著者

岡田 徳次 佐藤 秀幸 三富 堅太郎

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.37, no.1, pp.13-20, 2001-01-31 (Released:2009-03-27)

参考文献数

13

被引用文献数

2

---

This paper proposes the measurement principle of a sound source direction in the three-dimensional space. Such kind of differences like the transferring time, phase shift, and level of the sound wave are treated for the measurement in general. Our approach is to use the differences of sound levels by taking the advantage of unidirectional characteristics of the condenser microphone's sensitivity so that the direction is obtained by the simple signal processing. Basically the minimum number of the microphone set is four for composing a tetrapod arrangement. Formulation of the relations among the differences of the sound levels is shown. Also, the logical processing is introduced to remove the affect of the microphone's backside undesirable irregular sensitivity. The calculation procedure for determining the direction is extracted, and experimental results are shown to verify the validity of the measurement.

著者

Taro YANAGIYA Yusuke OKAJIMA Tomoaki HASHIMOTO Toshiyuki OHTSUKA

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.13, no.5, pp.215-224, 2020 (Released:2020-09-12)

参考文献数

21

---

We developed a load frequency control system with stochastic model predictive control (SMPC) for power systems where the market penetration of wind power generation is high. The controller adjusts the electricity price for heat pump water heaters while at the same time controlling thermal power plants and batteries in order to maintain the frequency in the designated range. We propose an approach for solving SMPC problems on Hammerstein models including affine disturbance feedback parametrization. Simulation results show that SMPC with affine disturbance feedback parametrization outperforms both SMPC without parametrization and deterministic model predictive control in terms of the stage-cost and constraint violation.

著者

久保 和良 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.31, no.6, pp.712-721, 1995-06-30 (Released:2009-03-27)

参考文献数

22

---

Piano and guitar tone decay analysis has been carried out using reverberation responses calculated by Wigner distributions. The responses are investigated in comparison with record of the conventional short time spectra. The reverberation responses which are intimately related with the internal energy of instrumens represent 1) the envelope of tone decay without fluctuation induced by interference, reflect 2) mutual load effect associated with the oscillators, thus, clearly show 3) the gradients of energy decay curves, and are 4) less influenced by window function length. A guitar under investigation is shown to provide 1) two-step tone decay curve not caused by difference between decay rates of horizontal and vertical vibration modes of the strings (single string tone), and 2) multi-step energy curve with each step having much longer duration than the interference period (two string tone).On the other hand, the analysis of a grand piano reveals the following features:1) two power peaks in the spectra of aftersound are caused by different reasons from each other, 2) multistep energy decay curve is altered by performance style or piano condition, and 3) the partials are exhausted after absorbing energy of the other vibration modes.

著者

Thanh Vo NHU Hideyuki SAWADA

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.9, no.6, pp.251-256, 2016 (Released:2016-12-28)

参考文献数

14

被引用文献数

1 1

---

The authors are developing a talking robot based on the physical model of human vocal organs in order to reproduce human speech mechanically. This study focuses on developing a real-time interface to control and visualize talking behavior. The talking robot has been trained using a self-organizing map (SOM) to reproduce human sounds; however, due to the nonlinear characteristics of sound dynamics, automatic generation of human-like expressive speech is difficult. It is important to visualize its performance and manually adjust the motions of the artificial vocal system to get a better result, especially when it learns to vocalize a new language. Therefore, a real- time interactive control for the talking robot is designed and developed to fulfill this task. A novel formula about the formant frequency change due to vocal tract motor movements is derived from acoustic resonance theory. In the first part of the paper, the construction of the talking robot is briefly described, followed by the real-time interaction system using Matlab Graphic User Interface (GUI) together with the strategy to interactively modify the speech articulation based on the formant frequency comparison.

