著者

志水 清孝 本城 仰太 山口 毅

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.8, pp.686-693, 2002-08-31 (Released:2009-03-27)

参考文献数

16

被引用文献数

2 4

---

In this paper, a new tuning method for PID control is proposed. We set the controlled system to be a controllable and observable SISO system. In the first half, we consider optimal servo problems by 2 methods. For each method, the optimal state feedback rule is obtained by the theory of optimal regulator, and the optimal poles of this closed-loop system are calculated. In the second half, we consider the problem that the poles of closed-loop system by PID control are approximated to the optimal poles as much as possible. This technique is called quasi pole placement. The problem becomes a nonlinear planning problem with some equality constraints, and solved by exterior penalty function method. Finally, the simulation results for the 5 order system are reported, and the effectiveness of this technique is demonstrated.

著者

木村 周平 松村 幸輝

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.6, pp.659-667, 2006-06-30 (Released:2009-03-27)

参考文献数

24

被引用文献数

1

---

The random number generator is one of the important components of evolutionary algorithms. Therefore, when we try to solve function optimization problems using the evolutionary algorithms, we must carefully choose a good pseudo-random number generator. In the evolutionary algorithms, the pseudo-random number generator is often used for creating uniformly distributed individuals. In this study, as the low-discrepancy sequences allow us to create individuals more uniformly than the random number sequences, we apply the low-discrepancy sequence generator, instead of the pseudo-random number generator, to the evolutionary algorithms. Since it was difficult for some evolutionary algorithms, such as binary-coded genetic algorithms, to utilize the uniformity of the sequences, the low-discrepancy sequence generator was applied to real-coded genetic algorithms. The numerical experiments show that the low-discrepancy sequence generator improves the search performances of the real-coded genetic algorithms.

著者

近野 敦 内山 勝 貴答 豊 村上 真人

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.1, pp.78-86, 1996-01-31 (Released:2009-03-27)

参考文献数

26

---

In some spatial flexible arm manipulators, the structural vibration controllability is configuration-dependent. Therefore, the flexible arm manipulator might have some vibration uncontrollable configurations. In order to understand the physical interpretation of vibration uncontrollable configurations, we propose the “modal accessibility” concept which indicates how well the actuators can affect the structural vibration modes. The configuration in which all actuators cannot affect at least one of the vibration modes of the manipulator is vibration uncontrollable. Main contributions of the paper are the following two points: First, interesting structural vibration uncontrollable configurations are found within the 2-link 3-joint type manipulator's workspace. Some of these vibration uncontrollable configurations are shown with experimental results. Secondly, the modal accessibility index is introduced to indicate how well the corresponding vibration mode is controllable. Experimental results show that even in the controllable configurations, it becomes difficult to suppress some vibration modes if their modal accessibility indices are small.

著者

谷口 充 藤本 健治

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.47, no.3, pp.141-149, 2011 (Released:2011-12-19)

参考文献数

10

被引用文献数

3

---

This paper is devoted to path following control for port-Hamiltonian systems whose desired path is time-varying. Most of the existing results on path following can only take care of time invariant paths, hence they cannot be applied to control systems whose environments change, e.g., path following control with a path crossing itself or with moving obstacle avoidance. The proposed method solves this problem by employing decoupling control of three particular directions in the phase space which allows one to assign time-varying potential functions and vector fields.

著者

渡邉 航 鈴木 翔太 加納 剛史 石黒 章夫

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.49, no.1, pp.48-53, 2013 (Released:2013-02-08)

参考文献数

11

被引用文献数

1

---

Our objective is to understand behavioral versatility of animals from the perspective of well-coordinated rhythmic and non-rhythmic movements. To this end, we focus on an ophiuroid as a simple good model living organism that exhibits self-organized role assignment of rhythmic and non-rhythmic arm movements in locomotion. Although we have reproduced such versatile arm movements by using an active rotator model that can describe both oscillatory and excitatory properties, coordination of movements has been achieved in a specifically limited situation. In order to overcome this issue, we reexamine the model so that the role assignment of arm movements is realized in more general situations. Simulation results show that the ophiuroid omnidirectional locomotion in response to an attractant or repellent stimulus is successfully realized by using the proposed model.

著者

Jürgen SCHMIDHUBER

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.48, no.1, pp.21-32, 2009-01-10 (Released:2022-06-29)

参考文献数

81

---

In this summary of previous work, I argue that data becomes temporarily interesting by itself to some self-improving, but computationally limited, subjective observer once he learns to predict or compress the data in a better way, thus making it subjectively more “beautiful.” Curiosity is the desire to create or discover more non-random, non-arbitrary, “truly novel,” regular data that allows for compression progress because its regularity was not yet known. This drive maximizes “interestingness,” the first derivative of subjective beauty or compressibility, that is, the steepness of the learning curve. It motivates exploring infants, pure mathematicians, composers, artists, dancers, comedians, yourself, and recent artificial systems.

