著者

山田 学 富塚 誠義

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.2, pp.99-104, 2009-02-28 (Released:2011-11-02)

参考文献数

22

被引用文献数

6 3

---

This paper considers the problem of controlling both the planar position and orientation of an underactuated airship with a reduced number of actuators. The airship is a nonholonomic system described by a set of nonlinear equations. A smooth and time-varying coordinate transformation is utilized to reduce the stabilization problem of the airship to that of a simple linear time-invariant system. A new feedback controller is presented for obtaining global exponential stabilization of both the position and orientation of an underactuated airship. The proposed design method is simple and straightforward. Some flight experiments are performed to validate the effectiveness of the proposed controller.

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

被引用文献数

4 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

原 辰次 堀 豊 金 泰亨

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.45, no.3, pp.160-167, 2009-03-31

---

This paper studies a formation stability analysis scheme of a distributed cooperative control for target-enclosing operations by multiple homogeneous dynamic agents. To this end, we first present an on-line path generator design method based on a cyclic pursuit scheme. Then, we provide the stability condition which the developed path generator should satisfy. This condition is derived based on a simple stability analysis method for hierarchical large-scale linear systems with a generalized frequency variable. The formation control scheme combined with a cyclic pursuit based distributed on-line path generator satisfying the derived stability condition guarantees the required global convergence property with theoretical rigor. Further, in order to show its distinctive features clearly, we present how to analyze global formation stability for a class of multi-agent systems where each agent is modeled as a second-order system and is locally stabilized by the PID controller. A simulation example illustrates distinctive features of the proposed method and the achievement of a desired pursuit pattern.

著者

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

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

被引用文献数

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

横河電機 (株) 測定器事業部

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.29, no.1, pp.96-97, 1990

著者

川口 仁 中本 啓之 池添 明宏 佐藤 美帆 濱千代 貴大 長瀬 雅之

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.49, no.1, pp.73-77, 2013

被引用文献数

3

---

RT Middleware is useful as a framework for a robot's productivity drive. However, in advancing spread and promotion, subjects occur. They are the difficulty of introduction of technological know-hows of RT Middleware, and the little of those who can develop corresponding software. Then, we thought that we would enable it to treat RT Middleware on the Android framework who has spread widely all over the world quickly. Therefore, we developed "RTM on Android", a RT-Middleware for the Android platform. By using our "RTM on Android", you are able to develop application-RT-Components for Android easily, now.

著者

橋本 悠希 小泉 直也

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.51, no.1, pp.64-71, 2015

被引用文献数

3

---

Japan (Japanese lacquer) has many kinds of interesting characteristics. Even among them, we focus on electric non-conductance and weakness of ultraviolet rays. From these features, it is assumed that an ultraviolet laser remove Japan locally, and several layers can be connected via removed point. This hypothesis means that it is possible to build a Japan-based multilayered electronic circuit. In this paper, we explain a development method of a Japan-based electronic circuit, and report three experiments to confirm feasibility of our hypothesis. In addition, we discuss application potentiality of Japan-based electronic circuit.

著者

Franks Roger G.E. 森村 正直

出版者

THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS

雑誌

計測 (ISSN:04500024)

巻号頁・発行日

vol.9, no.6, pp.361-364, 1959

---

アナログ計算機による模擬は,も早試用の時期を脱した.多くの大企業では,新設プラントの設計や構成,現存プラントの動作の解析などの問題を解くのにアナログ模擬を慣用している.<BR>もともと,アナログ計算機は軍事研究や航空関係で発展した.航空機や誘導弾の飛行動作を方程式によって解析的に解くことができることがわかったためその価値が認められたものである.これらの方程式をプログラムに組むと,アナログ計算機は,実際の航空機の動作と同じように動作する.すなわち,アナログ計算機は,検討しようとする系の動作を模擬するわけである.開発しようとしているモデルの設計や構成についての様々な新しいアイデアは,まず計算機で調査することによって,実物に直接適用したならば起らないとは限らない損害や危険などを防ぐことができる.<BR>これと同じことは,化学工業や石油工業でもいえる.これらの工業では,新しい装置や,極めて複雑な制御系統を採用してもあまり効果がないか,むしろ危険であることがあるからである.これらの場合,系統は余りに複雑なので,起動または定常動作を考察したり計算したりすることはほとんど不可能である.しかしながら,アナログ計算機は,必要な解析的な技法がすでに完全に確立されているので,まだ設計の段階にあるうちに上のような系統の動作を模擬することができる.何種類かの系統について調査を行って最良の解を見出し,さらに,なぜ他の解が悪いかという理由を定量的に出すことができる.

