著者

渡辺 嘉二郎 芹沢 一雅

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.2, pp.208-215, 1994-02-28 (Released:2009-03-27)

参考文献数

10

被引用文献数

2 4

---

People sometimes recognize a system which is of a high grade by both the feel and/or sound of it's keyboard switches when pushed. A keyboard whose switches when pressed, have a feeling that is neither too nor too light, and which also convey a clear confirmation of switching makes a computer.We focus on the man-machine interface of the keyboard and investigate the human feelings of touch and push as the engineering matter in question in order to design switches comfortable to operate.First, the categories (words) that can quantitatively characterize the switch pushing feeling were selected. Next, the sensory tests by questionnaire using these categories were carried out to acquire sensory data that relate both the feeling and the switch's physical characteristic. Finally, the artificial neural networks to store the sensory data were trained. The pattern of the touching feeling degrees expressed by the categories is used as the input data for training the patterns given by physical characteristics of switches are used as the output data.The trained artificial neural networks have the potential to select the most preferable switch and provides the physical quantities necessary to design, just by grading each item in the switch selection sheet very similar to that used in the questionnaire.

著者

守末 利弥

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.22, no.4, pp.473-475, 1986-04-30 (Released:2009-03-27)

参考文献数

6

著者

Junya TAIRA Suzanne LOW Maki SUGIMOTO Yuta SUGIURA

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.12, no.3, pp.116-123, 2019 (Released:2019-05-16)

参考文献数

30

---

We propose a system of detecting the position of a device embedded with an antenna by sensing the electrical power from a two-dimensional communication (2DC) sheet. The system obtains a characteristic power pattern at each position by sweeping the frequency of the microwave supplied to the 2DC sheet. Our system uses a machine learning technique to learn the accumulated power-pattern data to detect the position of a device. The position-detection accuracy of our system was 79.1% when the antenna was moved in 12mm intervals. In addition to detecting the position of a device, we also estimated the direction.

著者

浜松 正典 加賀谷 博昭 河野 行伸

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.8, pp.685-691, 2008-08-31 (Released:2013-02-25)

参考文献数

7

被引用文献数

6 6

---

Recently, maritime works, such as ocean observation or cable laying works, become efficient with the dynamic positioning control of the vessels. The conventional PID control is still useful but the performance is not enough for precise positioning or multiple waypoints tracking. In this paper, we present the application of real-time nonlinear Receding Horizon control for route tracking problem and control allocation problem for vessels equipped with azimuth thrusters. The performance and usefulness of the proposed method is verified with the actual cable laying works.

著者

宮崎 文夫 有本 卓

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.4, pp.428-433, 1978-08-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

6 7

---

Biped locomotion is a type of movement in which the mover makes use of the gravity skillfully. The purpose of this paper is to investigate the dynamics of biped locomotion from the viewpoint of both classical mechanics and modern control theory. To this end, a mathematical model with moderate degrees of freedom is proposed, which is derived as a model of five-link locomotion expressing the essence of human biped locomotion. The structural features of the model are discussed from the viewpoint of freedom of dynamics and controllability. It is then shown that some specific dynamical features of the locomotion model can be characterized in terms of angular momentum. It is finally shown that the ‘gait stability’, which is a special type of stability inherent to biped locomotion, is realized by a proposed control which satisfies the final condition of a swinging leg.

著者

岡島 寛 松永 信智 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.45, no.3, pp.153-159, 2009 (Released:2011-11-03)

参考文献数

16

被引用文献数

2 2

---

Electric automobiles with four in-wheel moters have been developed in recent year. By using dynamic differential force between wheels, lateral motion of the automobile can be controlled with yaw moment. This framework is known as “Direct Yaw-moment Control (DYC)”. In many previous works of DYC methods, yaw-moment is used for increasing the stability. However, maneuverability has not been discussed. In this paper, a novel DYC controller is proposed that gives the neutral steering, where neutral steering is a good evaluation index of maneuverability of automobiles. The proposed controller is derived based on the output zeroing control. The effectiveness of proposed method is shown by numerical example.

著者

入部 正継 白旗 晃規廣 喜多 洋允 佐々重 陽祐 太才 遼一

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.47, no.3, pp.173-179, 2011 (Released:2011-12-19)

参考文献数

11

被引用文献数

1

---

In this paper we propose a new type educational program for Mechatronics design which contributes to develop the physical sense and problem solving ability of the students who study Mechatronics design. For this program we provide a new handicraft kit of 4-wheeled car which is composed of inexpensive and commonplace parts, and the performance of the assembled 4-wheeled car is sensitive to its assembly arrangement. And then we implemented this program with the handicraft kit to the university freshmen, and verified its effectiveness, and report the results of the program.