著者

松田 守弘 鬼頭 完爾

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.6, pp.645-649, 1981-09-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

1 1

---

With an aim to develop a gloss meter which measures optical quantities closely associated with psychological gloss, several factors prescribing gloss were studied.Thirty steel sheets were coated with different paints, in which 4 vehicles and 3 pigments are appropriately combined. Sensory gloss evaluation by the ranking method was made of those samples by 27 observers. Correlations among the average ranking and the refractive index, surface roughness and color were studied.It is found that factors prescribing the gloss are refractive index, roughness, lightness value and chroma of painted surfaces, among which roughness is the most important factor. Relationships among the gloss, these elemental factors, and the optical characteristics of painted surfaces such as specular and diffuse reflectances are also clarified.

著者

浅井 徹 原 辰次

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.1, pp.35-44, 1996-01-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

1

---

In this paper, we consider a problem of the simultaneous controller synthesis and modeling for robust control against parametric perturbations. The model is formulated by an LFT representation of a norm bounded uncertainty matrix and a coefficient matrix which represents the uncertainty bound. The modeling of the uncertainty bound is based on the performance of the closed-loop system, while the robust stability and the robust performance is attained by an H∞ control.A sufficient condition for the existence of a robust controller and the corresponding uncertainty bound is proposed in terms of matrix inequalities. Moreover, we show that those inequalities are reduced to be LMIs in some special cases. An application to a linear AC motor verifies the effectiveness of the proposed method.

著者

大石 隆文 古田 一雄 近藤 駿介

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.3, pp.203-208, 1997-03-31 (Released:2009-03-27)

参考文献数

5

被引用文献数

2 3

---

This paper is to propose a new architecture of a self-creating and organizing neural network for workspace recognition and navigation of an autonomous mobile robot. The robot assumed in this study learns its workspace with sonar sensors but without dead reckoning. The network proposed is organized into a graph structure rather than a tree with forgetting old links so that few dead nodes and dead links are created; the space of input signal can be covered efficiently by unsupervised learning. Methods of path planning and navigation based on a topological map created by learning has been proposed as well. The proposed architecture was tested by simulation of an autonomous mobile robot with eight sonar sensors, and it was demonstrated that the architecture is useful for the purpose.

著者

安部 原也 伊藤 誠 山村 智弘

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.48, no.11, pp.688-697, 2012 (Released:2012-11-29)

参考文献数

10

---

In order to clarify the effect of different time headways and lead car's decelerations on visual distraction and its impact on collision risk during car-following a driving simulator study was conducted. Moreover the experimental investigation considered system effectiveness of a forward collision warning system as for decreased collision risk. Results showed that compared to short time headway, long time headway induced long duration time of visual distraction during car-following. This effect was significant when a lead car decreased its speed mildly. Collision risk due to lead car's deceleration was low for long time headway during car-following compared to short time headway even thought visual distraction was induced. However there was a possibility that long time headway led to long duration time of visual distraction resulting in increased collision risk. In case of the alarm trigger logic used in this study, alarms effectiveness for decreasing collision risk was proven because early alarms were given for short time headway. It can be said that longer headway time does not always guarantee decreased collision risk.

著者

名倉 剛

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.12, pp.765-773, 2010 (Released:2011-12-19)

参考文献数

28

被引用文献数

1 1

---

In order to design tracking control systems for a class of systems with rapid or abrupt changes, it is effective in improving tracking performance to construct preview control systems considering future information of reference signals. In this paper we study the H∞ tracking problems with preview for a class of linear continuous-time Markovian jump systems by the game theoretic approach. The systems are described by the continuous-time switching systems with Markovian mode transition. The necessary and sufficient conditions for the solvability of the H∞ tracking problem by state feedback are given by coupled Riccati differential equations with terminal conditions. Correspondingly feedforward compensators introducing future information are given by coupled differential equations with terminal conditions. We consider three different tracking problems depending on the property of the reference signals. Finally we give numerical examples and verify the effectiveness of the design theory presented in this paper.

著者

段野 勝 林 庄司 朝倉 俊行

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.29, no.8, pp.973-975, 1993-08-31 (Released:2009-03-27)

参考文献数

2

---

Most efficient bicycle riding under similar tiredness was to get mutching between human and load impedance. This impedance was scarcely found the difference among individuals, and the optimum gear selection for the slop and speed of bicycle could be proved.

