巻号一覧
16 巻 (1980)
- 6 号 p. 783-
- 5 号 p. 615-
- 4 号 p. 469-
- 3 号 p. 303-
- 2 号 p. 147-
- 1 号 p. 1-
16 巻, 5 号
選択された号の論文の31件中1～31を表示しています
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中溝 高好, 小林 伸明1980 年 16 巻 5 号 p. 615-622
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThe problem is considered here of decoupling the time-invariant multivariable dynamical system with m-inputs and r-outputs. First a necessary and sufficient condition for decoupling by the somewhat restricted state feedback law, u=GFx+Gω, is presented, together with a new algorithm for decoupling. Then the problem is extended to make it a decoupling problem by the general state feedback law, u=Fx+Gω. The algorithm derived for the restricted case is applied to establish a sufficient condition for decoupling the dynamical system by employing the general state feedback law. An algorithm is also given which allows us to obtain the decoupling pair (F, G) of the general state feedback law with a little addition of computational expense. A numerical example is included to illustrate the proposed algorithm. Finally it is shown that the stability of the decoupled system obtained by using such algorithm can be easily examined.抄録全体を表示PDF形式でダウンロード (863K) -
御室 哲志, 杉浦 一郎1980 年 16 巻 5 号 p. 623-627
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーAs a well-known result in the linear system theory, the controllable pairs {A, b} of a system described by dx/dt=Ax+bu, exist generically. This paper considers an analogy in the case of systems on compact Lie groups. It is proved that the same result also holds, if systems are defined on compact semi-simple Lie groups, and the both conditions, compact and semi-simple, are essential. The proof is mainly supported by the root system theory of compact semisimple Lie algebras, so it does not depend on the representative form of a Lie algebra. The result will give a good insight to recognize the system classes which have the same important property as the linear systems.抄録全体を表示PDF形式でダウンロード (573K) -
井沢 義明, 箱守 京次郎1980 年 16 巻 5 号 p. 628-634
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーA method for designing a nonlinear state regulator is presented. The method consists of the following steps: (1) finding a fictitious linear system which is homeomorphic to a given nonlinear plant, (2) designing an optimal state regulator for the above linear system, and (3) constructing the nonlinear state regulator having the same topological structure as the above designed optimal state regulator. Control laws are derived in terms of the homeomorphism.
To describe the homeomorphism, a Riemannian geometric model, based on the idea that in the state space a nonlinear system referred to appropriate curvilinear coordinates will behave as a linear system, is developed. Equations which determine the curvilinear coordinate system are also derived.
Numerical examples are given to demonstrate the usefulness of the method.抄録全体を表示PDF形式でダウンロード (779K) -
疋田 弘光1980 年 16 巻 5 号 p. 635-642
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThe exact model matching problem described by transfer function matrices is investigated and the problem of observing a set of linear functions of system states from the system outputs only is also discussed by using the duality of the exact model matching problem. The properties of a minimal basis determined by the plant and model transfer function matrices are studied and are applied to obtain an algorithm for the design of a low order compensator (observer) with arbitrary poles. An example is given in order to illustrate the usefulness of the algorithm.
Furthermore, an observer which uses partial plant inputs is considered so that fixed poles which often generate in the unknown input observer are eliminated.抄録全体を表示PDF形式でダウンロード (1145K) -
永田 元康1980 年 16 巻 5 号 p. 643-649
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes the design method of the multiplicative Kalman filter and its application to the river flow prediction. The process representing the dynamics of the rainfall/runoff is assumed to be discrete-time and multiplicative with the lognormal noise. The adoption of the lognormal noise is motivated by the fact that the frequency distribution of the river flow around the moving average has the form of the lognormal distribution rather than the normal distribution.
This paper may be delineated as follows. The multiplicative model of the runoff is proposed and its interpretation is given. Secondly, the identification algorithm for the coefficients of the model is derived by the sequential least square method. Thirdly, the algorithm of the multiplicative Kalman filter with time-delay term is derived by the approach of the innovation process. Finally, the simulation studies are carried out by using real data of the Karasugawa River, Gunma and the result of the prediction is compared with that by the hydrological models.抄録全体を表示PDF形式でダウンロード (862K) -
稲垣 真, 山田 晴彦, 石田 哲1980 年 16 巻 5 号 p. 650-653
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, the relation between identifiability and controllability is described and the method of determining model order is stated.
The determinant of a controllability matrix is thought to be the index of the degree of identifiability, that is, the system with small value of this determinant is considered difficult to identify.