著者

原 正之 樋口 貴広 藪田 哲郎

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.39, no.12, pp.1162-1164, 2003-12-31 (Released:2009-03-27)

参考文献数

5

被引用文献数

1 3

---

Perceptual illusion that is apparent in real-world environment does not result from human-error but from brain's functions that support perception. The present study demonstrated the effectiveness of our haptic interface to produce haptic illusion in virtual environment.

著者

武山 政直

出版者

The Society of Instrument and Control Engineers

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.54, no.7, pp.501-508, 2015

著者

山内 仁 小島 篤博 小枝 正直

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers (ISSN:04534654)

巻号頁・発行日

vol.47, no.2, pp.134-139, 2011-02-28

---

The Rescue Robot Contest is one of the robot contests concerning lifesaving in urban disasters. In this contest, loads of rescue dummies simulating disaster victims, and contest progression status are presented to audiences, and team members operating robots. This presentation is important for both robot activity evaluation and production effect. For these purposes, a game management system for Rescue Robot Contest is originally constructed and operated. In this system, a database system is employed as base system. And this system's role is for both recording all data and events, and real-time processing for the presentation. In this paper, design and implementation of the tables and built-in functions of the database which is foundation of this system are presented. For real-time processing, embedded functions and trigger functions are implemented. These functions generate unique latest records into specific tables which stores only latest data for quick access.

著者

谷口 忠大 高橋 佑輔

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.11, pp.571-580, 2011 (Released:2012-01-21)

参考文献数

30

被引用文献数

1 3

---

In this paper, we proposed a simple urban model including individuals' travel behavior and residential choice behavior. Multi-agent simulation framework is described. We performed several experiments to evaluate political measures which will solve problems about motorization. As a result, drastic mobility management scheme increased the number of travelers using a train, and the distribution of residences became compact. However, it also increased many agents' total costs of living because of high rent and several kinds of cost including time cost and fatigue cost to reach a station. On the other hand, raising gas price made CO2 emission less and kept total cost of living lower than the drastic mobility management measure. This suggests that to have people use train or bus by changing their attitude might be socially more expensive than to make people chose whether they use car or not under the condition that gas price is raised.

著者

梅谷 陽二 広瀬 茂男

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.10, no.4, pp.513-518, 1974-08-30 (Released:2009-03-27)

参考文献数

9

被引用文献数

1

---

It is a well-known fact in morphology that static forms of living organisms are classified into several fundamental shapes. Some of them can be described by a geometrical function. On the contrary, the posture of a moving animal has scarcely been treated in morphology, with a few exceptions. But it seems that the posture could be represented with an idealized mathematical form if the animal's behavior is conditioned and maintained in uniform and stationary surroundings. The present paper shows one such typical case, discussing the shape of a gliding snake.In this paper the gliding shape of snakes during locomotion on a flat surface in stationary straightforward movement is treated. The authors conclude that two kinds of geometrical curves, Eq. (7) and (10), represent sufficiently the shape of a gliding snake. Especially the curve derived under the assumption that the muscle will repeat contraction and relaxation cycles harmoniously during serpentine movement, which we named as the “serpenoid curve”, is shown to be remarkably similar to that of a living snake. Thus the authors believe that research on the shape of animals is useful not only to zoology but also to the biomechanics of an artificial animal-like vehicle and its designing.

著者

近藤 良 原 辰次 古田 勝久

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.11, pp.1142-1148, 1986-11-30 (Released:2009-03-27)

参考文献数

8

---

In servo systems, it is known empirically that stability margin at the error channel influences the characteristics of the response against reference command. This paper, therefore, presents a method of designing servo system, which has a certain specified stability margin at the output of servo compensator or the error channel.The relation between the stability margin at the input of plant and the one at the output of servo compensator is derived, where the state feedback law for the augmented system of plant and servo compensator is determined using the solution of a generalized Riccati equation. The stability margin at the output of servo compensator can be specified by means of this relation and an adjusting parameter for the state feedback gain, and design guidance is proposed for improving the behavior of the response for command input. It is also shown that the servo system possessing integrity at the error channel or robust stability against saturation of integrator can be designed using the conventional Riccati equation for the augmented system.

