[in Japanese]

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This study proposes a design method of a passive dynamic absorber with robust performance. Two control objects are constituted using two parameters which give the maximum and the minimum value in change regions of a structure, such as stiffness. These two control objects are extended as one model, and the extended generalized plant is controlled by one dynamic absorber. Furthermore the parameters of the dynamic absorber are designed from the view of feedback control theory.

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Vertical vibration has become a problem in a semiconductor factory. Efficiency of the bending moment control of beam with piezoelectric actuators has already verified. In this study, high performance controller by combining feedforward control and existing feedback control using H-infinity control theory is proposed. Effectiveness of the proposed control is confirmed by vibration control experiment.

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[in Japanese]

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This paper deals with motion and vibration control for a flexible tower-like transportation system, taking account of uncontrollable vibration modes called drumming mode. When the transportation system is constructed symmetrically, these modes are appeared as uncontrollable ones. For controlling vibration of whole modes under consideration, a structural modification in the design stage is carried out. Applying a lumped modeling method presented by Seto and LQI-based control system, two controllers are designed which achieves good performance for controlling motion and vibration in the flexible transportation system.

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In this paper, the optimal orbit, which take obstacle avoidance, vibration control, and some constraints into consideration, is derived by the proposed algorithm comprised of potential method with diffusion suppressing coefficient. The effectiveness of proposed method is demonstrated by simulation and experimental results.

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A smart structure was tested for overall active microvibration control in a base-isolated building model of a 5x3x4 m external size and a 6,900 kg total mass which was supported by four multistage rubber bearings. In the building model, 20 piezoelectric actuators were attached to the columns and the beams, and four horizontal actuator units consisting of two piezoelectric actuators each and four vertical ones of the same type were installed between the bottom of the superstructure and the foundation. The tests showed that the smart structure could effectively control three-dimensional microvibrations generated in the building model and excited by external disturbances.

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[in Japanese]

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This paper proposes a new vibration control method for multiple tall buildings connected with actively controlled bridges. While the effectiveness of presented method applied to buildings with different heights and dynamic properties has been already established, it has also been shown that the method is not capable for buildings with the same height and dynamic properties, because no reaction force can be obtained between two same buildings. To overcome this limitation, the new method to locate the active controlled bridge to join different height of two buildings is introduced. The effectiveness of the method is confirmed by simuration and experimental investigation.

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[in Japanese]

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[in Japanese]

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This paper addresses concerned with the advanced control of the transfer of liquid in a container, with special consideration given to transfer involving liquid container with dynamic tilting as well as the suppression of sloshing. In order to suppress the sloshing caused by transfer with tilting, controller design method using Wigner Distribution is proposed. The effectiveness of the proposed control is shown experimentally in a liquid container transfer system.

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This paper addresses the positioning control employed an air actuator. As increasing position feedback gain to realize fast setting time, then air actuator easily oscillates. Therefore, in this paper, series compensator is designed instead of PFC. As a result, high-speed positioning is realized through easily parameter tuning of this compensator.

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[in Japanese]

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Closed-loop identification by means of inter-sampling is highly practicaland is theoretically interesting as well, from a viewpoint of multi-ratesampling. This paper proposes a dual concept of intersampling as adegradation factor, and studies merits of closed-loop identificationusing this approach.

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The diameter of the membership set in the presence of disturbance and parameter uncertainty is estimated probabilistically for a finite number of samples, where the regressor is persistently exciting and the disturbance and the parameter uncertainty take their extreme values with a probability. It is also shown that the diameter converges to zero as the number of samples tends to infinity.

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[in Japanese]

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This note shows an LMI approach to solve a stochastic algebraic Riccati equation which is a generalized version of the well-known standard algebraic Riccati equation and arises in guaranteed cost control with a linear bound for parameter uncertainties.

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Preview control is a design method to improve the performance of the transient response by employing the future information of the reference signal. In this paper, we considerH-infinity preview control for a position control of an inverted pendulum system and evaluate its transient response.

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This paper proposes the atable decoupling method for non-minimum phase systesm with invertibility.

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[in Japanese]

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An integrating instrumentation and control design is considered, which is to find an optimal output feedback for a weighted sum of signal-to-noise ratios of sensors/actuators and output/input variances. The design is recast as an optimization with biconvex matrix inequality constraints. Then, an algorithm which converges to a local optimum is proposed.

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[in Japanese]

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This paper proposes the new robust stabilization by introducing the phase compensator.

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Digital holographic particle tracking velocimetry (PTV) is developed by single high-speed camera and single double pulsed laser with high frequency pulses. This system can directly capture 1000 hologram fringe images for 1 second through a camera computer memory. The 3-D particle location is made of the reconstruction by using a computer hologram algorithm in PC cluster. This system can successfully be applied to instantaneous 3-D velocity measurement in the water flow with a square or a circular cylinder obstacle, and can obtain an average of 170 instantaneous velocity vectors.

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[in Japanese]

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We have proposed a new data reduction approach to apply the image based modeling and rendering trechnique to computer graphics models. It allows us to reduce the color and the geometric information independently, so it is effective for visualized models with the color as key information. As a result of subjective recognition test, a part of people answered the recovered model by our method has higher quality than the simplified model by using only geometry simplification method.

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[in Japanese]

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The paper describes a method of identification and localization of partially-buried metal objects in excavation of hazard materials. This paper focuses on the pose estimation algorithm based on three-dimensional pattern matching using the characteristics that the metal object is rotationally symmetric shape. Experimental results show feasibility of the type and pose identification.

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[in Japanese]

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[in Japanese]

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[in Japanese]

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[in Japanese]

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In this paper, we propose a method to acquire a kind of motion intelligence to utilize dynamically interfered motion. The machine intelligence is defined here as an ability that the machine can find by itself a way to use dynamical interferences and nonlinear friction to obtain a desired motion.

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[in Japanese]

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In this paper, we address the scheduling problem considering processing time on machines and travel time on AGVs simultaneously in a production system including transportation by AGVs. We define the simultaneous scheduling problem with multiple-load AGVs and propose a method for the problem using genetic algorithm. As an illustrative example, a scheduling problem is solved with the proposed method and its effectiveness is shown.

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