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Volume 14 (1978)
- Issue 6 Pages 613-
- Issue 5 Pages 479-
- Issue 4 Pages 347-
- Issue 3 Pages 217-
- Issue 2 Pages 107-
- Issue 1 Pages 1-
Volume 14, Issue 4
Displaying 1-22 of 22 articles from this issue
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Tohru KATAYAMA, Michitaka KOSAKA1978 Volume 14 Issue 4 Pages 347-352
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new approximate recursive least square filtering algorithm is derived for a two-dimensional discrete random field. The state-space model due to Attasi12) is employed for describing the random field. The principle of orthogonal projection is applied for deriving the equations for the filtered and predicted estimates of the states. A closed form formula for the covariance equation is obtained by trancating, the covariance expression in terms of a double series. Digital simulation studies are also carried out to show the feasibility of the recursive algorithm presented here.View full abstractDownload PDF (765K) -
Kazumasa HIRAI, Nobuyuki SAWAI1978 Volume 14 Issue 4 Pages 353-358
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new general criterion for jump resonance of nonlinear control system is presented. The jump resonance phenomenon is classified into two types, namely the wave crest type and the island type, according to the form of the frequency response curve, and the various modified types of jump resonance based on these two types are shown. Some of them are new and not found in the past publications. A simple graphical method to predict each type of jump resonance is studied. The experimental results by analog simulation are shown.View full abstractDownload PDF (793K) -
Tsunehiro TAKEDA, Toshiyuki KITAMORI1978 Volume 14 Issue 4 Pages 359-364
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a new method to design linear multi-input-output optimal tracking systems. The systems have no steady-state error for polynomial type inputs even if process parameter variations or constant disturbances exist. This characteristic is obtained by introducing the structure with an integral control action over an error to the systems.
The design procedure is divided into two steps. In the first step, the original systems are augmented with a necessary number of integrators in cascade with each input line. Then the augmented systems are regarded as “processes” to be designed. An ordinary optimal regulator problem is formulated for the “processes” and solved. In the second step, the above augmented optimal regulator systems are transformed to have the above mentioned structure, maintaining the transfer functions matrices unchanged.
The other characteristics of the systems are as follows.
(1) The systems preserve all the characteristics of the optimal regulator systems.
(2) The control inputs have no discontinuity even at the time origin.
(3) No such input derivative is necessary, even in the case of polynomial type inputs, as other systems require5), 7).
Necessary and sufficient conditions are also derived to synthesize the control systems. Some examples demonstrated the above mentioned characteristics.View full abstractDownload PDF (817K) -
Masao IKEDA1978 Volume 14 Issue 4 Pages 365-369
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper considers a large-scale linear time-varying system, and is concerned with the problem of stabilizing the overall system by means of subsystem stabilization. Concerning the problem, it is known that the stability of subsystems does not generally imply that of the overall system. However, it can be expected that the overall system is stable if all subsystems are sufficiently stable.
This paper gives a method of stabilization accomplished by feedback and feedforward of the state-variables of each subsystem, and a condition for the overall system to be stabilizable with an arbitrarily specified degree of stability. It is remarkable that in other method, the stabilization of subsystems does not necessarily imply the stabilization of the overall system.View full abstractDownload PDF (597K) -
Yasuhiko TAKAHARA1978 Volume 14 Issue 4 Pages 370-376
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper a category of basic linear system is introduced and proved to be finitely complete. A basic linear system is a general time system which satisfies linearity, strong stationarity, precausality and finite dimensionality of the system core. It is introduced as an algebraic abstraction of a constant coefficient linear ordinary differential equation system. In this paper, under the additional assumptions that the time set is the set of real members and that each element of the system core satisfies “continuity” from right, it is shown that a basic linear system possesses several important systems theoretic properties, in particular, causality, “analyticity” past-determinancy, existence of a canonical sate space representation. The homomorphism for basic linear systems is defined as a two tuple of linear functions which is relation preserving, folding operation preserving and causality preserving. It is proved to be a morphism for a category of basic linear systems. Finally, the category of basic linear systems is shown to have equalizer and finite product due to systems theoretic properties of basic linear systems and hence to be finitely complete.View full abstractDownload PDF (933K) -
Shusuke HASHIMOTO1978 Volume 14 Issue 4 Pages 377-384
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn a linear quadratic optimal control problem, the optimal control is synthesized by a multiplying current states or optimal state estimates by an optimal feed-back matrix which is obtained by means of off-line computation.
If we take account of information costs (information transmitting cost, information storage cost and information processing cost) necessary to generate the control in addition to the quadratic performance index, these information costs will increase considerably as the size of the state dimension increases.