著者

Eckhard HITZER

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.51, no.4, pp.338-350, 2012-04-10 (Released:2021-04-20)

参考文献数

25

被引用文献数

2

著者

鈴木 彰真 伊与田 健敏 宇佐美 信也 渡辺 一弘

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.46, no.7, pp.357-364, 2010 (Released:2011-11-03)

参考文献数

20

被引用文献数

2 1

---

This paper describes a real-time processing of indoor positioning system using SS (spread spectrum) ultra sonic waves. For code acquisition, it is required to obtain correlation values between the received ultra sonic signals and replica signals. Moreover a real-time processor for correlation values is indispensable part to build a positioning system for practical use. In our case, the real-time processing means that 16000 data of received signals must be processed in only 6 micro seconds (one sampling cycle time). Under such limited conditions, even if a dedicated hardware is constructed on a FPGA, a real time processing to obtain correlation values is hard to be realized without new algorithm ideas. Therefore, a real-time processing hardware utilizing the new algorithm named Stored Partial Correlation Method was developed in this paper. The paper also conducts experiments of range measurements to compare results by Stored Partial Correlation Method and ordinary off-line processing. As a result, outputs with real-time correlator have almost the same values as those with ordinary off-line processing. Furthermore, the real-time processing of correlation calculation is achieved within 5.76 micro seconds .

著者

André MARCOS Diego NAVARRO-TAPIA Pedro SIMPLÍCIO Samir BENNANI

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.59, no.3, pp.192-202, 2020-03-10 (Released:2020-03-20)

参考文献数

28

著者

Alexander HONKALA Michael SNYDER

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.61, no.8, pp.572-577, 2022-08-10 (Released:2022-08-23)

著者

田淵 敏明 古本 奈奈代 古本 博孝 岡久 俊郎

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.28, no.7, pp.854-863, 1992-07-31 (Released:2009-03-27)

参考文献数

5

---

This paper deals with the improvement of convergence rate or estimation accuracy of the estimates in ARMA parameter estimation by Recursive Pseudo Linear Regression (RPLR) method. For the improvement of the convergence rate, Fisher Information Matrix (FIM) is used as a measure of the estimation accuracy. Then the proposed estimator is constructed so as to absorb as many as possible computable part in the FIM. Using this plan gives the following two features. First, it is that the pseudo regression vector φ(t-1) instead of the true regression vector φ(t-1) is related to the filtered estimate of the state vector in a state space representation of ARMA model. Thus the Kalman Filter (KF) is used to produce the φ(t-1). Second, it is that the information for the error vector φ(t-1)=φ(t-1)-φ(t-1) is used. This plays the role recovering the loss of information in the substitution to φ(t-1) by φ(t-1). The resultant estimator is given in the form of linkage with KF. Numerical experiment indicates that convergence rate or the estimation accuracy of parameter estimates is much more improved compared with standard RPLR method.As an application of the proposed method to real data processing, the modeling on a day evolution of some medical time-series data is dealt. The feature of this data is that the data number is scant. Thus the convergence rate of the estimator must be acclerated to obtain the more accurate estimates. In such the case, the proposed method is useful.

著者

江村 超 熊谷 正朗 王 磊 郷古 倫央

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.1, pp.17-23, 1999-01-31 (Released:2009-03-27)

参考文献数

7

被引用文献数

4 1

---

Dynamically walking robots require attitude sensors of high resolution and wide-band frequency response. If these characteristics are not good enough, it is difficult to control the robots stably. Rate gyros are widely used attitude sensors in walking robots, but the rate gyro which has both characteristics of sufficiently high resolution and wide-band frequency response is heavy and expensive. Therefore, the authors tried to get a small, light and low-cost rate gyro which has excellent characteristics both in resolution and response frequency by using multiple sensors and subtraction type of filters.In this paper, first, a method to expand response frequency of rate gyros without reducing their resolution and an idea of subtraction type of filters which are useful for expanding frequency range are presented. The subtraction type of filter means the filter that has a transfer function obtained by subtracting another transfer function from 1 (unity). This filter provides flat response after composing two signals whose response frequency ranges are different each other. In this case, one is a signal obtained from a rate gyro whose resolution is high enough but response frequency is low, and the other is a signal obtained from a rate gyro whose resolution is low but response frequency is high enough.If we use an inclinometer together with rate gyros, we can sufficiently decrease zero-drift of gyros, because the inclinometer senses angular displacement by referencing gravity direction and its zero stability is high enough. However, the inclinometer is influenced by horizontal acceleration. This means that we have to use a low-pass filter whose cutoff frequency is extremely low to eliminate signal component induced by horizontal acceleration. Attitude sensor using two rate gyros mentioned above and one inclinometer showed good characteristics concerning zero stability, resolution and response frequency range.

著者

田中 良幸 神田 龍馬 武田 雄策 山田 直樹 福庭 一志 正守 一郎 辻 敏夫

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.42, no.12, pp.1353-1359, 2006-12-31 (Released:2009-03-27)

参考文献数

15

被引用文献数

5 7

---

The present paper investigates human mechanical impedance during the operation of a virtual steering system according to dual-arm configurations. The developed steering system using an impedance-controlled robot can accurately estimate mechanical impedance properties around the rotational axis. Experimental results demonstrate that a human changes his/her impedance properties in both the grip position on a steering wheel and the magnitude of steering torque. Overall stability of a human-steering system is then discussed by means of the measured human impedance parameters.

