著者

平野 旭 辻 敏夫 滝口 昇 大竹 久夫

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.41, no.4, pp.351-357, 2005-04-30 (Released:2009-03-27)

参考文献数

21

被引用文献数

2 4

---

This paper proposes a new model of the membrane potential change of Paramecium for environmental stimuli. The proposed model calculates not only the membrane potential based on the Hodgkin-Huxley equation, but also the internal Ca2+ concentration in cilia that cannot be measured with the actual organism. This will be helpful to reproduce the behavior of Paramecium based on the mechanism of the actual organism. Simulation experiments demonstrate that the proposed computer model can reproduce the characteristics of the actual organism.

著者

下井 信浩

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.6, pp.577-583, 2001-06-30 (Released:2009-03-27)

参考文献数

14

被引用文献数

3 2

---

This paper is about humanitarian demining activities on anti-personnel mines, such as the problems face during mines detecting and the difficulties of conducting such activities. In present time, there are about 80 million of unmanaged ant-ipersonnel mines left in conflict ended countries throughout in the world. As result, many noncombatants die during peacetime due to the mines and a great amount of moneys is spent on mines management. Through this paper, we suggest some technical solutions on this problem.

著者

宮武 信春 森 正三 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.14, no.4, pp.385-392, 1978-08-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

1 1

---

We developed the method which recursively identify the multi-attribute utility function based on the observation data which consist of the paired comparison questions and answers. In this method, the weights (w1, w2, …, wn) of additive utility function U(a)=∑ni=1wi·ui(ai) are regarded as random variables and the gaussian sum approximation method is used to estimate the posteriori probability density function of the weights conditioned by the data of comparative judgements. In order to test the applicability of this method, we applied it to the following two examples, (1) estimation of the value of time, (2) evaluation of the psychological burden of trip route.

著者

三宮 信夫 島田 亮 中峯 浩

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.2, pp.211-219, 1993-02-28 (Released:2009-03-27)

参考文献数

10

被引用文献数

13 9

---

The autonomous decentralized system is a system whose functional order is generated only by cooperative interactions among its subsystems. In other words, the system does not have any supervisor for the entire system. Instead, each subsystem has the autonomy to control each part of the system. But, that system has not been realized yet as an artificial. Fortunately, there are many examples of the autonomous decentralized system in the biological and ecological world. In this paper, we consider a fish school as an autonomous decentralized system. The schooling mechanism of a fish behavior is studied by using modeling and simulation techniques.A water tank experiment was carried out to obtain an observation data for fish behavior and to know a special feature of a school. The unknown parameters included in the model were estimated by using a water tank experiment data. The relationship between the information obtained by each individual and the state of school was investigated.

著者

花房 秀郎 浅田 春比古

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.12, no.5, pp.536-542, 1976-10-30 (Released:2009-03-27)

参考文献数

4

被引用文献数

1 2

---

It is desired that artificial fingers can grip various objects with a gripping suitable to their shapes. In this paper, we discuss the matching between the structure of artificial fingers and the shapes of objects. The gripping by a robot is regarded as the restriction of the objects by the fingers. The forces acting on the objects should be balanced for the gripping.First the finger forces depending on the structure of the artificial fingers and the shape of an object are analyzed. Second by introducing the potential function the stability of a gripping form is discussed. When the potential is relative minimum at a certain gripping form, the resultant of all the finger forces acts so as to keep the gripping for all of small deviations. The defined potential can be applied to decide the optimal gripping form and the design of an universal gripper.

著者

木下 源一郎 高瀬 国克 森 政弘

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.7, no.1, pp.25-30, 1971-02-28 (Released:2009-03-27)

参考文献数

9

---

This paper proposes an artificial-tactile pattern recognition which is composed of the recognition by touching the object surface with the artificial-tactile sense and the recognition by grasping the object with the artificial-hand.The hint of this proposition was found in the function of the tactile sense of a human hand.The fundermental principle of the artificial-tactile pattern recognition is to process a stress distribution that the unknown object produces in the artificial-tactile sense elements.In the proposed method, the 3-dimensional stress distribution is partitioned into the 2-dimensional peripheral pattern and the threshold decrement by an analogy with the threshold phenomena in the living body. The object surface is recognized as a sequence of the peripheral processing at each threshold decrement.A simple experiment classifying cylinders and square pillars was performed by the artificialhand with on-off switches instead of the presure sense elements. As the result, a high reliability of recognition is obtained.