著者

原 裕一郎 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.19, no.7, pp.551-556, 1983-07-30 (Released:2009-03-27)

参考文献数

6

被引用文献数

1 1

---

In harmonic analysis of periodic wave, the discontinuity at the boundary of observation interval increases the spectral leakage. Several temporal windows have been developed to improve the spectral resolution. In Fourier transformation, input signal is transformed into complex data consisting of amplitude and phase. This paper describes the phase transmission characteristics of temporal windows. The phase preservability that the phase of input sinusoidal wave is preserved in peak component, can be improved by applying the windows. Phase error caused by the other harmonics depends on the amplitude transmission characteristics of windows, especially on their band-width. The spectral peak moves from n-th bin to (n+1)-th bin with the increase of input frequency. The frequency, at which the peak is shifted from n to n+1, becomes close to n+0.5 through temporal windows. Experiments of pitch-frequency detection using phase compensation method show that Hanning window and Cos window are more desirable than the others.As a result, the temporal window improves the phase transmission characteristics.

著者

坂東 麻衣 大須賀 公一 藤井 隆雄 山川 宏

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.7, pp.431-440, 2012 (Released:2012-08-16)

参考文献数

16

被引用文献数

1

---

If two bodies move in circular orbits about their common centre of mass and the mass of the third body is too small to affect the motion of the other two bodies, the problem of the motion of the third body is called circular restricted three-body problem (CR3BP). This system has five equilibrium points which is known as Lagrangian points. Among five equilibrium points, L4 and L5 Lagrangian points are stable while L1, L2 and L3 are unstable. In this paper, we consider the motion in the vicinity of the L4,5 Lagrangian points where the implicit control structure provides an insight into the control structure underlying the problem.

著者

〓 錦華 大山 恭弘 小林 裕之 忻 欣

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.41, no.10, pp.797-802, 2005-10-31 (Released:2009-03-27)

参考文献数

17

被引用文献数

2 2

---

This paper presents a new method of improving the disturbance rejection performance of a servo system by estimating an equivalent input disturbance. First, the concept of equivalent input disturbance is defined. Next, the configuration of an improved servo system employing the new disturbance estimation method is described. Then, a method of designing a control law employing the disturbance estimate is explained. Finally, the positioning control of a two-finger robot hand is used to demonstrate the validity of the method.

著者

嶋田 智 西原 元久 山田 一二 田辺 正則 内山 薫

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.20, no.10, pp.946-951, 1984-10-30 (Released:2009-03-27)

参考文献数

10

---

This paper describes an analysis of the temperature characteristic of piezoresistive semiconductor pressure sensors and its improvement. In this analysis the non-linear temperature dependence of thermal expansion of silicon is considered to calculate the thermal stress in the silicon diaphragm. The temperature characteristic of the sensor is then calculated considering the non-linearity of piezoresistive coefficients for temperature. This analysis reveals that the temperature characteristic strongly depends on the difference in thermal expansion between the silicon diaphragm and its mounting die. The appropriate dimension of the mounting die which minimizes this thermal stress is calculated and a trial pressure sensor is manufactured. The trial pressure sensor with a compensating circuit consisting of thermisters and resisters shows a good temperature characteristic; the zero point change and the span change are less than±1% for temperature range -40∼120°C.

著者

矢野 賢一 大原 瑛一 堀畑 聡 青木 隆明 西本 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.45, no.12, pp.638-645, 2009 (Released:2011-11-03)

参考文献数

9

被引用文献数

5 9

---

A robot that supports independent living by assisting with eating and other activities which use the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. The proposed system using adaptive filter estimates tremor frequencies with a time-varying property and individual differences online. In this study, the estimated frequency is used to adjusting the tremor suppression filter which insulates the voluntary motion signal from the sensor signal containing tremor components. These system are integrated into the control system of the Meal-Assist Robot. As a result, the developed system makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.

著者

平田 光男 劉 康志 美多 勉 山口 高司

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.29, no.1, pp.71-77, 1993-01-31 (Released:2009-03-27)

参考文献数

6

被引用文献数

13 18

---

The purpose of the head positioning control of hard disk drives is to move the magnetic head onto the desired track swiftly and to keep it on track precisely against various disturbances and plant uncertainty at high frequency. In this paper, we apply H∞ control to the head positioning of hard disk drives. The advantage of H∞ control is that it yields robust feedback system and the trade-off between various specs is easily incorporated into the design. Further, to obtain a good transient response, we adopt the two-degree freedom control scheme. Experimental results are presented to demonstrate the control effects.

著者

Kazuaki ANDO

出版者

The Society of Instrument and Control Engineers

雑誌

Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.21, no.11, pp.1171-1176, 1985-11-30 (Released:2009-03-27)

参考文献数

7

---

Padé approximants of exp(-sT) have been widely used to realize dead-time elements. The companion form realization, however, is numerically ill behaved, if we use a high order approximant, because coefficients of lower order terms of the monic denominator polynomial become very large. In this paper, the realization based on Cauer type continued fraction expansion is shown to be well behaved. A simple method of getting coefficients of the expansion of the Padé approximant, using the continued fraction expansion of the exponential function, is proposed. By simulation, it is shown that the ballancing of the overshoot and the undershoot is attained if we choose the degree L of the mumerator smaller 2 to 5 than the degree M of the denominator, and that the rise time is inversely proportional to L+M.

