It is important not only to prevent disasters, but to build a system for the rescue activity. Two armed rescue manipulator is proposed as one of them.The all joints of this manipulator consists of self lock mechanism and this manipulator is operated by the master slave system in order to work the purpose.However, there is a problem that an initial error arises from the special structural feature. In this paper, we propose to use Two-Stage Control System as a solution of this initial error problem, and report the experimental results.

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Stride motion of a bipedal robot is formulized as MLDS. Then, the restrictions conditions, in which position of robot's center-of-gravity, are also considered. Moreover, this system, which is expressed by MLDS, is applied the optimal control, and tried the realization for shortest distance stride.

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In this paper, we design a robust controller using the discrete system of a biped robot made from using the Poincare map. Then we check a change of the attractor region for a Passive Dynamic Walking(PDW), and state behavior and Input behavior until it returns to PDW by disturbance. We verify an influence which Delayed Feedback Control has on a bipedal robot and an effect of a robust controller.

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In this paper, we consider the stability and energy consumption of periodic walking of the compass walker. Based on a linearized model with state jump, optimal walking pattern is derived via nonlinear optimization. A comparison with the passive walking is made. Its stability analysis by the Poincare map and stabilization with Delayed Feedback Control are also discussed.

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Passive walking is an interesting mechanism to realize a leg exchange and a steady gait on the downhill slope without active control. The walking mechanism seems to achieve the minimum energy consumption. In this report, the conjecture is confirmed based on the numerical consideration. And a behavior of kinetic energy is also discussed.

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[in Japanese]

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This paper proposes a head-positioning control of hard disk drive(HDD) by using generalized predictive control(GPC).Since HDD has resonance modes at high frequency, the use of GPC considering intersample output moderates a vibration.We illustrate numerical simulation results to show the effectiveness of the head-positioning control by GPC.

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This paper gives a design method of an I-P controller which added a feedforward compensator for a pressure control system in a thermal power plant boiler.The pressure control system consists of two self-tuning I-P controllers based on generalized predictive control.In this paper, the I-P controllers which improve a control performance using a feedforward compensator is proposed.Simulation results are given to show effectiveness of the proposed feedforward compensator.

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The purpose of this research is to reduce the vibration caused by the transmission through the mount of the machines, such as engines. This research reports the investigation results aiming significant vibration reduction at the wide frequency range, applying the "double rubber mounting with active vibration isolation" system on a diesel engine generator with linear voice coil motors.

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The necessity of quantitative evaluation of voltage ancillary service (V-AS) is increasing with the deregulation of electric power supply. So far, the authors proposed the quantitative contribution to V-AS index based on the voltage stability sensitivity relative to minimal change of reactive power supplied by voltage regulating apparatus. In the present paper, we propose a new contribution index based on the eigen-analysis and participation factor, which indicates the weakness degree of voltage stability. The proposed contribution index is examined its validity through the calculation for generators and capacitors on the IEEJ WEST 30-machine system model.

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[in Japanese]

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[in Japanese]

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[in Japanese]

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This paper considers problems derived in the form of linear matrix inequality (LMI) conditions with rank conditions. The conditions are still non-convex due to the existence of the rank conditions. However, in order to solve the problems, we propose a new efficient extended linearization algorithm from the viewpoint of computation, and then we confirm the validity of the algorithm by using an example of robust control synthesis based on finite frequency properties.

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[in Japanese]

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In this paper, we present a robust and adaptive model predictive control (MPC) algorithm for constrained linear systems. To overcome the conservativeness of robust MPC method based on the conventional adaptive control, we propose a new parameter estimation method compatible with robust and adaptive MPC. It is shown that the proposed robust and adaptive MPC algorithm guarantees the feasibility and stability of closed-loop system in the presence of input and state constraints.

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[in Japanese]

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In this paper, we attempt reduction of the error norm in structurally balanced truncation(SBT). SBT is carried out by solving two linear matrix inequalities(LMIs). However, it is difficult to obtain two optimal LMI solutions because the optimization problem has the objective function which is not convex. Therefore, we solve the optimization problem by approximating this objective function with a linear function, and we verify the validity of the proposed method.

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In this paper, we propose a new controller reduction method whichconsiders preseving the closed-loop system H_inf-norm property.In the method, the block balanced realization is employed to take account the closed-loop configuration.Unlike original method, we use riccati equations to consider preservingthe closed-loop system H_inf-norm property.Numerical example is presented to illustrate the effectiveness of our method.

