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22 巻, 7 号
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論文
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姜 興起2009 年 22 巻 7 号 p. 251-259
発行日: 2009年
公開日: 2011/04/22
ジャーナル フリーRecently, in the field of human-computer interaction, a model containing the systematic factor and human factor has been proposed to evaluate the performance of the input devices of a computer. This is called the SH-model. In this paper, in order to extend the range of application of the SH-model, we propose some new models based on the Box-Cox transformation and apply a Bayesian modeling method for identification and estimation of the learning effects of pointing tasks. We consider the parameters describing the learning effect as random variables and introduce smoothness priors for them. Illustrative results show that the newly-proposed models work well.
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テヘラニ ニキ ネジャド ホセイン, 杉村 延広, 岩村 幸治, 谷水 義隆2009 年 22 巻 7 号 p. 260-272
発行日: 2009年
公開日: 2011/04/22
ジャーナル フリーRapid changes of market demands and pressures of competition require manufacturers to maintain highly flexible manufacturing systems to cope with a complex manufacturing environment. This paper deals with development of an agent-based architecture of dynamic systems for incremental process planning in the manufacturing systems. In consideration of alternative manufacturing processes and machine tools, the process plans and the schedules of the manufacturing resources are generated incrementally and dynamically. A negotiation protocol is discussed, in this paper, to generate suitable process plans for the target products real-timely and dynamically, based on the alternative manufacturing processes. The alternative manufacturing processes are presented by the process plan networks discussed in the previous paper, and the suitable process plans are searched and generated to cope with both the dynamic changes of the product specifications and the disturbances of the manufacturing resources. We initiatively combine the heuristic search algorithms of the process plan networks with the negotiation protocols, in order to generate suitable process plans in the dynamic manufacturing environment.
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河合 宏之, 村尾 俊幸, 藤田 政之2009 年 22 巻 7 号 p. 273-279
発行日: 2009年
公開日: 2011/04/22
ジャーナル フリーThis paper investigates passivity based 3D visual force feedback control for fixed camera systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contact force by using visual information. The proposed method can be regarded as an extension of the hybrid position/force control to the hybrid vision/force control. The main contribution of this paper is to show that the 3D visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Both the passivity of the manipulator dynamics and the visual feedback system are preserved. Finally simulation results on 3DOF planar manipulator are presented to verify the stability of the 3D visual force feedback system and understand our proposed method simply.
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石川 将人2009 年 22 巻 7 号 p. 280-286
発行日: 2009年
公開日: 2011/04/22
ジャーナル フリーIn this paper, we propose a discontinuous state feedback control algorithm for a class of nonholonomic symmetric affine systems with multi-generators. The controllability Lie algebra of a multi-generator system is structurally different from that of single-generator systems, such as conventional chained form systems. Due to this complexity of controllability structure, feedback control problem of multi-generator system is so awkward that the existing control method for chained systems are not valid any longer. In this paper, we take notice that a certain part of a multi-generator system is considered a single-generator systems and the subsystem can be stabilized by any conventional controller for chained systems. Then we propose a switching control algorithm that each generator is chosen in sequence and conrresponding sub-controllers are applied, where each sub-controller design is based on existing Astolfi’s and Sampei’s design method proposed for chained systems. The efficiency of the proposed strategy is evaluated via numerical simulations.
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