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Volume 15, Issue 7
Displaying 1-25 of 25 articles from this issue
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Osamu ONO, Seiji KOBAYASHI1979 Volume 15 Issue 7 Pages 853-857
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a group structure and stability regions of a large scale discrete composite system composed of many locally and globally stable subsystems are considered.
First, the interconnected structure of this composite system is related to a graph and represented by a Boolean matrix. A grouping for the discrete composite systems is carried out by deriving the canonical form of the Boolean matrix.
Second, disconnecting the whole composite systems into the groups obtained, stability conditions and stability regions of each disconnected group are searched.
Finally, it is shown that the stability of the whole discrete composite system is guaranteed if each disconnected group is stable and that the stability regions of this whole discrete composite system are constructed systematically from the stability regions of the disconnected groups.View full abstractDownload PDF (578K) -
Tsunehiro TAKEDA, Toshiyuki KITAMORI1979 Volume 15 Issue 7 Pages 858-865
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes two properties of the poles of the previously proposed optimal tracking systems1). The systems have no steadystate error for polynomial type inputs even if process parameter variations or constant disturbances exist.
One property concerns the asymptotic movement of the poles, as the weights on the inputs in the quadratic performance function go to zero. Though almost the same property was described by Kwakernaak2), the proof was not complete. This paper first proves that the degrees of the coefficients in the power characteristic equation are inherent in a process and have a monotonic nature. Using those theorems, complete proof states that those poles that go to infinity group into m Butterworth pole configurations of the inherent orders of the process. Here, m is the number of inputs and outputs. The number was not explained in Kwakernaak's paper.
The other property is that the product of the absolute values of the poles is in proportion to the product of the determinants of the weighting matrices in the function.
These properties are expected to be useful to determine the specific values of the weighting matrices. An example demonstrate the above mentioned properties.View full abstractDownload PDF (1011K) -
Naoshi MURAYAMA, Tomiji HISAMURA1979 Volume 15 Issue 7 Pages 866-872
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper treats a partial decoupling problem of an m-inputs p-outputs (p≥m) linear multivariable system. An output feedback with a constant gain matrix is used in transforming the original p×m transfer function matrix to a block diagonal matrix whose first r×r (r< m) block is diagonal and nonsingular.
Necessary and sufficient conditions for the partial decoupling are derived. The natures of the feedback matrix are analysed and an example is included to illustrate the design procedure.View full abstractDownload PDF (730K) -
Hiroyuki KAJIWARA, Kazuhiro KOSUGE, Katsuhisa FURUTA1979 Volume 15 Issue 7 Pages 873-879
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSOn the basis of the optimal servo theory, this paper discusses the design of the position control system for a double inverted pendulum on an inclined rail. The controller is implemented by a minicomputer to stabilize the double inverted pendulum and can make its position change according to a specified command suppressing the effect of the constant disturbance caused by inclining the rail. The successful experimental results have been obtained and the effectiveness of the state space approach has been shown in the design of the servo controller for a system with constant disturbances and parameter variations.View full abstractDownload PDF (1748K) -
Tsuneo YOSHIKAWA, Toshiharu SUGIE1979 Volume 15 Issue 7 Pages 880-887
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a generalization of the concept of an inverse system far a linear time-invariant dynamical system. Most of the previous studies on inverse systems have treated only the case where all components of the input (or their α-th integrals) of the original system can be recovered from the output signal. Even when not all components are recoverable, there is still a possibility of reproducing some of the components of the input or their linear functions. As a generalization of the concept of an inverse system to include such cases, the “α-integral F-inverse” is proposed in this paper. This inverse is a system which reproduces the α-th integral of a linear function Fu of the input u.
The definition of the α-integral F-inverse is given first. Then a necessary and sufficient condition for the existence of an α-integral F-inverse is derived. Finally, a construction procedure of such an inverse is given and a numerical example is presented.View full abstractDownload PDF (929K) -
Shinji HARA, Takahiko KOSA, Katsuhisa FURUTA1979 Volume 15 Issue 7 Pages 888-894
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a theory on the types of linear multivariable systems is developed in the state space approach. The following is our contribution to a study of system type.
(i) A method is developed for determining the system type of a given plant.
