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Volume 10 (1974)
- Issue 6 Pages 641-
- Issue 5 Pages 521-
- Issue 4 Pages 389-
- Issue 3 Pages 263-
- Issue 2 Pages 137-
- Issue 1 Pages 1-
Volume 10, Issue 4
Displaying 1-21 of 21 articles from this issue
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Moriya ODA, Toshihiko NAGAOKA, Kahei NAKAMURA1974 Volume 10 Issue 4 Pages 389-394
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe multimodal optimum searching problem is an important essential subproblem which is commonly contained not only in a control problem but also widely in general decision problems. This paper surveys a theoretical and experimental study of a heuristic search method of the globally optimum point of a two-dimensional, multimodal, nonlinear, and unknown criterion function by using sighted, blindfolded, and blind subjects.
The main topics of the first half of the paper are basic (global) search points in the heuristic search, a shifting trend of the basic search point, omission of some trials of the basic search points, number of trials needed in the heuristic search, comparison of the search behaviors by sighted, blindfolded, and blind subjects, an extraction of heuristic search models, essential framework and appropriateness of the extracted models, deviation of number of trials due to the nationality of subjects, and so on.
The second and main half of the paper studies the concept formation process in the heuristic search behavior. “Concept” is defined and formulated in a newly-proposed form of “matrix structure of concept formation”. Five levels of a hierarchical concept-formation process are shown in the real example (point concept, line-segment concept, plane-segment concept, local-surface concept, and global-surface concept) of the heuristic search. In addition, a new approach of “figure-ground search” is applied to an analysis of the heuristic search behavior.View full abstractDownload PDF (902K) -
Sakae SHINOMIYA, Yoshitomo OKADA, Tsugumasa SUTO1974 Volume 10 Issue 4 Pages 395-401
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWhen two source voltages with different frequencies supply to a 2-phase servomotor, we can utilize this situation as a convenient way of phase modulation for studying the motor's frequency respose characteristics.
In this paper, an equation is derived for calculating the alternating torque of a 2-phase servomotor which is operated with a 2-phase source unbalanced in frequency.
Its equation is expressed by the equivalent circuit parameters applying the concept of the starting torque of an induction motor to this condition.
The alternating torque characteristics with the additive and subtractive componets of the source frequency are discussed numerically and the generating ratio is considered.
The calculated value is comparad with the experimental one by using a 2-phase induction type accelerometer.
The agreement is satisfactory.View full abstractDownload PDF (818K) -
Yasutaka HAYASHI, Hideo ARAKAWA1974 Volume 10 Issue 4 Pages 402-407
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis report is concerned with the analysis and countermeasure of vibrations which are caused when a hydraulic actuator controlled with a solenoid valve turns. A controller in a ring twisting machine was taken as a model.
Experiments, analog simulation and theoretical analysis have revealed that such vibrations occur due to the inertia force of the mass and the compressibility of oil. Known methods can reduce vibrations, for example, by adding a shock absorber or by removing excess oil pressure in the cylinder by a check valve, but they prevent a sharp response of the actuator. Our method of reducing vibrations sequntially controls a solenoid valve three times during one turning of the actuator in the ring twisting machine. Analog simulation suggested the effectivenes of this method. The experiments have proved that this method has a great effect in reducing vibrations without affecting the sharp response of the actuator.View full abstractDownload PDF (662K) -
Takao OUCHI, Teruhiko OTOMO, Haruo SUZUKI1974 Volume 10 Issue 4 Pages 408-415
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a new method of pulse width modulator which can be read out nondestructively by a square wave voltage of comparatively low frequency (here 50Hz). The modulator is constructed from two-hole elements which are made by laminating a sheet of core of Fe-Ni 50% permalloy with square loop properties. The memory holding characteristics of this modulator were investigated experimentally in detail. Then it became clear as a result that there are two modes in the mechanism of the write-in and the readout. The linearity of the readout pulse width characteristics becomes better if the amount of the flux written in is controlled by the constant voltage by means of negative feedback. The difference of the first pulse width from the second one which was read out at a drive time is especially larger than the difference of the second from the third, etc. Then this second readout pulse width was selected as the standard one, and the memory holding characteristics were represented by the difference between the readout pulse width and standard one for the number of the readout.
