characteristics for the sensory test.The results of factor analysis for the questionnaire data obtained in the sensory test show that the most substantial factor is the feeling expressed by the words “Clear”, “Smooth”, “Stiff”, and “Clicking”.Further quantitative relations between the reaction force and feelings are obtained by regression line for the questionnaire data. This quantitative relation provides a sensory guideline for keyboard switch design.Finally, each feeling described by each word is directly evaluated by reaction forces or vice versa on dual scales. The dual scale for reaction forces and degree of feeling can be directly used for designing comfortable keyboard switch.

著者

小林 尚登 増渕 英行

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.30, no.9, pp.1123-1125, 1994-09-30

参考文献数

5

被引用文献数

1

---

This paper investigates the possibility of detecting emergency voice. We adopt wavelet transformation for pre-processing the sounds, and we use a neural network for recognizing abnormalities.

著者

黒沢 良一

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.28, no.6, pp.680-689, 1992-06-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

3 4

---

The deadbeat control, also known as, finite time settling control is supposed to be effective exclusively in sampled data controls. In 1957, O. J. M. Smith proposed Posicast control to obtain the finite time settling response to a command input for continuous control systems. He mentioned in his paper the finite time settling response to a disturbance as well. His method is, however, impractical because inverse transfer functions of controlled objects would be required.The author has found out a new controller configuration with a delay element for continuous control systems, which has the finite time settling responses both to a step command input and to a step disturbance. This new method is named Continuous deadbeat Control (CdbC) and was published.This paper describes a design of CdbC. Conditions to realize controllers based on CdbC are shown, and the following is cleared. For a high order controlled object without unstable zeros, only one delay element is required in the controller independent of functions of a command and a disturbance.

著者

等々力 正文 近谷 英昭 菊池 孝 保川 忍 金子 力

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.8, no.2, pp.164-171, 1972-04-30 (Released:2009-03-27)

参考文献数

5

---

One of the most significant problems in automatic ticket examination is to check the validity of the route written on a ticket. This problem is due to the service regulation that a passenger with a season ticket can get on or off at any station en route as many times as he likes.The problem can be divided into three subproblems; (1) coding the railways network, (2) describing the route onto the ticket and (3) checking the validity of it. The item (1) and (2) are concerned with representing the route on the ticket with as little amount of information as possible, and the item (3) is concerned with realizing the judgement function of an apparatus as simply and as inexpensively as possible.We propose a method to examine the validity of the ticket by describing the route with line-sequence codes. Two kinds of tickets are treated with one mechanism. One is a season ticket and the other is an ordinary ticket for short distance passengers.Microprogramming technique is employed for the checking circuit of the apparatus. With the same algorithm, an automatic fare adjustment is possible.The distinctive features of the proposed method are(1) to cover the nationwide network, (2) to handle two kinds of tickets with one mechanism both in automatic ticket examination and in automatic fare adjustment, (3) to cope easily with alteration and(4) to be able to utilize the same machine at different stations.