(ii) A necessary and sufficient condition is obtained for the existence of a compensator such that the composite system of the given plant and the compensator is observable and is of a desired system type.
(iii) A method is developed for designing a minimal-order compensator such that the composite system of the given plant and the compensator is observable and is of a desired system type.
In the development only simple matrix operations are involved. The first method is easier than those of earilier works. The second condition and the third method are new useful results for the theory of system type. These are indicated by using an example.View full abstractDownload PDF (811K) -
Hikaru INOOKA1979 Volume 15 Issue 7 Pages 895-900
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe quotients of continued fraction expansion of a composite system are given explicitly in terms of the quotients of subsystems. Using the expression, the new design method is proposed such that the feedback system has some specified quotients of continued fraction expansion. The method is straightforward free from entanglement with the solution of the nonlinear algebraic equations which are given in the method proposed by Chen & Shieh.
However, the problem of stability still remains. It is necessary to examine the stability of a feedback system, and if it is unstable, the way of compensation should be changed.View full abstractDownload PDF (766K) -
Keigo WATANABE, Toshio YOSHIMURA, Takashi SOEDA1979 Volume 15 Issue 7 Pages 901-906
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a design method of a failure diagnosis system for a linear discrete-time system with a parametric failure whose variation and its occurrence time cannot be estimated in advance. The following diagnosis system is proposed: i) A normal mode filter (Kalman filter) feeds the information of its innovation sequence to a detector. ii) The detector which uses the WSSR (Weighted Sum-Squared Residual) test detects anomaly states affected by the parametric failure. iii) An adaptive extended Kalman filter is constructed on the basis of a hypothesis test for parameter estimates, and simultaneously estimates unknown parameters and the states under the failure mode. iv) A discriminator which employs the cost function of approximate local sensitivities discriminates a failure parameter. Numerical results for a simple plant model illustrate the effectiveness of the proposed failure diagnosis system.View full abstractDownload PDF (724K) -
Katsuhisa FURUTA, Shoshiro HATAKEYAMA1979 Volume 15 Issue 7 Pages 907-914
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a procedure to identify linear multivariable systems in the state space representations from the input-output data contaminated by noise. The input-output relation is identified by using the generalized least squares identification which is a modified Clarke's algorithm, and the (I/O) relation is minimally realized in the practical sence. This minimal realization, named the ε-minimal realization, is found effective for the structural determination in the identification, where the dimension of an ε-minimal realization is depending on the choice of ε. A method to determine ε by the statistical test is also given. The proposed method is effective as also shown by some numerical examples.View full abstractDownload PDF (1077K) -
Kiyotaka SHIMIZU, Eitaro AIYOSHI1979 Volume 15 Issue 7 Pages 915-920
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe study on hierarchical optimization of the power-decentralized system, in which a central system and plural regional systems (subsystems) possess their own objective functions. The lower level consists of N regional systems each of which possesses its own decision variable vector, objective function and constraint conditions. The central system in the higher level has a function of coordinating the regional systems. The basic principle of planning is that the central system allocates resources so as to optimize its own objective, while the subsystems optimize their own objective using the given resources. Accordingly, the respective subsystem generates an optimal parametric solution w. r. t. the given resource. The central decision-maker, then, chooses an optimal resource allocation based on knowledge about subsystems' behavior. Such problems with precedence in decisive powers can be solved in principle by a parametric approach.
In the past, most studies of two-level planning were limited to the cases in which the central objective is a function of subsystems' objectives. By use of directional derivatives, then, nondifferentiable programming was applied to improve resource allocation successively.
In this paper, we are concerned with the cases in which the central objective consists of subsystems' optimal parametric solutions generally. Such problem is regarded as the most general resource allocation problem.
A new computational method is proposed such that a nonlinear programming problem approximating the original hierarchical one is solved iteratively by applying a penalty function method to the lower level problems. It is proved that a sequence of approximated solutions converges to the optimal solution.
The two-level planning mentioned above is the same with the so-called Stackelberg Strategy, and thus the purpose of this paper is also to study an algorithm for a Stackelberg problem with plural optimization subproblems in the lower level.View full abstractDownload PDF (797K) -
Shunji HIROKAWA, Hiroshi SUGIYAMA1979 Volume 15 Issue 7 Pages 921-927
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, the quantitative analysis of a gait as a stochastic process, and its experimental application are presented.