This paper treats a suboptimal control approach to the optimization problem of a linear discrete time system by use of deterministic patterns instead of true states from a viewpoint of decreasing information costs and presents the degradation of performance index value caused in the suboptimal control. It is shown that this degradation is formulated as the sum of errors in a quadratic form. Each error vectol arises from patternization at each stage of computation.View full abstractDownload PDF (937K) -
Nobuharu MIYATAKE, Shozo MORI, Katsuhisa FURUTA1978 Volume 14 Issue 4 Pages 385-392
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe developed the method which recursively identify the multi-attribute utility function based on the observation data which consist of the paired comparison questions and answers. In this method, the weights (w1, w2, …, wn) of additive utility function U(a)=∑ni=1wi·ui(ai) are regarded as random variables and the gaussian sum approximation method is used to estimate the posteriori probability density function of the weights conditioned by the data of comparative judgements. In order to test the applicability of this method, we applied it to the following two examples,
(1) estimation of the value of time,
(2) evaluation of the psychological burden of trip route.View full abstractDownload PDF (942K) -
Hideki KOKAME1978 Volume 14 Issue 4 Pages 393-398
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe design problem of a control input for system parameter identification has so far been studied extensively. On the other hand, the importance of end-time selection should be emphasized in a case where the identification experiment is desired to complete quickly.
In the present paper, at each stage of the experiment, allowed is the decision as to whether it is to be stopped, or continued for further measurement by taking some control. This is formulated as a combined optimal problem of control and stopping by adopting a performance index that has a cost term representing the time required for the experiment. Since the optimal design of the experiment needs the optimum cost function of a number of variables, an attempt is made on simplification of the function into such a form that contains a table-type function of fewer variables and a large amount of information about the optimality equation. Utilizing this form, a learning procedure is proposed to obtain a well-trained stopping rule of interest.
By a numerical example, the suboptimal design thus obtained is examined to see its applicability. The results of computer simulation show that it reduces an appreciable amount of cost and improves the rate of correct estimate of uncertain parameter, as compared with the design having a fixed end-time of the experiment.View full abstractDownload PDF (763K) -
Takayoshi NAKAMIZO, Masakazu OSHIRO1978 Volume 14 Issue 4 Pages 399-404
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSeveral aspects of an optimal regulator problem are discussed in this paper for linear stochastic systems with incomplete observation. First the explicit form of the reduced order controller is presented. It is also shown that the reduced order state estimator coincides with the controller obtained when the covariance matrix of the observation noise in a Kalman filter is brought to null. Second the practical stability criteria are established for the closed loop system resulted from interconnecting the plant and the controller. Since the stability depends only on zeros of the open loop transfer function, the additional condition is that it has a minimum phase shift. Finally, from the stability analysis, the conditions for the maximum accuracy to be achieved are directly derived.View full abstractDownload PDF (730K) -
Seiichi NAKAMORI, Masanori SUGISAKA1978 Volume 14 Issue 4 Pages 405-412
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper designs the new fixed-lag smoother by the covariance information of the signal and observation noise processes. Two kinds of observation noises are considered here, which are the stationary white noise and the stationary white plus coloured-noise. We design the optimal fixed-lag smoother in the meaning of minimum variance of estimation error for each noise. The new smoother has two advantages: 1) The linear nonstationary system state can be estimated, with a simple initial-value system, directly by the curve-fitted, functions of the covariance information, and by the observed values. So, we do not have any trouble of finding an approximating state-space model by the spectral factorization method, using covariance information. 2) The calculation of the algorithm for the fixed-lag smoothing estimate is easy. One reason for that is that the covariance function of the signal process is assumed to be degenerate. Degenerate kernels can express the general kind of covariance information of nonstationary process in the form of finite sums of products of nonrandom functions. The other reason for that is that we can approximate the covariance information of the coloured-noise process by semi-degenerate kernels. Semi-degenerate kernels also can express general kind of covariance information of nonstationary process by a curve-fitting method.
The effectiveness of the new fixed-lag smoother was assured by a numerical example.View full abstractDownload PDF (949K) -
Yoji UMETANI, Akira HISHIKAWA1978 Volume 14 Issue 4 Pages 413-419
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the previous paper, the authors proposed a biological machine called Active Reticular Mechanism (abbreviated as ARM), and showed its excellent capabilities as a locomotive robot. The present paper deals with its another application as a pattern recognizer for curved surfaces, emphasizing the pattern recognition theory and the verification with experiments by using some pattern models.