The adequate selection of the compensation winding and the bias voltage can make this difference within ±0.5%. The use of the write-in method due to the feedback setting can make this difference within 0.25% in the range of 1, 000 times of the readout.View full abstractDownload PDF (1151K) -
Masasuke SHIMA, Akira INOUE, Miyoshi IMAI1974 Volume 10 Issue 4 Pages 416-422
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we study the optimal design of dual mode feedback control systems using a state observer and a relay element.
In the usual design of the dual mode optimal control systems, the sigular mode is realized by the stable silding motion of a relay whose switching surface is constructed by the state feedback law. In addition, the same surface is used as the switching surface for the bang-bang mode in the whole space.
But in practical situations, only the input and the output of the system are available for the design, and the state feedback cannot be realized in general. Hence, it is necessary to depend on the state observer for the construction of the switching surface, and there arise many problems owing to the adoption of the state observer which are to be studied in this paper.
First, sufficient conditions for the stable sliding motion of the relay and the global asymptotic stability of the system are given. Secondly, the loss of the performance index compared with the optimal system is calculated, and it is shown that the theory of optimal observers is applicable to our problem.
Finally, after the discussion on the optimal selection of the initial state of the observer, we propose to apply the, optimal design procedure of linear compensators to our problem, regarding the observer in the feedback loop as a compensator. Our method of design is illustrated by an example of a pure inertia system. The analysis of this example shows that the “optimal” feedack coefficient is not optimal according to our method.View full abstractDownload PDF (861K) -
Michio KUDO, Shoichi TAKEDA1974 Volume 10 Issue 4 Pages 423-429
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this report, we investigated an impedancevoltage converter consisting of a positive feedback system.
The standard signal is led to the positive feedback system as input. And we proved that in the above system, with the necessary circuit condition satisfied, the conversion output is obtained in proportion to the unknown impedance level in exactness. Then we made clear the circuit design process of the above circuit condition at the signal frequency. At the same time, we considered the stabilization of the above condition, since variation of the condition affects the output directly.
We cleared the stability condition of the feedback system quantitatively. Thus within the stable domain, unknown impedances in a wide range can be stably converted to the output voltages, and also these output levels can be easily adjusted by exchanging the standard resistance. In this case, moreover, we reduced negligibly the error of conversion by restricting the levels of unknown impedances compared to the input and output impedances of the amplifiers in the system.
As the standard signal source, we prepared a two-phase oscillator. In this, a stable output was gained by using a nonlinear element controlled by the oscillation level. Moreover the oscillation output was led to a synchronous detector as a reference voltage for the purpose of demodulating the A.C-input from the positive feedback system to the D.C-output.
We designed quantitatively the impedance converter as an example and verified the proportionality between unknown impedance levels and conversion D.C-outputs in measurement.View full abstractDownload PDF (819K) -
Shigeyasu KAWAJI1974 Volume 10 Issue 4 Pages 430-438
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn a-c servomechanisms, many compensation problems can be handled by the biquadratic transfer function G(s)=(s2+2ω1s+ωc2)/(s2+2ω2s+ωc2). The R-C Twin-T network is one network which realizes this function, and many synthesis methods have already been reported. Presently available methods usally require the use of cumbersome design charts. G. Weiss showed that realizability conditions for the Twin-T network are ω2>ω1, and ωc2-(ω2-2ω1)ωc-2ω1(ω2-ω1)<0.
Also, Sallen and Key developed the synthesis method for the active filter with the symmetrical Twin-T network in the special case of ω1=0.