First of all, the gait pattern is described with the statistics of the measured data of the gait cadence and the step length. And the gait pattern is evaluated with the indexes of the symmetry and the state variable variance which are calculated also from the same data.
Next, with the application of an ergodic Markov chain, the gait pattern is analyzed and its change is predicted.
And, with the application of an absorbing Markov chain, the rehabilitation plan can be made on a sound basis.
Furthermore, as a practice of the above, it is shown that a malformed gait may be reformed systematically making a full use of the training system which the authors manufactured for trial.View full abstractDownload PDF (925K) -
Shigeo HIROSE, Yoji UMETANI1979 Volume 15 Issue 7 Pages 928-933
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAlthough the advantages of mobility in legged vehicles, in comparison to those in wheeled systems are generally recognized and the demand for such vehicles is urgent, the study of legged locomotion systems is still at the experimental stage and a practical legged vehicle has yet to be developed. The present state of research on the lower extremeties is in a remarkable contrast to that on the upper extremeties for which mechanisms such as the manipulator have already been utilized in industrial fields.
The authors believe that the real difficulties which retard the advent of useful legged vehicles lie in their mechanical aspects as well as in the complex coordination control of their multi-joints. Conventional legged mechanisms and their actuating systems are far from being sufficient to produce enough pay-load and to make efficient propulsive movement.
This paper considers the energetic efficiencies in walking. First of all the specific power ε is introduced as an evaluation measure of energetic efficiencies of locomotor. The kinematics of walking are then analyzed and its computer simulations are performed with several leg configurations and gaits. As the result of this computer simulation, some fundamental knowledge such as the fact that the insect type sprawling wide track gait is not inferior to a mammal type erect gait in its energetic efficiency and the weight of the locomotor has a great influence on its energetic efficiency is obtained.View full abstractDownload PDF (900K) -
Minoru INAMURA, Hiromichi TOYOTA, Sadao FUJIMURA1979 Volume 15 Issue 7 Pages 934-940
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe objects with different thermal infrared emissivities are taken simultaneously into a pixel of a remotely sensed multispectral image, and the proportion of an object changes with every pixel according to the altitude of the observation aircraft and the conditions of the region. Therefore, for a thermal infrared image, one cannot distinguish between the true change of the surface temperature and the apparent change of it caused by the change of the proportion of an object in the pixel. The exterior product image processing by using the image information of the visible channels adjusts the emissivity change caused by the change of the proportion, i. e., it removes the apparent temperature change on the thermal image.
Consequently, the temperature change on the processed image gives the true temperature difference pattern which is independent of the proportions of the various objects on the earth's surface. The emissivity compensation method based on the exterior product processing has the following features.
1) In this method it is not necessary to know the object's proportion in a pixel. It is an important practical advantage in application.
2) Visible images are used very effectively, namely, the mixed arithmetic processing of the thermal infrared image and the visible images is given in the compensated image.View full abstractDownload PDF (1641K) -
Izumi SAKAI, Ko HARA, Masakazu SHIMOMURA1979 Volume 15 Issue 7 Pages 941-946
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new thermometric method is proposed in the liquid helium temperature region with reference temperature determined by the super-to-normal (S-N) transition of a superconductor. This method is expected to be superior, with further improvements, to conventional ones in the sensitivity, reproducibility and response speed, which can be enhanced by the sharp and dependable S-N transition and by the thin film structure of its sensor.
A superconductor thin film immersed in liquid helium of temperature (TB) lower than its transition temperature can be kept at its transition temperature (TC) by introducing a thermal feedback controller operating on (TC-TB). The amount of this thermal feedback gives a thermometric measure from TC. In the vicinity of TC, the heat generated by this thermal feedback can be minimized to a degree negligible in almost all practical situations.
A practical sensor trially manufactured by the authors has a double layer structure: one layer is an Sn film as a superconductive material and the other layer a nichrome film as a thermal feedback element. This setup works between 2.78 and 3.64K giving an output monotonically related to the temperature difference.