Smooth and continuous surfaces of quadrics are considered as a set of categories to be recognized, so that spherical, ellipsoidal, hyperboloidal, cylindrical and planar surfaces are introduced. According to the property of a surface in the differential geometry, the chracteristics at a point on the surface are defind with a pair of principal curvatures, therefore the feature selections can be expressed by a pair of variables (ξ, η) derived from the curvatures.
The authors establish a specific theory of pattern recognition consisting of a set of linear inequalities laid on the ξ-η plane. In order to verify the clustering performance of the theory some experiments are carried out with the ARM model and the pattern models. As a result it is shown that the ARM can be utilized as a feature selecting observer by employing the authors' theory.View full abstractDownload PDF (2918K) -
Yoh-ich TATARA, Hiroshi ODA1978 Volume 14 Issue 4 Pages 420-427
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe human performance in a man-machine system, has been investigated for a given condition in a given system. Therefore, the forms and the constants of the transfer function representing the performance are different as reported in the publication of many researchers who have worked with various conditions or systems. The human performance will not be the same always, but will be much variable.
In this paper, human tracing performances for 4 operators are measured for simple servomechanisms in which the frequency of a harmonic input is changeable. As a result, it is found that the measured transfer functions are different from the previous transfer functions, so long as a dead time of 0.2sec is included in the function. The proportional constant of the present transfer function is found to be a function of the frequency, and the function is also found to include such prediction as derivative performance. The transfer function is theoretically derivative here. As the frequency increases, the lower order derivative performance may change to one having an element of higher order derivative performance. moreover to one having a negative dead time in order to be consistent with some measurements, although personal differences appear in the higher frequencies.View full abstractDownload PDF (1135K) -
Fumio MIYAZAKI, Suguru ARIMOTO1978 Volume 14 Issue 4 Pages 428-433
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSBiped locomotion is a type of movement in which the mover makes use of the gravity skillfully. The purpose of this paper is to investigate the dynamics of biped locomotion from the viewpoint of both classical mechanics and modern control theory. To this end, a mathematical model with moderate degrees of freedom is proposed, which is derived as a model of five-link locomotion expressing the essence of human biped locomotion. The structural features of the model are discussed from the viewpoint of freedom of dynamics and controllability. It is then shown that some specific dynamical features of the locomotion model can be characterized in terms of angular momentum. It is finally shown that the ‘gait stability’, which is a special type of stability inherent to biped locomotion, is realized by a proposed control which satisfies the final condition of a swinging leg.View full abstractDownload PDF (820K) -
An Analysis of the Oscillating WaveformTakashi NAKAMURA, Muneaki MATSUMOTO, Masatada YONEMOCHI1978 Volume 14 Issue 4 Pages 434-439
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with the characteristics of the oscillating amplitude, the frequency jumping phenomenon, and the pressure gradient of an edgetone oscillation.
In this study, the oscillating waveform is discussed from the pressure change detected at the apex of the wedge, and the characteristics of the waveform and the oscillating amplitude are investigated experimentally with respect to the jet deflection, the jet velocity profile, and the nozzle-edge distance.
Frequency jumping is discussed by referring to the results obtained by analyzing the oscillating waveform with a spectrum analyzer. The pressure change at the apex of the wedge is regarded as being due to the behavior of the pressure source, and the relation between the pressure gradient and the jet deflection is discussed on the basis of the pressure amplitude characteristics.
The following facts are confirmed.
The amplitude characteristics are very much affected by the jet deflection and the velocity profile at the apex of the wedge. The oscillating waveform contains the frequencies of the various stages, and frequency jumping is related to the amplitude characteristics of each stage. The relation between the pressure gradient and the jet deflection is different from that of the models which have been assumed.View full abstractDownload PDF (801K) -
Tsutomu WADA, Akira SHIMIZU, Tsukasa NAKAHARA1978 Volume 14 Issue 4 Pages 440-447
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWhen a wall reattachment device with vents works with such a large resistance load as that is produced with a complete or nearcomplete blockage of the outlet, the switching level may be substantially affected to become different from that with a zero or small resistance load.
In some devices for practical use, the vents are wide and the splitter overlaps with the vents. With such a configurations the change of switching level may be quite small, but no high recovery pressure can be gained.
The purpose of this paper is to present some design techniques to provide the device with desirable characteristics, the recovery pressure as high as possible and the change of switching level as small as possible. In the first half of paper, the effects of load on the stability of a reattached jet flow pattern are investigated. Then, it is concluded that these are related to a turn-over-flow to the opposite from an active output passage due to load. In the latter half, from a standpoint that a primal flow field of reattached jet flow must not be disturbed by the turn-over-flow and then the level is not affected by a load, some design techniques for the desirable device are suggested.View full abstractDownload PDF (3340K) -
Behavior of the Pressure Wave in the SystemsMuneyuki YOSHIOKA, Yoshinobu MORIKAWA1978 Volume 14 Issue 4 Pages 448-453
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with the transient phenomena in the branched pneumatic transmission line systems.