著者

中村 仁彦 花房 秀郎

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.21, no.5, pp.501-507, 1985-05-30 (Released:2009-03-27)

参考文献数

20

被引用文献数

3 4

---

In this paper, the optimal redundancy utilization of articulated robot arms is discussed. Concerning redundancy utilization of robot arms, the momentary optimal control scheme has been proposed so far, where the null spaces of Jacobian matrices are made optimal use of instantaneously. However, it is not enough when the exact optimality covering the full working time is required. For examples, the energy saving motion is required for robot manipulators of space use. The successful motion may not be always obtained for obstacle avoidance problem in the working space with complicated obstacles, if we apply the momentary optimal control scheme.The globally optimal control scheme of redundancy is formulated based on Maximum Principle. By applying this scheme, the optimal solution is necessarily obtained, if it exists. And the amount of computation is reduced to one dimensional search for the minimum value when the degree of redundancy is equal to one.

著者

梅谷 陽二 伊能 教夫

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.1, pp.133-138, 1981-02-28 (Released:2009-03-27)

参考文献数

9

被引用文献数

1 2

---

Peristalsis can generally be seen in the digestive organs of animals, and serves various purposes such as transporting or mixing the contents of the digestive tracts. Although this peristaltic movement has been studied by many physiologists, its neural controlling mechanisms have not yet been made clear.This paper describes a biomechanical study on the peristaltic transport mechanism of gastrointestines. First of all, referring to the physiological knowledge established so far, the authors made an assumption about the structure of a neural network which should exist in the intestine itself to control a peristaltic motion (as shown in Fig. 2). Secondly, in order to examine the functional property of receptors, a simulation was carried out on a digital computer, and it was found that the receptors had to hold such a property as are responding to the inside pressure caused by the stuffed contents to be transported. Finally, referring to the above mentioned results a mechanical model for peristalsis was made, and its performances of simulation was examined. It resulted that this model expressed physiological phenomena on the intestinal movement very well, and was able to transport solid stuffs in the various shape.Thus the authors believe that the neural network model proposed by them is valid and represents a principal a neural controlling mechanism to transport contents in the intestine.

著者

竹茂 求 那須 潜思 佐々木 正明 高田 稔 鹿股 昭雄 小川 廣幸

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.6, pp.521-527, 2003-06-30 (Released:2009-03-27)

参考文献数

6

---

As an improved methodology for rapidly enumerating viable bacteria, microbial colonies in agar media are observed in the microscopic fashion at regular rate from the initial stage of culturing while media plate is being incubated. At each sampling time, in order to observe colonies in various depths without focusing on any of them, an agar plate is irradiated by a point light source to project the clear shadow of colonies onto the CCD image sensor. The projected image is processed with a computer to detect the colonies automatically. As the result of the experiment with E. coli, the number of colonies had reached to the plateau after six hours of incubation and the enumeration process was completed.

著者

長谷川 律雄

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.11, pp.1160-1162, 2004-11-30 (Released:2009-03-27)

参考文献数

15

被引用文献数

1

---

The differential equation which represents the relation between rotation and angular rate is called kinematic equation. Direction cosine matrix is considered the standard model for rotation. So, each rotation representation can be connected with direction cosine matrix. This paper shows general method deriving kinematic equations for rotation representations using direction cosine matrix.

著者

佐野 明人 古荘 純次

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.26, no.4, pp.459-466, 1990-04-30 (Released:2009-03-27)

参考文献数

19

被引用文献数

9 18

---

A biped locomotion robot is expected to be very useful in indoor space designed for human locomotion. In order to achieve a smooth dynamic walking like a human being, it is very important to control a quantity which can represent the state of the biped system as a whole. In regard to biped locomotion systems, an angular momentum of the whole system can be considered as a good index, since it is a stable quantity, as seen from ‘the law of the conservation of angular momentum.’ A control method divided the walking into motions in the sagittal plane and in the lateral plane is adopted. For motion in the sagittal plane, we put the angular momentum close to the smooth reference function given in advance by controlling the ankle torque of supporting leg. For motion in the lateral plane, we treated the motion control as a regulator problem with two equilibrium states. The effectiveness of the proposed control method was examined by the experiments with our walking robot BLR-G2. The BLR-G2 achieved three-dimensional walking where the walking speed is 0.35m/s with stride length 35cm.