This paper presents just the working principle of the new method and its experimental verification. Practical improvements are left for the future study.View full abstractDownload PDF (800K) -
A Study for the AccuracyRyuji KOGA, Yoshihiro TANADA, Hiroya SANO1979 Volume 15 Issue 7 Pages 947-952
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSmall concentration of some gaseous pollutants in the atmosphere can be monitored by the absorption of tunable laser light along a short path, which allows a point monitoring. This scheme can be a standard for other simpler methods on different principles.
This paper reports a possibility to design a compact and practical air-pollution monitor based on this principle which can detect small light attenuation of 10-4 Np. A setup of a pulsed tunable dye laser and photo diodes associated with an electronic signal processor designed particularly for this purpose was examined.
This report specifies noises that may deteriorate the accuracy, and proposes countermeasures. Major noise sourses are the fluctuation in the energy of each laser pulse and the fluctuation of the beam splitting ratio. A special electronic circuit, named an instantaneous difference compensator, was designed to suppress the influence of the laser energy fluctuation. The fluctuation in the beam splitting ratio can be eliminated by choosing a proper polarization angle of the incident light. The use of a pulsed laser light allows a reduction of the stationary noise in an electronic circuit used as a very-fast time window.
The magnitude of residual noise is estimated. The theoretical ultimate accuracy is 3.4×10-4 Np·√pulse number with SNR=1, whereas the result in an experiment with the test setup shows an accuracy of 4.2×10-3 Np·√pulse number.View full abstractDownload PDF (819K) -
Consideration on Sound-Sensitive RegionIchiro KIMURA, Masatada YONEMOCHI1979 Volume 15 Issue 7 Pages 953-958
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, the region sensitive of both the frequency of sound and the average velocity at the nozzle exit, is experimentally determined. With respect to this region, the relation between the behaviour of the two-dimensional water jets affected by sound and the decay of turbulence is discussed by using Tayler's statistical theory of turbulence.
The following is confirmed:
1) A responsive frequency bandwidth involving the most sensitive frequency, shifts towards a higher frequency with an increase in the average velocity at the nozzle exit.
2) A water jet sensitive to sound is affected significantly by the variation in both the rectangular shape of the nozzle's section and the sound pressure.
3) The behaviour of a sound-sensitive water jet is related to the decay of turbulence in the downstream side of the transition domain where a laminar jet becomes a turbulent jet.View full abstractDownload PDF (799K) -
Masayoshi ESASHI, Shinobu NOMOTO, Rodolfo Quintero ROMO, Tadayuki MATS ...1979 Volume 15 Issue 7 Pages 959-964
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA miniature pressure sensor for biomedical application has been fabricated. By means of integrated-circuit (IC) fabrication techniques, these sensors can be produced in batches.
The sensor, of dimentions 3×1mm2 and 0.4mm thick, consists of eutectic-sealed two silicontips and a silicon diaphragm of 560μm diameter and 10μm thickness is formed on one side. This structure allows easy bonding of lead wires and mounting to a catheter-tip, and it is effective to reduce hysteresis and temperature drift caused by the thermal expansion mismatch of different materials.
A thin circular diaphragm has been fabricated from 130μm thick silicon wafer which has 10μm thick n-epitaxial layer on n+substrate by etching n+substrate electrochemically. Four p-type piezoresistors on the edge of the diaphragm are aligned to the direction of maximum sensitivity, and p+-type diffused conductors are formed for the connection to each contact pads. Lead wires are bonded to the contact pads with soldering. After mounting to a catheter, the sensor is coated with Parylene-C (Union Carbide Corporation, U.S.A.) to ensure the insulation and the passivation for the long-term operation.
The pressure sensitivity of the sensor is 27μV/Vsupply/mmHg, hysteresis and nonlinearity have not been observed over the pressure range from 0 to 300mmHg, and the diaphragm has not been broken even by a pressure over 9, 000mmHg.
The zero-pressure shift with a temperature change is less than 0.3mmHg/°C and the sensitivity change -0.27%/°C.