In this paper, realization of the biquadratic transfer function using the Sallen-Key type filter with the general Twin-T network is discussed based on consideration of the realizability. By means of this filter, the biquadratic transfer function for arbitrary values of ω1, ω2 and ωc is realizable with no design charts. The output impedance of the filter can be decreased by making that of the active element in the filter smaller. This filter can be used as a phase-lead network or a phase-lag network. Furthermore it is shown that the design is simplified by using the phase curves derived from the transfer function of the carrier process with obtained realizability curves.View full abstractDownload PDF (936K) -
Kenji KUROSU, Yujiro MURAYAMA, Toshiro TERANO1974 Volume 10 Issue 4 Pages 439-446
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWhen boilers are running normally, the ordinary process controllers which have been developed until now, act excellently, but they are almost useless in an abnormal condition. Usually simple automatic trip systems are so poor that the human operator is indispensable even in fully automated plants. On the other hand, if we equip the plant with many fault detectors, the plant may frequently make unnecessary halts due to noise or troubles in detectors.
The purpose of this paper is to develop a new type emergency control system which keeps the plant safe while making the down time minimum. The now system has two major actions. One is the automatic diagnosis finding the place of troubles, either in the plant side (including normal state) or in the detector side. The other action is the prediction whether the plant state is going into the dangerous state or not.
The basic idea of the diagnosis is the combination of “maximum likelihood” and “two out of three”. The prediction is done by “simulation”. After building the emergency control system, the authors tested it with a steam plant. This experiment gave fine results. The artifical troubles imposed by the authors were completely diagnosed.View full abstractDownload PDF (971K) -
Ken-ichi ABE, Hiroshi TAKEDA1974 Volume 10 Issue 4 Pages 447-452
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper we study a finite parameter estimation problem in which we have only incomplete information on the probability density function of the observation variable. A generalized scheme of the maximum likelihood ratio test is employed for the estmation. We examine the conditions for the likelihood ratio function which must be satisfied so as to assure the probability of error tending to zero as the number of independent observations approaches infinity. Further we prove that, for some likelihood ratio functions, the probability of error obeys a bound similar to the Bhattacharyya bound.View full abstractDownload PDF (703K) -
Shigeru OYAMA1974 Volume 10 Issue 4 Pages 453-460
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSVarious types of firing circuits for thyristors have been reported, but control characteristics of the thyristor amplifier using these circuits are affected by variations of the power supply voltage. In order to prevent the effect of the variation, an A.C. stabilizer is used on the power source side. This method, however, is undesirable, because a large stabilizer is necessary.
For the purpose of improving these points, this paper presents a new firing circuit for thyristors with compensation to the supply voltage variation. The firing circuit is composed of rectangular-hysteresis-loop cores and semiconductors, and is used jointly with a magnetic amplifier which controls the thyristor. By using this circuit, it is confirmed experimentally that the control characteristics of the thyristor amplifier are not affected by the variation of supply voltage.
This paper describes the analysis of the firing circuit at the stationary state and gives the criteria of circuit design. Furthermore the control characteristics of thyristor amplifier with the firing circuit are calculated and compared with experimental values. As a result, it is found that the theoretical values are in approximate agreement with experimental ones. The fluctuation of the control characteristics of the Thyristor amplifier are regulated within ±1% for supply voltage variations of ±20%.View full abstractDownload PDF (908K) -
1974 Volume 10 Issue 4 Pages 460a
Published: 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (87K) -
1974 Volume 10 Issue 4 Pages 460b
Published: 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (87K) -
Setsuo SAGARA, Kiyoshi WADA1974 Volume 10 Issue 4 Pages 461-467
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe problem of identifying a single-input and single-output linear discrete-time system is considered where the output data is corrupted by additive noise. Use is made of the fact that a consistent estimator may be obtained by compensating an asymptotic bias in the leastsquares estimator. The algorithm proposed in this paper is useful for the case when the variance of the noise is not known and on-line computation is required. It is shown that the estimate generated by this algorithm is asymptotically equivalent to the one that minimizes approximately the sum of squared output errors. The latter minimization problem can be reduced to the eigenvalue problem. The experimental result of digital simulation is presented to illustrate the usefulness of the approach and verify the validity of the theoretical discussions.View full abstractDownload PDF (822K) -
Hiroyuki TAMURA1974 Volume 10 Issue 4 Pages 468-473
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe approach discussed in this paper solves a general class of multistage decision problems which include distributed and/or multiple pure delays both in state and decision variables. The overall system equation of this problem is described by a multi-dimensional nonlinear difference equation of high order. Applying Lagrange duality theory to the original problem, the dual problemis formulated, and the decomposition. of the decision process in stages is obtained. It is shown that by solving the dual problem the delay terms can be easily handled withgut reducing the multi-dimensional high order system equation to a conventional higher dimensional first-order system equation. The approach developed in this paper is applied to a combined marketing and production control problem, and the computational results are included.View full abstractDownload PDF (718K) -
Akimasa ISHIDA, Yoji UMETANI, Shigeoki HIRAI1974 Volume 10 Issue 4 Pages 474-479
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn a previous paper the authors proposed a model of the movement control system of skeletal muscles.