The mechanism of pressure wave propagation in the three-lines junction system, or the behavior of incident, reflected and transmited waves is illustrated by using the SFD (Signal Flow Diagram) and the system is formulated on the basis of SFD. Then, the transient characteristics of the system for some cases-i. e. (1) m2=m3=m4=0, (2) m2=m3=0; m4≠0, (3) m2≠0; m3=0; m4≠0, (4) m2≠0; m3≠ 0; m4≠0, where m2 and m3 are the reflection coefficients at the terminals, m4 the reflection coefficient at the junction for input wave-are discussed by using the SFD and the transfer functions. In particular, the second case (m2=m3=0; m4≠0), or the reflection of the pressure wave at the junction is considered on the basis of theoretical and experimental responses to a step input.View full abstractDownload PDF (1630K) -
Manabu NISHIKAWA, V. K. Agarwal, Bunjiro ICHIJO1978 Volume 14 Issue 4 Pages 454-460
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes the construction, principle, and features of a precise variable capacitor capable of obtaining a very small capacitance change and its applications.
There are two types of such a precise variable capacitor. One is the cylindrical type, and the other is the plate type.
For example, in our experiments, a variation of about 1×10-4pF was obtained by a displacement of 100μm of the micrometer head at the cylindrical type. And a variation of 3.5×10-4 pF was obtained by a displacement of 100μm of the movable metal electrode at the plate type.
This precise variable capacitor is very simple and compact in its construction and this can also be placed directly in the measuring circuit.
To show its application, a measurement of dielectric constant and thickness (less than 1000Å) of Langmuir films of stearic acid is presented.
As for another application, we measured Q factor of very low loss dielectrics at 2.5MHz by capacitance substitution method using this precise variable capacitor as standard. Both experiments were performed yielding good results.View full abstractDownload PDF (2401K) -
Modeling and Control of Automated Urban Transportation Systems with Closed-Loop Single-Lane GuidewayHiroyuki TAMURA, Yasuhiko KIHARA1978 Volume 14 Issue 4 Pages 461-466
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper mathematical model and a suboptimal control scheme for automated public transportation systems with a closed-loop single-lane guideway, is proposed. Instead of time, distance is chosen as an independent variable taking into account the simplicity of implementation in real systems. The deviation from the scheduled time interval between the adjacent vehicles and the deviation from the scheduled velocity of each vehicle are chosen as the state variables of our discrete-distance dynamic model for the traffic control, and the deviation from the scheduled acceleration of each vehicle is chosen as the control variable.
The suboptimal control scheme, which is designed by a linear regulator with upper and lower bounds for control inputs, is proposed, and is compared with the optimal control scheme obtained by a mathematical programming technique. It is shown that the suboptimal control, which can be easily implemented as an on-line real-time traffic control, is very close to the optimal control. The performance of the control proposed in this paper is compared with those of two other methods in which the time is chosen as an independent variable. It is found that the performance is not degraded appreciably by choosing the distance as the independent variable. Therefore, the effectiveness of the model and the control scheme for automated public transportation systems in this paper is ascertained from the viewpoint of their realizability in a real system.View full abstractDownload PDF (766K) -
Takumi HASHIZUME1978 Volume 14 Issue 4 Pages 467-472
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe heat exchanger with condensation is widely used as a condenser, a heater in the process industry and a turbine condenser in the power system. Many reports are published on the analytical and experimental investigations of the transient characteristics of heat exchangers with condensation. However, few attempts are made to study the dynamic behaviors with a steam flow rate change.
In this report, there are investigations on the analytical and experimental approach to describe the performance of a heat exchanger with condensation used as a turbine condenser in a steam power system. The heat exchanger in the experimental use is a horizontal tubular type condenser. The condensate does not come in contract with the tubes and is kept in a constant low level under tubes.
The author, through analytical studies, showed the expression to infer some transient characteristics and through experimental studies clarified that the pressure response to a steam flow rate change may be represented by the transient characteristics of a simple concentrated parameter system.View full abstractDownload PDF (802K) -
Tohru KATAYAMA, Michitaka KOSAKA1978 Volume 14 Issue 4 Pages 473-474
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (245K) -
Naoya KAWASAKI, Etsujiro SHIMEMURA1978 Volume 14 Issue 4 Pages 475-476
Published: August 30, 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (280K) -
1978 Volume 14 Issue 4 Pages 478
Published: 1978
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (135K)
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