Satisfactory results have been obtained using the sensor for blood pressure measurement of a dog.View full abstractDownload PDF (1734K) -
A Phase-Locked Loop for a Separately Excited DC-Motor Speed Control with Improved Transient ResponseKeiju MATSUI, Noriaki SATO1979 Volume 15 Issue 7 Pages 965-971
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWith the recent development in the technology of integrated circuit design and processing, sophisticated circuits are becoming low-cost and reliable. Therefore, the use of phase-locked loops (PLL) has become popular in motor control systems. Although the PLL systems offer a more precise motor speed control, the acquisition speed is generally slow. And this PLL techniques have been applied mainly to low power d. c. motor drives of several watts to several tens of watts. In applying PLL for the higher power drives, it is necessary to consider the ripples of source power and the load torque.
This paper presents a new control scheme using a non-linear loop filter which makes the aquisition speed faster. For the higher power drives, the ploblems of instability exist in the steady-state. To stabilize the steady state, a speed feedback compensation is used. In the transient state, a non-linear feedback compensation is used.
An experimental model including a 2.5kW D. C. motor with separate excitation is built and tested. In the transient state during which the resistor of the lowpass filter is automatically changed, the smaller the value of time constant is, the faster the time response becomes. Except in an extreme case, the armature current is kept nearly constant until the rotor gathers a desired speed. It is found that the increasing rate of the armature rush current is small.View full abstractDownload PDF (1063K) -
Tohru KATAYAMA, Toshiaki NABETANI1979 Volume 15 Issue 7 Pages 972-977
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA problem of determining the optimal investment policy for pollution control is considered by using an aggregate growth model. It is assumed that the pollution as a flow increases in proportion to the gross output and decreases in proportion to the investment in pollution control. The problem is formulated as an infinite horizon optimal control problem in which the integral of the discounted social utility function is to be maximized, and is solved by applying the maximum principle. It is shown that the optimal policy is uniquely determined and the optimal path for the capital stock asymptotically approaches a unique equilibrium state. A numerical example is also presented, and the effect of the model parameters variation on the equilibrium state is examined.View full abstractDownload PDF (813K) -
Synthesis of the Longitudinal Control System of a Fully Submerged Hydrofoil Craft with an Auto-PilotMasao ITOH1979 Volume 15 Issue 7 Pages 978-985
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSpeaking of a fully submerged hydrofoil craft, all the hydrofoils attached to the foilstruts of the craft body are fully submerged in the water, so that the disturbing wave forces acting on the hydrofoils are very small in their foilborne cruising compared with the forces on the surface piercing hydrofoils. Therefore, the fully submerged hydrofoil craft gives us a very comfortable riding.
On the other hand, the hydrofoils have little to do with stabilizing the height above the water surface and the attitudes of the craft and hence, an autopilot system is needed to stabilize the height and the attitude of the craft.
In the present paper, a synthesis method for the longitudinal control system of a fully submerged hydrofoil test craft with an autopilot is described.
The test craft (displacement: 4.3 tons) has two flaps attached to the port and starboard fore foils and one flap to the after foil, The height and the attitude (pitch angle) of the craft are affected by the variation of each flap angle. Therefore, the dynamics of the longitudinal motion of the craft are described as a coupled system, which has two controllers (fore and after flaps) and two controlled quantities (the height and the pitchattitude of the craft).
The longitudinal control system including the craft dynamics and the autopilot consists of a height control loop and a pitchattitude control loop. These two control loops are coupled together through the craft dynamics.
The longitudinal control system is roughly studied first, assuming the system could be separated into two decoupled loops, and then studied strictly as a coupled system. By this method, it has been shown that the synthesis for the longitudinal control system of the fully submerged hydrofoil craft could be done efficiently, and also that the calculated results of this method coincide well with those of the sea-trials by the test craft.View full abstractDownload PDF (1127K) -
Takehiro MORI, Hideki KOKAME1979 Volume 15 Issue 7 Pages 986-987
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
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Yasukazu HASHIMOTO, Yoshiyuki SAKAWA1979 Volume 15 Issue 7 Pages 988-989
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (233K) -
Kazuo YAMANAKA, Etsujiro SHIMEMURA1979 Volume 15 Issue 7 Pages 990-991
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (270K) -
Susumu HATTORI, Koichi AKIYAMA1979 Volume 15 Issue 7 Pages 992-993
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (319K) -
[in Japanese], [in Japanese]1979 Volume 15 Issue 7 Pages 994-995
Published: December 30, 1979
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (206K)
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