著者

松田 浩一 高井 幸秀 吉田 耕作 西村 勝 松山 峯雄 澤田 泰明

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.31, no.5, pp.544-552, 1995-05-31 (Released:2009-03-27)

参考文献数

6

被引用文献数

1 2

---

This paper describes about cutting stock scheduling system using simulated annealing method. The cutting stock problem is that of combinatorial optimization. The following functions are needed for the cutting stock scheduling system.1) Balance adjusting function for productivity, yield rate and delivery time.2) The results of scheduling have to satisfy constraint condition of coil cutting machine.3) There is time limitation for making cutting stock schedule. To overcome these problem, we realize new cutting stock scheduling system through following methods.1) Weights for each evaluated item are introduced and sum of these items are minimized by simulated annealing.2) The new neighborhood structure is developed for this problem which can satisfy constraint condition of coil cutting machine.3) The adjusting parameter for calculation time is newly introduced for Huang's annealing schedule, so that we can select best solution under the limit of calculation time.This cutting stock scheduling system is applied to plate plant and used as one of production planning system.

著者

稲垣 伸吉 丹羽 智哉 鈴木 達也

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.47, no.6, pp.282-290, 2011 (Released:2011-12-19)

参考文献数

12

被引用文献数

4 1

---

This paper proposes a novel locomotion control, called Follow-the-Contact-Point (FCP) gait control, for a centipede-like multi-legged robot. The centipede-like multi-legged robot is composed by connecting segments, which have a trunk and a pair of legs, via a passive joint. This control method is motivated from behavioral knowledge of a centipede that each leg always contacts on the point which the anterior leg contacted. The FCP gait control realizes the walking behavior of centipede via decentralized event-driven control structure. In addition, merely by planning and allocating the contact point of legs of a head segment adequately, the robot can change the moving direction and also climb over an obstacle. We clarify the feasibility of the FCP gait control by showing the result of physical simulation of a 20-legged robot.

著者

明石 一 熊本 博光

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.9, no.4, pp.378-386, 1973-08-30 (Released:2009-03-27)

参考文献数

8

---

This paper deals with the discrete least square approximation of multivariable functions whose values are given only at the lattice points.First, the solution is obtained as a linear combination of the values of the function at the lattice points, and it is shown that the deterministic method requires evaluation of the sum of an extremely large number of terms.Next, to overcome this difficulty, the problem is converted into that of evaluating the expected values of two probabilistic models. An algorithm based on simulating these models by means of choosing the lattice points at random is proposed for the evaluation of these expected values. The method of sampling the lattice points is also discussed.Moreover, the following points are shown.(i) The values of the parameters which are necessary to execute the algorithm can be obtained easily regardless of the number of independent variables.(ii) In two typical cases the proposed algorithm requires less computational labour than the deterministic method.(iii) The algorithm is effective in the following situations:(a) The situation when the values (data) of the function to be approximated can be measured only at the lattice points(b) The situation when the function is a composite functionA numerical example is also presented.

著者

西山 雄大 榎本 洸一郎 戸田 真志 森山 徹 郡司 ペギオ幸夫

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.18-24, 2013 (Released:2013-02-08)

参考文献数

18

被引用文献数

1

---

Animal collective behaviours are regarded as emergent properties that result from local interaction between individuals in a swarm. Then we discern between individual movements and swarm behaviour. Dynamic swarm, however, might manage both of them in parallel. Swarm of soldier crabs seemed to change individual behavioural rules in water-crossing behaviours. We conducted experiments where the regular oscillations by soldier crabs resulted from collective movements triggered by cohesion. Then we focus on effects from a collective to individuals and vice versa. We demonstrate bidirectional characteristics that swarm of soldier crabs have.

著者

浅川 貴史 西原 主計 吉留 忠史

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.132-134, 2009-02-01 (Released:2011-11-02)

参考文献数

10

---

We propose a method of analyzing a finger pulse by standard deviation using moving average for measuring mental load. Frequency analysis, Lorentz plot and Lyapnov exponent have been carried out to present measurement. However, this technique is analyzable in a shorter time than the existing technique.