著者

古田 一雄 森野 耕平

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.42, no.1, pp.90-97, 2006-01-31 (Released:2009-03-27)

参考文献数

20

被引用文献数

2 2

---

Increasing demands for participatory approaches of social decision-making is drawing people's interest on public opinion development, but mathematical models used for studying the process so far were insufficient. Dynamics and mechanism of public opinion development therefore were analyzed by multi-agent simulation, which is now a promising approach for analyzing complex. social systems. A simulation model was proposed based on a_decision model that includes both effects of conformity to others and private self-consciousness. Factory that may greatly affect the process were also considered: mass media, personal variation, and bias in true or false of assertion under argument. The result of simulation provided useful insights on the process of public opinion development, e.g., the society splits-into communities of positive and negative opinions, community size increases with increasing conformity to others, and public opinion becomes one-sided by the influence of mass media or bias in true or false of assertion. These findings are both good news and warning for promotion of consensus development in society.

著者

柏尾 知明 松木 剛志 出口 幹雄 白井 みゆき 占部 弘治 栗原 義武 今井 伸明

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.50, no.4, pp.383-385, 2014

---

This paper reports development of a real-time remote control system for robots using augmented reality (AR) technology. An operator can control a robot via the Internet or LAN in real-time by using the system, obtaining an image composed of a remote web camera image and 3D virtual objects. In the paper, a transmission method of the web camera image using UDP and an application method of AR are explained and application of the system to the treasure hunter robot exhibited in Akagane Industrial Expo 2012 is presented.

著者

関本 勝也 岡部 靖憲 緒方 純俊

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.12, pp.1524-1529, 1999-12-30 (Released:2009-03-27)

参考文献数

13

---

We have analyzed the interaction of the air pollution gases concentration between neighboring places in Kitakyushu area by KM2O-Langevin equations theorem, which provides the causality between different time series. From the analyses on SO2, NO2 and NO gases concentrations on 100 hours basis from 1980 to 1986, we have recognized a strong causality on SO2 in 1980 and 1986, but not noticiable in other cases. We have also recognized a moderate causality on NO2 in 1986.

著者

渡辺 亮 内田 健康 藤田 政之

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.7, pp.861-868, 1999-07-30 (Released:2009-03-27)

参考文献数

22

被引用文献数

3 4

---

The actual control systems possess some kind of restrictions on the control inputs like saturation, rate limit, and so on. It is known that these restrictions usually cause the large overshoot of the controlled variables for step reference signals. This overshoot phenomenon is called the windup phenomenon. Though the windup phenomenon crucially causes the undesirable performance of the actual control systems, formulation of the windup phenomenon from a control-theoretical point of view has not been proposed yet.In this paper, we characterize the windup phenomenon via output reachable sets and propose analysis technique for the windup based on reachable set analysis. Then we propose a new framework for anti-windup technique and characterize its anti-windup performance via output reachable sets. We also propose analysis technique for anti-windup performance based on reachable set analysis.

著者

山本 広樹 青島 伸治

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.39, no.11, pp.993-1001, 2003 (Released:2009-03-27)

参考文献数

12

---

In this paper, we propose evaluation indices for grasping the characteristics of measurement signals from three axis sensors. Those evaluation indices are based on signal representation of quaternion and spectral analysis on the form. And, those are led by linking the coefficients of such spectra and the concept of the periodic motion on elliptic orbit in quaternion space. To show the benefit of the method in future use, an model experiment processing the three axis acceleration measurement data, which were recorded by originally developed sensor ball, were carried out. Then, the indices were calculated with the acceleration data given in such manner. As the result, comparing to the complex spectra at each axis, our evaluation indices have some advantages at the point of quick observation and recognition of three dimensional dynamical characteristics. Although the data processing based on quaternion has been widely used among the field of computer graphics or attitude control system of artificial satellite, a few attention are paid to the application for the signal processing of three dimensional measurement signal. On the other hand, in the field of the diagnostics with vibration such as of rotating machine, the spectral analysis which can observe a phase relation between multiple axis may become to be in great demand. So that, our evaluation indices will be a useful mean under such situation.

著者

Keisuke KUNIYOSHI Setsuya KURAHASHI

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.10, no.6, pp.520-527, 2017 (Released:2017-12-17)

参考文献数

22

被引用文献数

4

---

In this research, a novel teaching simulation model is proposed, in which the understanding status, knowledge structure, and collaborative effect of each learner are integrated through the concept of a doubly structural network model. The purpose of this research is to investigate how the leaners' understanding will be changed by various teaching styles in a classroom. The proposed model consists of students' mental models, their learning capabilities, in-class learning processes, learning material structures, and their collaborative relationships. In the simulation experiments, we analyse the learning effects of both the different teaching strategies and the seating arrangement of learners on collaborative learning effects. From the simulation analyses, we have found that: (1) the learning effects depend on the difference in teaching strategies, (2) a teaching strategy where learning skills, material structure, and collaborative learning are integrated is the most effective, (3) the seating arrangement affects collaborative learning, and (4) ability classes have adverse effects on learners in collaborative learning.