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[in Japanese]

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This paper is concerned with model reduction methods taking account of positive realness and minimum-phase properties, while keeping the H infinity norm of the associated error system (||E(s)||)as small as possible with the LMI optimization technique. These methods are applied to the reduction of an Euler-Bernoulli beam system to demonstrate their effectiveness.In the application of the proposed methods,we first need to obtain apositive real or minimum-phase reduced-order model such that ||E(s)|| is reasonably small.A way for obtaining such a reduced-order modelis via the truncated positive real balanced realization method,but it sometimes leads toa reduced-order model with very large ||E(s)||.Thus, this paper also tackles this problem from the numerical pointof view.

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Koliver et al. applies a standard fuzzy control technique to QoS adaptation control of distributed multimedia systems.However, there is large overhead caused by calculation of fuzzy inferences.In this paper, we propose a QoS adaptive control method based on the Takagi-Sugeno fuzzy model and its effectiveness is shown by experiment.

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[in Japanese]

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Recently, QoS adaptation control has been studied for avoiding overload situations in real-time systems. In QoS adaptation control, unfairness of QoS can occur though resource constraints are satisfied. We have introduced a resource allocation control method to achieve fair QoS levels in the task set under the guarantee of desired CPU utilization factor.In this paper, we extend this control method in order to achieve fairness of QoS levels in multiple resource real-time systems. The proposed adaptation controller allocates resources to each task with on-line search for the fair QoS level based on errors between the current QoS levels and their average. So, its implementation is easy and an overhead is small.

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While a Japanese full text search system has the 2-gram characters index as base in order to save the volumes of the index file, the additional higher-gram index is expected to improve the performance. This paper describes how to select the additional index terms from the contents of database. To select the terms, this paper defines the entropy of strings which expresses the ambiguity of strings. This paper also describes the specification, including string input and entropy hierarchy, of the prototype term selection system in detail. To compare and test the effectiveness of the entropy, we have established a prototype system. As a result, we got some benefits and future issues about the processed approach.

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[in Japanese]

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[in Japanese]

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Several results are shown for the LMS algorithm with tonal reference signals in the presence of frequency mismatch. First, a necessary and sufficient condition about the step sizes for convergence of the algorithm is derived using the Lyapunov function method with the PBH test and a transient behavior is analyzed. Also, the exact effect of frequency mismatch is examined. The validity of the obtained results is shown by simulations.

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[in Japanese]

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In human-machine systems, a user operates a machine with machine's partial information through an interface. Therefore, due to the inadequate interface, the user can not follow correctstates of the machine, and phenomena called automation surprises may arise. To avoid automation surprises, formal approach for verifying and designing a human-machine system have been proposed. In this paper, we propose a system which alarms to the user before automation surprises occur. The proposed system is based on the state feedback control of discrete event systems. By adding the system to the existing human-machine systems, redesigning of the user-interface is not needed and nonexistence of automation surprises is assured.

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[in Japanese]

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This paper discusses transient stability boundaries in an ac/dc power system. The stability boundaries mean basin boundaries of stable equilibrium points (EPs), which correspond to post-fault steady states of the ac/dc system, and essentially govern its transient stability. Our previous studies numerically clarified a stability boundary in the ac/dc system based on a differential-algebraic equation (DAE) system. This paper theoretically characterizes stability boundaries based on the DAE system. The obtained characterization reveals concrete structures of the stability boundaries in solution space of the DAE system.

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Recently, the density of the electric parts mounted on the printed circuit board (PCB) has become very high because of the rich function of the electric products. Especially, mobile products are required compactness and thinness, so the LSIs with chip size package and the key switches have to be mounted on the same PCB. When over loads applied to the key switches, the LSIs on the PCB may be damaged.Today, the structure analysis is used widely for evaluation and validation of the mechanical design. However, electric engineers do not use the structure analysis because of the lack of the knowledge on the mechanical engineering.To solve this problem, the authors developed the semi-automated analysis system for the evaluation of the strength of the PCB. In this paper, modeling method for the analysis and the experimental results are described.

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This report describes a simulator developed for a hot metal logistics control problem. This simulator has a function to show change guidance for the processes of transportation facilities known as torpedo cars. Off-line test results show that the guidance is effective so that supply delays involving filled torpedo cars to converters and empty torpedo cars to blast furnaces can be prevented.