著者

鈴木 文泰 堀 洋一

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.38, no.1, pp.67-72, 2002-01-31 (Released:2009-03-27)

参考文献数

9

被引用文献数

2 1

---

In this paper, the general structure of anti-windup control system based on left coprime factorization is proposed. First, the command responses of anti-windup control system are investigated using transfer function description, and the condition for avoiding windup phenomena is derived. The responses can be formulated easily by handling the input saturation as its equivalent input disturbance. Next, the conditions are explained using state space description. This analysis shows that the proposed system has very simple structure. For feedback controller designed by Youla parameterization, the proposed method can obtain the proper estimated value by state observer. For feedforward controller designed by right coprime factorization, the proposed anti-windup controller has the limitation model in the state feedback loop.The effectiveness of the proposed method is shown by some simulation and experimental results.

著者

井上 学 小林 史典 渡邊 実

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.43, no.2, pp.145-152, 2007-02-28 (Released:2013-02-25)

参考文献数

7

---

A time-domain SRC, sampling rate converter, using Fourier interpolation to achieve less gate count than in frequency domain is proposed. The new SRC is implemented in 1/150 of the circuit size of conventional SRC with moderate performance using filters. It can also be used as back-end for filter-type SRC to achieve high performance efficiently.

著者

西尾 和記 加嶋 健司 井村 順一

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.45, no.9, pp.459-468, 2009 (Released:2011-11-03)

参考文献数

15

---

In this paper, we investigate the state preparation problem of quantum noiselsss subsystems for the quantum Markovian systems via quantum feedback control. The controlled dynamics we consider are given by the so-called stochastic master equation including the coupling terms with the environment. We formulate the problem as a stochastic stabilization problem of an invariant set. This formulation allows us to utilize the stochastic Lyapunov technique and derive a globally stabilizing controller. The effectiveness of this method is evaluated by applying it to the 3-qubit systems subject to the collective noise.

著者

久保田 直行 福田 敏男

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.34, no.5, pp.408-414, 1998-05-31 (Released:2009-03-27)

参考文献数

20

被引用文献数

2 2

---

This paper deals with virus evolutionary genetic algorithm. The genetic algorithms (GAs) have been demonstrated its effectiveness in optimization problems in these days. In general, the GAs simulate the survival of fittest by natural selection and the heredity of the Darwin's theory of evolution. However, some types of evolutionary hypotheses such as neutral theory of molecular evolution, Imanishi's evolutionary theory, serial symbiosis theory, and virus theory of evolution, have been proposed in addition to the Darwinism. Virus theory of evolution is based on the view that the virus transduction is a key mechanism for transporting segments of DNA across species. This paper proposes genetic algorithm based on the virus theory of evolution (VE-GA), which has two types of populations: host population and virus population. The VE-GA is composed of genetic operators and virus operators such as reverse transcription and incorporation. The reverse transcription operator transcribes virus genes on the chromosome of host individual and the incorporation operator creates new genotype of virus from host individual. These operators by virus population make it possible to transmit segment of DNA between individuals in the host population. Therefore, the VE-GA realizes not only vertical but also horizontal propagation of genetic information. Further, the VE-GA is applied to the traveling salesman problem in order to show the effectiveness.

著者

大澤 修一 中村 文一 西谷 紘一

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.46, no.12, pp.733-736, 2010 (Released:2011-12-19)

参考文献数

4

被引用文献数

1

---

Self-localization is an important technique for vehicle automation. Extended Kalman Filtar (EKF) is a major sensor fusion technique for self-localization of mobile vehicles. To calculate Kalman gains, variance matrices are necessary. However, it is laborious to obtain variance matrices. In this paper, we compare the structure of the grid point observer with that of EKF, and propose a design method of decding variance matrices by using digital filter design method. In addition, effectiveness of the proposed method is confirmed by the experiments.