著者

辻澤 隆彦 余湖 静也 田川 遼三郎

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.19, no.12, pp.964-969, 1983-12-30 (Released:2009-03-27)

参考文献数

12

---

In this paper, the position control system of a second-dimensional inverted pendulum is described. The second-dimensional inverted pendulum (s.d.i.p.) means the inverted pendulum with the fulcrum moving on the plane. The design of this control system consists of two problems. The first is the design of the driving mechanism of the cart which suports the fulcrum, and the structure of sensor to measure the angle of inclination between the vertical line and the pendulum. The second is controller's design. We use the Utmost Compensation Type controller as the controller to the s.d.i.p. In the last place, we present the experimental results.

著者

原田 孝一 川人 祥二 田所 嘉昭

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.33, no.1, pp.1-7, 1997-01-31 (Released:2009-03-27)

参考文献数

12

被引用文献数

7 4

---

It is pointed out that the chewing operation is strongly related to one's health and development of brain cells. But our chewing number is decreasing recently, especially for children. We are requested to make a counting system of the chewing number by a dentist.We consider three methods for counting the chewing number using small pressure sensors, i.e., metal strain gage and semiconductor pressure sensor. The first one is the chin-strap detection method in which the system detects the small expansion of the chin strap with strain gages when one chews food. The second is the ear-plug detection method using a strain gage or a semiconductor pressure sensor. In this method, the small strain of the ear-plug is detected by these sensors. The last one is the head detection method in which the system detects the small expansion of the temporal muscle using the head-band with a semiconductor pressure sensor. These systems also can detect the chewing power.Comparing these methods, it is made clear that the head-band detection method has the best performance and its system can be used easily when one chews food. Its miscount is about 1.3 to 3.1[%] depending on food, and the circuit of this system can be put inside user's pocket.

著者

小坂 学

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.4, pp.497-498, 2013 (Released:2013-04-26)

参考文献数

2

---

The proof of Nyquist's criterion for stability requires the assumption that frequency s goes along the closed contour enclosing the right-half complex plane in a clockwise direction. This paper presents a new proof that does not require the assumption.

著者

賀戸 久

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.18-23, 1990-01-10 (Released:2009-11-26)

参考文献数

7

著者

渡邊 崇士 渡辺 嘉二郎

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.38, no.7, pp.581-589, 2002-07-31 (Released:2009-03-27)

参考文献数

25

被引用文献数

11 14

---

This paper describes a method to judge the sleep stages given by the 6 categories i.e., wake, REM sleep, Non-REM sleep of 1st, 2nd, 3rd and 4th stages. The conventional Rechtschaffen & Kales method using an expensive and sophisticated polygraph is the international standard to judge the sleep stages, but it gives strong physical and mental stress. The proposed method estimates the stages from the heartbeats and body motions in the sleep, non-invasively measured by a simple sensor. From the knowledge that the heartbeats change is strongly correlated with the sleep stages, the sleep stages given by the 6 categories are determined by categorizing the change in the heartbeats and body motion occurring for each sleep stages. The estimated sleep stages for the clinical trials over 27 nights and for 8 samples show satisfactory results to be used at home.

著者

細川 繁 升本 喜就 竹沢 進 羽地 和彦

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.42, no.2, pp.123-128, 2006-02-28 (Released:2009-03-27)

参考文献数

7

---

A Whale Ecology Observation Satellite (WEOS) was successfully launched on Dec. 14th 2002 as one of the piggyback payloads of H-IIA-4 launch vehicle. The functions of the attitude control system for the WEOS are detumbling and libration control by single axis magnetic torquer, and the earth pointing control by utilizing of gravity gradient torque.According to the resources limitation, the WEOS adopted the gravity gradient attitude stabilization system instead of the three axis attitude control system, as the first trial in Japan. The gravity gradient attitude stabilization system is working well as planned. This paper describes the attitude control system of WEOS and its control results.

著者

松野 文俊 茂木 一貴

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.36, no.12, pp.1108-1116, 2000-12-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

4 7

---

In this paper, we derive a kinematic model and a control law for snake robots which have wheeled link mechanism. First, we define the redundancy controllable system and derive a condition and a control law for the snake robot that the system becomes redundancy controllable. We find that introduction of links without wheels and of shape controllable points in the snake robot's body makes the system redundancy controllable. Using redundancy, it becomes possible to accomplish both main objective of controlling the position and the posture of the snake robot head, and sub-objectives of the singular configuration avoidance, the obstacle avoidance and other tasks. Next, by introducing the concept of an unit for the system, we find the relation of the numbers of actuators, redundancy and shape controllable points, and propose the system design method of the snake robot. Finally, in order to demonstrate the validity of the proposed controller, simulations have be carried out. From simulation results we find that the crawling motion of the snake robot is natural.