著者

乾口 雅弘 白井 正志 坂和 正敏

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.6, pp.720-728, 1994-06-30 (Released:2009-03-27)

参考文献数

17

被引用文献数

1

---

In this paper, the concept of stochastic dominance is introduced to Dempster-Shafer theory of evidence and several kinds of evidential dominance are proposed. In Dempster-Shafer theory of evidence, the expected utility is obtained as an interval. The seven kinds of inequalities between intervals are defined. The relationships among these seven inequalities are investigated. Using these inequalities, seven kinds of evidential dominance are defined. A necessary and sufficient condition for each evidential dominance is discussed. The usefulness of each evidential dominance is examined by a numerical simulation.

著者

浦井 隆宏

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.9, pp.659-663, 2015

著者

黎 子椰 久保 敬司 川村 貞夫

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.38, no.11, pp.915-921, 2002-11-30 (Released:2009-03-27)

参考文献数

9

被引用文献数

1 1

---

This study aims at clarifying the effects of internal force between human arms and a bicycle handle on the rotational stiffness of the bicycle handle. Rotational stiffness of the handle is determined by internal force stiffness and stiffness of human arms and body. We use the three-link model to analyze the rotational stiffness due to the internal force, and measure the rotational stiffness on level roads and slopes as a function of the internal force, Through theoretical calculation and experimental results, it is reveraled that the stiffness due to internal force is significantly large in comparison with the stiffness due to the muscle conrraction of arms and body. Moreover, the effective way to generate rotational stiffness of a bicycle handle by using internal force is proposed in this paper.

著者

羽生 能行 牧川 方昭 石原 謙

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.5, pp.628-636, 1996-05-31 (Released:2009-03-27)

参考文献数

19

---

In this paper, we have tried to measure physiological responses under mental stress in some daily scenes with a portable digital biosignal memory device. The aim of this study is to search for the method to evaluate objectively the mental stress in daily life. Here we chose the heart rate and the respiratory rate as non-invasive measuring objects and have developed an ambulatory mental stress monitoring system. Daily life stress scenes used here was the graduation thesis presentation, an unexpected police checkup during a car driving and the getting on a roller coaster, and in addition the calculation experiment under the laboratory was done for the comparison with other previous results reported.As a result, the heart rate and the respiratory rate were getting higher, and the respiration was getting irregular under strong mental stress, that is, getting on a jet coaster, presenting a graduation thesis, and a police checkup while driving. Under weak stress, like the calculation in the laboratory and the car driving, the respiratory rate was getting higher and irregular, but the heart rate wasn't remarkably high. From these results, it was suggested that the heart rate, the respiratory rate, and the respiratory irregularity are effective to evaluate the mental stress in daily life.

著者

土井 智晴 笹原 龍樹 三藤 大地 玉利 寿靖 金田 忠裕 梅本 敏孝 葭谷 安正

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.12, pp.1005-1012, 2005

---

Interest has grown in the potential application of robot technology at accident and disaster sites where there exists the possibility of secondary disasters, and much effort is being channeled into research in this area. Yet, much of this effort has been directed at advanced, expensive robot technologies. We have been looking at ways of realizing a readily applicable robot technology for such disaster sites, and propose a relatively low-cost rescue robot with simple, intuitive operation, that does not require power supply lines. We report on a simple search device based on a human-powered generator, an improved version of an earlier device using a direct mechanical drive for mobility.