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[in Japanese]

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The authors have developed a robot off-line teaching tool KCONG (Kawasaki Common Off-line NC data Generator), which generates robot NC data based on the 3-D CAD data of a workpiece. This software is intended to reduce the operation time for robot teaching. KCONG can be applied to various robot systems in terms of their mechanical configurations and usages. As an example, a robot system for assembly in shipbuilding is introduced. In this system, 16 robots installed on each gantry-type moving unit simultaneously carry out their welding tasks according to NC data output from KCONG.

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[in Japanese]

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The authors have developed a scheduling procedure for reducing production lead times of machining parts in a job shop factory. The procedure basically utilizes the well-known bottleneck scheduling procedure, which first allocates an operation on a bottleneck resource, then schedules its upstream operations backward, and schedules the downstream operations of the routing forward. This paper describes how the operation in a routing should be chosen as an anchoring point of bottleneck scheduling for machining parts in a job shop factory. The comparison among several candidates for the anchoring operation showed that the operation on the most loaded resource among the resources used in a routing should be anchored for the best performance.

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To meet the clients' diverse needs, effective decision-makings in production is required of manufacturers. Manufacturing system simulation has been utilized for the evaluation and the improvement of system. It was shown in the former research works that time and quantity based criteria, such as the number of tardiness, lead time and so on, are evaluated at same time by evaluating cost. In this paper, Advanced Planning and Scheduling (APS) is implemented in the simulation model of the large-scale factory. Scheduling is evaluated from characteristics including cost factors and the effects of setting scheduling parameters are investigated.

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In this paper,we deal with a product mix optimization problem in production planning.We propose a way of making a liner programmingmodel,which makes the problem possible to adopt mathematical programming methods.And we obtain the product mix maximizing profit in consideration of a cost of stocks and a loads of equipments which are used.Through some computational experiments,effectiveness ofthe proposed model have been investigated.

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This study deals with proactive scheduling approach in which dummy jobs are inserted into a schedule in order to absorb impacts of uncertain events such as urgent jobs, machine breakdowns,and so on. This paper extends our previous work and proposes some simple rules in order to assign dummy jobs whose amount is previously determined into a schedule. Some computational experiments demonstrate that proposed rules areeffective as dummy jobs insertion by comparing them with predictable scheduling rules.

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In this paper a semiconductor production line with re-entrant flowshop is modeled. By using this model we evaluate cycle time of production both for the production line with batch type equipment and for the production line with non-batch type equipment. Then, we try to find the parameter values in each type of production line to get better efficiency of production.

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[in Japanese]

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A due-date conformance scheduling method is proposed which allows the intervention of a small lot-size job into a large lot-size job processing assignment in the schedule. We propose a procedure which generates a solution by using three parameters to determine the jobs and the onset timings to intervene. Genetic Algorithm method is adopted in the procedure to obtain an initial schedule which is generated by assigning large-lot size jobs. In this paper, the characteristic of the proposed method is investigated under different scheduling conditions in release time and due-date on simple flow shop model.

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[in Japanese]

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This paper introduces the design of a gaming-simulation in which several software agents try to find tactical rules with playing the game that aims at the second place. The agent has two neural network models for predicting behavior of other agents, including itself, and for achieving the target, respectively. In addition, the agent has a classifier model for tactical decision-making. This three-model structure enables us to monitor behavior of agents easily.

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Previous work showed an autonomous specialization algorithm of MCs by eliminating tool sets with low utilization in square arrayed MC system. The algorithm constructs an autonomous line formation of the system. In this paper, we attempt reformation of autonomous manufacturing line by specialization and generalization of MCs. The algorithm reconstructs autonomous manufacturing line by changing tool sets with data of intermediate stock at PCS and the MC utilization. The effectiveness of the algorithm is demonstrated by simulation.

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We try to get the handwritten sequential coordinates of the pen movement by using the CCD camera that observes the writing pen. We call this the video tablet. At first, the sequential images are obtained through the CCD camera. Next, the system estimates the coordinate of the handwritten position by using the color marker in each image. In case of extraction of color marker, we use the uniform color space. We can get the sequential coordinates of the written locus in case of the suitable color marker.

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[in Japanese]

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The proximity sensor using the power variation of a laser diode caused by the returned light from the target has the serious problem that the variation of the output originates from the changes of the reflectance of the surfaces and the fluctuation of the laser power itself. A compensation method for the reflectance of the target is proposed in this paper. This method uses the angular distributions of the reflectance of the targets. The stability control can be performed in the case of a fixed target, then, the results in this paper make the practical application of this sensor possible.

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