This study aims atverifying this model experimentally.
The following experiments with respect to pronation-supination movement of the elbow joint are carried out.
1) Transient response to small disturbance by prodding
2) The effects of temperature on tremor
3) Transient responses to torque disturbance by a DC motor From the experimental data and the results of analog simulation using the proposed model, the following conclusions are obtained.
1) The 2 modes of oscillation observed in the transient response to small disturbance are due to the mechanical resonance of the forearm and the stretch reflex loop.
2) The stretch reflex loop constructs the minor loop of the movement control system and contributes to the stability of the system.
3) The effects of temperature on tremor result in the change of the dead time and the loop gain of the streth reflex loop.
4) The proposed model is valid in the case of large movement.View full abstractDownload PDF (781K) -
Takashi NAKAMURA, Akira MORIKAWA, Masatada YONEMOCHI1974 Volume 10 Issue 4 Pages 480-486
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRecent developments in volume flow rate measurement techniques have focussed on hydrodynamic oscillatory motions such as the Karman vortex shedding, vortex precession, and fluidic oscillation. However, these flowmeters are generally lacking in sensitivity and are unable to cover relatively low flow rate ranges.
The flowmeter described in this paper is based on a new method using edge-tone oscillation, whose frequency is linearly related to the volume flow rate. Some advantages of this flowmeter are its better sensitivity, linearity, and stability compared to other fluidic flowmeters in low flow rate ranges.
The flowmeter, containing no moving parts, consists of a two-dimensional nozzle, an edge whose apex is located on the center line of the nozzle exit, and a restricted chamber including the edge.
The characteristics of a jet-edge system in a restricted chamber were experimentally investigated for the purpose of determining its potential use as a flowmeter. In this case, edge-tone oscillations were measured with a pressure transducer using semiconductors, which were attached near the apex of the edge. Many experimental models were made to determine the proper geometrical configuration for use with air or water.
As a result, the operating range was confirmed to be 680 to 3200 in terms of the Reynolds number for air and 400 to 4500 for water. The typical length for the values of these Reynolds numbers is represented by the nozzle width. A±0.6 percent linearity was obtained for air and water. The sensitivity was about 500 times better than that of other fluidic flowmeters for use in air.View full abstractDownload PDF (907K) -
Akira INOUE1974 Volume 10 Issue 4 Pages 487-492
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper considers the design problem of an observer to estimate a linear function of the state variables of a linear system, used in implementing a feedback control law.
Conditions of linear functions for the existence of an observer of a given order are obtained both in the case that the observer has only a specified pole configuration and in the case that it can have an arbitrary pole configuration. When a linear function and a pole configuration satisfying the conditions are given, a construction of the observer estimating the linear function and having the pole configuration is shown.
A loss of a performance index caused by using an observer for implementing the optimal feedback control law in the optimal regulator problem is discussed, and it is shown that if the loss can be made arbitrarily small by using and choosing an observer estimating all state variables, then it is the case with using an observer only estimating the linear feedback function and choosing the poles of the observer.View full abstractDownload PDF (754K) -
Hidekatsu TOKUMARU, Norihiko ADACHI, Takashi AMEMIYA1974 Volume 10 Issue 4 Pages 493-499
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn a preceeding paper the concept of macroscopic stability was introduced, and a sufficient condition for the macroscopic asymptotic stability of a large scale interconnected system is given. The concept of macroscopic stability is introduced from the points of view that there must be certain variables representing the global characteristics of a large scale system and that in the analysis of a large scale system the behavior of these variables is important. The sufficient condition was given on the basis of the comparison function for each subsystem with regard to its input-output relation.