著者

細川 民樹 山下 裕 島 公脩

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.467-473, 1990-04-30 (Released:2009-03-27)

参考文献数

9

---

In this paper, we study the stabilization problem of a spacecraft with three independent torque actuators via state feedback. We describe its attitude with the quaternion q_??_(q1, q2, q3, q4), ||q||2_??_q12+q22+q32+q42=1, instead of the rotation matrix R∈SO(3), which is known to have the manifold structure. The purpose of this paper is to derive a global static feedback law such that quaternion q converges to (0, 0, 0, 1).First of all, we cover the manifold SO(3) with four local co-ordinates A: (q1, q2, q3), B: (q1, q2, q4-1), C: (q1, q2, q4-1), D: (q2, q3, q4-1). And, by means of the nonlinear control theory, we obtain four local control laws u=uA(x), u=uB(x), u=uC(x), u=uD(x) corresponding to them. But, each control law has singular points where the inputs diverge. If we adopt an idea that the control laws are switched according to the value of the quaternion in order to avoid the problem of the singular points, the control inputs are not smooth at the switching point. So, we synthesize a new control law u=q42uA+q32uB+q22uC+q12uD from local control laws. The new control law, of which each term is equal to zero at the singular points, is smooth and gives globally stable closed-loop system. Furthermore, its structure is much simpler than four local control laws. This method is applicable to both gas-jet actuators and reaction wheel actuators. The control law for gas-jet actuators is the special case of the control law derived in Ref. 5).

著者

岡本 裕幸 山田 勝紀 米澤 洋

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.6, pp.620-625, 1990-06-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

1 2

---

An Image Processing System (IPS) for an automatic Surface Plate (SP) scraper system has been studied. First, the SP was took a red lead print, then the IPS made two images of the SP using a monochromatic ITV camera. One image was photographed through a blue filter glass, another was photographed through an orange filter glass. Secondly, values of densities of the image was subtracted from another. And the subtracted image was binalized at a threshold level which was determined by the new preprocess and OTSU method. Thus the red lead area was separated with a base area of the SP. Thirdly, the IPS calculated positions to be scrape in consideration of characteristics of a scrape unit and a robot control system.Before introduction of the IPS, it took 3 days to determine the scrape positions, but now it takes only 20min (max). As the IPS automatically processes all jobs except photographing, a beginner can treat the IPS.

著者

村田 忠彦 石渕 久生 田中 英夫

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.31, no.5, pp.583-590, 1995-05-31 (Released:2009-03-27)

参考文献数

17

被引用文献数

3 2

---

In this paper, we apply a genetic algorithm to flowshop scheduling problems and examine two hybridizations of a genetic algorithm with other search algorithms. We also propose a genetic algorithm for multi-objective optimization problems. First we examine various genetic operators for the flowshop scheduling problem for minimizing the makespan. By computer simulations, we show that a two-point crossover and a shift change mutation are effective for this problem. Next we compare the genetic algorithm with other search algorithms such as local search, taboo search and simulated annealing. By computer simulations, it is shown that the genetic algorithm is a bit inferior to the others. In order to improve the performance of the genetic algorithm, we examine the hybridization of the genetic algorithm with other search algorithms. Finally, we propose a selection operator and an elitist strategy of the genetic algorithm for multi-objective problems. The high performance of our multi-objective genetic algorithm is demonstrated by computer simulations.

著者

渡辺 桂吾

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.1106-1113, 1995-08-31 (Released:2009-03-27)

参考文献数

16

被引用文献数

1 3

---

The functional reasoning and the simplified reasoning, which are special cases of the so-called min-max-centroidal method, have been applied to construct a fuzzy controller or to model a system. It is not necessary known, however, for control engineers to rationally and easily design the conclusion part or any parameters in the conclusion part. In this paper, a new fuzzy reasoning is proposed so that the conclusion consists of a function of mean-values on each membership function in the antecedent. It is then shown that any parameters except for the mean-values in the conclusion can be rationally and easily designed as a slope of stable switching plane (or line) which is basically independent of the control rule, if the conclusion is formally regarded as a VSS (variable structure system) controller with the meanvalues in the antecedent as states. Thus, the laber required for designing the conclusion part can be reduced drastically by using the proposed method, compared with the traditional methods. The effectiveness of the proposed method is illustrated by simulating a fuzzy controller with two inputs-single output reasoning or a fuzzy controller with three inputs-single output reasoning.