著者

柏崎 耕志 米澤 直晃 小菅 一弘 菅原 雄介 平田 泰久 遠藤 央 神林 隆 篠塚 博之 鈴木 公基 小野 右季

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.389-398, 2012 (Released:2012-08-16)

参考文献数

18

---

The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

著者

平田 光男 佐藤 隆之 劉 康志 美多 勉

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.34, no.7, pp.741-748, 1998-07-31 (Released:2009-03-27)

参考文献数

12

---

In this paper, we consider an H∞ problem with unstable weighting functions. Such weightings are used to achieve asymptotically disturbance attenuation and/or asymptotically tracking to reference input. Such problems cannot be handled by the standardH∞ control theory. To this problem, we present a necessary and sufficient condition for the existence of a solution by using Riccati inequalities. This condition needs no assumptions on the jω invariant zeros of G12 and G21.

著者

深尾 隆則 山脇 明 足立 紀彦

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.37, no.11, pp.1034-1039, 2001-11-30 (Released:2009-03-27)

参考文献数

14

---

The control technique which combines H∞ control with adaptive nonlinear control is applied to the active suspension system which is divided into two parts: a main car body part and a hydraulic actuator part. The H∞ control design is used for the body part where the frequency response property is important to improve the ride quality of the automobiles, and the adaptive nonlinear control design is used for the actuator part with the high nonlinearities and the parametric uncertainties which is required to transmit the power to the main body adequately because it gives large effects on the control result. These two design methods are combined by a modified version of backstepping which is a powerful tool for nonlinear control and adaptive control. Finally some simulation results are provided to confirm the usefulness of our method.

著者

佐藤 力 宮下 照夫

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.17, no.4, pp.518-523, 1981-07-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

4 4

---

A gyro-two-wheel vehicle was designed, realized and experimented which stably stood during not only running but also stopping. A horizon sensor, a servomoter, a perpendicular gyroscope and electronic circuits were used in order to stabilize the vehicle, whose center of gravity was located at higher position than the supporting plane. After the stability condition was derived in the corresponding differential equations, the detailed structure was shown including mechanical feature, control system and horizon sensor. Finally experimental trajectories were shown to confirm the stability of the vehicle.

著者

水野 毅 荒木 獻次

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.32, no.8, pp.1145-1151, 1996-08-31 (Released:2009-03-27)

参考文献数

10

被引用文献数

9 10

---

A new type of mass-measurement system under weightless conditions is proposed which uses a dynamic vibration absorber as a measuring device. In this system, an object to be measured is fixed to a rotating table (rotor) at a distance from the rotational axis. Since it makes the rotor unbalanced, a centrifugal force whose amplitude is proportional to the mass is generated during rotation. It works as a harmonic excitation and forces a structure supporting the table to vibrate. However, a dynamic vibration absorber attached to the structure is tuned or controlled to reduce the vibration to zero. When the structure does not move at all, the absorber mass vibrates in such a way that the product of the mass and the displacement amplitude is equal to the amount of unbalance, that is, the product of the mass to be measured and its distance from the rotational axis. Therefore, the mass of the object is determined by measuring the displacement amplitude of the absorber mass. In this study, the principles and features of the proposed mass-measurement system are investigated. Experiments are carried out with a developed apparatus having an active dynamic vibration absorber. This apparatus can perform measurement at various rotational speeds because the absorber's natural frequency can be easily tuned by a feedback parameter. Experimental results demonstrate the feasibility of the proposed mass-measurement system.

著者

熊谷 正朗 江村 超

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.37, no.11, pp.1040-1047, 2001-11-30 (Released:2009-03-27)

参考文献数

11

被引用文献数

3 4

---

The bipedal walk is a useful method for moving in human live environment. However, there are few research works on biped robots on uneven ground though adaptability to those environments is necessary for them. In this paper, the slope-walk of a biped robot based on stereo vision is described. First, a method to estimate inclination with vision is proposed. This method is based on triangulation. The robot observes the ground in front of it at a certain angle below horizon and measures distance to there with stereo vision. This distance becomes smaller on uphill slope and larger on downhill way. The vision is also used for target detection for followed-walk. The robot detects distance and direction of a target. We propose direct utilization of parallax as distant information and direct conversion from parallax to inclination. These methods provide enough accuracy for walking robot and reduce cost of calculations and calibrations. Secondly, a sensor based walk is proposed. The sequence of walk consists of two parts. One is stabilization phase that absorbs attitude-disturbances of robot caused by environment or alteration of gait. This stabilization uses attitude sensors mounted on the body. The other is stepping phase. We designed simple gaits so that it can be altered easily for slope-walk and curve-walk. The experiments using a biped robot with legs of human type degree of freedoms and a stage that provides various slopes were carried out. The accuracy of slope estimation was about ±1[deg] and the walk through undulating ground of 5[deg] downhill to 5[deg] uphill way was achieved. The results showed that our method gains adaptability of biped robots to slopes.