In this paper the macroscopic stability of interconnected systems with time delay is considered. For this purpose the Matrosov's comparison theorem is generalized to the functional differential inequalities. With the aid of this theorem and comparison functions, the macroscopic asymptotic stability of interconnected systems with time delay between subsystems is studied, and it is shown that the theorem in the previous paper for a system with no time delay is also applicable to this system without any modification.
Furthermore a more general comparison function is introduced for a subsystem with time delay and by means of this function and comparison theorem, conditions for the macroscopic stability of the more general interconnected systems with time delay are studied. The relation between the Lyapunov functional and the comparison function is presented for a subsystem with time delay.View full abstractDownload PDF (842K) -
Ryosuke MASUDA, Kensuke HASEGAWA1974 Volume 10 Issue 4 Pages 500-506
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRecently, sensory organs of industrial robots have become of general interest. Among them, the tactile sensor has indispensably the primary role for material handling, and when this is used to sense the environment around the robot, it will give the robot flexibility and also adaptivity.
In this paper, we propose a PID force sense feedback method which can give clever grasping motions to the robot by simple preprocessing of the raw force sense and its feedback. That is, the grasping force is detected by the strain gauge and fed back to the finger driving circuit after proportional, integral and differential, i.e. PID operation of it. Then the robot can grasp thee given object with one of several touching and grasping modes predetermined by the amounts and mixing ratios of the PID feedback signals mentioned above. For an example, feedback of appropriate P and D signals can realize the soft touching and soft grasping actions.
Results of some experiments and analog simulation are shown to confirm the proposed method. And we prepare a design chart to show the relation between each PID parameter and the grasping force response, settling time and force overshoot. Using this chart, one can determine easily the value of PID parameters for action of the robot's fingers suitable to the object for which the physical characteristics are given.View full abstractDownload PDF (892K) -
Syunshiro OONISHI, Konosuke AKITA1974 Volume 10 Issue 4 Pages 507-512
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe ambient temperature influences the thyristor's firing characteristics considerably. In this paper, the theoretical analysis and technical applications of this phenomenon are described. It is shown theoretically and experimentally that the breakover voltage influenced by the ambient temperature depends on the leakage current of the thyristor, and the breakover voltage influenced by the gate current depends on the current amplification factor α. In addition, the technical applications of this characteristic to the thyristor relaxation oscillator and the temperature controller are developed. In such an oscillator, the frequency depends on the ambient temperature, and therefore the ambient temperature can be measured by the frequency. Moreover, the temperature characteristic of a pair of back-to-back thyristors is useful also as a temperature switch, and such a switch can be used as a fan controller.View full abstractDownload PDF (636K) -
Gliding Shape of Snake in Stationary Straightforward MovementYoji UMETANI, Shigeo HIROSE1974 Volume 10 Issue 4 Pages 513-518
Published: August 30, 1974
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIt is a well-known fact in morphology that static forms of living organisms are classified into several fundamental shapes. Some of them can be described by a geometrical function. On the contrary, the posture of a moving animal has scarcely been treated in morphology, with a few exceptions. But it seems that the posture could be represented with an idealized mathematical form if the animal's behavior is conditioned and maintained in uniform and stationary surroundings. The present paper shows one such typical case, discussing the shape of a gliding snake.
In this paper the gliding shape of snakes during locomotion on a flat surface in stationary straightforward movement is treated. The authors conclude that two kinds of geometrical curves, Eq. (7) and (10), represent sufficiently the shape of a gliding snake. Especially the curve derived under the assumption that the muscle will repeat contraction and relaxation cycles harmoniously during serpentine movement, which we named as the “serpenoid curve”, is shown to be remarkably similar to that of a living snake. Thus the authors believe that research on the shape of animals is useful not only to zoology but also to the biomechanics of an artificial animal-like vehicle and its designing.View full abstractDownload PDF (732K)
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