Two cases are considered to diminish the determinant: 1) In the case the distance between the poles and zeroes of the transfer function are small and 2) the system gain is small.
In the first case, the system is considered to be essentially difficult to identify, but in the 2nd case, the system order can be determined by the ratio of the determinant.
By computer simulation, the results stated above are shown.抄録全体を表示PDF形式でダウンロード (436K) -
酒井 英昭, 川瀬 武彦, 得丸 英勝1980 年 16 巻 5 号 p. 654-658
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper investigates the statistical properties of multivariate autoregressive (AR) spectral analysis. Under the assumption that the data are taken from a pure multivariate AR process, we first derive the asymptotic error covariances of the elements of the estimated AR coefficient matrices and residual covariance matrix by using the periodogram technique. Next, the similar analysis is performed to obtain the error covariances of the elements of the estimated spectral density matrix.
If the order of the fitted autoregression is much greater than the true order, the covariances are similar to those of the multivariate version of the classical Blackman-Tukey method. To see the validity of the present analysis, simulation results are also shown.抄録全体を表示PDF形式でダウンロード (551K) -
武藤 康彦, 市川 邦彦1980 年 16 巻 5 号 p. 659-665
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a single-input single-output linear discrete time model reference adaptive control problem is considered. By transforming the systems description of both the model and the plant into the systems description whose state variables are all known, a very simple adaptive system which uses only accessible signals can be constructed. Further, it has been revealed that an adaptive scheme can be obtained easily by introducing additional filters developed by the authors, even if the difference between the degrees of the denominator and numerator polynomials of the plant transfer function is greater than two.抄録全体を表示PDF形式でダウンロード (784K) -
金井 喜美雄, 出川 喬庸1980 年 16 巻 5 号 p. 666-672
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with the problem of designing a model reference adaptive controller with an observer for a single-input single-output linear discrete system where only the input and the output can be measured. An adaptive observer which is constructed on the basis of the prior information regarding the relative degree of the pulse transfer function of the plant is employed to estimate the parameters and the state variables of the plant, and these estimates, in turn, are used to adjust the parameters of a controller. The synthesized adaptive controller is such that the tracking error between the output of the controlled system and the output of a pre-specified linear reference model is regulated to zero asymptotically. The proposed controller has a simple structure with the determined convergence rate not affected by the relative degree of the plant.
Simulation studies of third order systems with different relative degrees are shown to justify the proposed scheme.抄録全体を表示PDF形式でダウンロード (794K) -
高原 康彦1980 年 16 巻 5 号 p. 673-679
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーIn this paper a complex system is defined as a system whose components are systems. Although defined as such, a complex system is still an ordinary input-output system as far as its global behavior is concerned. When it is explicitly represented as consisting of subsystems, the representation is called a complex system. This understanding of a complex system is formulated over a general input-output system S⊂X×Y and a complex system S⊂S1× …×Sn defined as a relation on the component subsystems Si⊂Xi×Yi (i=1, …, n). When S is related to S by a modelling relation (relational morphism), S is called a complex system representation of the global system S.
In this paper we first investigate some properties of modelling relations, and using the results, we discuss the significance of a complex system representation, in particular, the relationship between S and Si. We show that a complex system representation may be regarded, intuitively, as an unfolding of its glabal system in an “n-dimensional” space, whose coordinates are given by knowing how a simplified model of the global system can be developed.抄録全体を表示PDF形式でダウンロード (1070K) -
高原 康彦, 中野 文平, 久保田 洋志1980 年 16 巻 5 号 p. 680-686
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with the problem of causal ordering, that is, the problem of when an input output relation can be established for a system. The problem is already discussed by H.A. Simon. According to Simon, the causal ordering is not given by a logical implication but determined by the structure of a model and is essentially a reflection of the mechanisms specifying the structure. We stand on the same viewpoint as his. We insist that Simon's mechanism is reflected in the time sequence of events in a dynamic system and hence give the definition of causal ordering by using a non-anticipation criterion.
The former part of the paper disusses the definition of causal ordering referring to Simon's paper. The lattar part is concerned with the asymmetry problem of the causal ordering defined above, that is, the problem of whether or not an input output relation can be inversed. Since it is difficult to solve the problem in general, we treat a basic linear system and a general system with a specific structure and show that when a system is strongly non-anticipative, its causal ordering is asymmetry.抄録全体を表示PDF形式でダウンロード (1052K) -
山田 光, 苅屋 公明1980 年 16 巻 5 号 p. 687-693
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThe differential non-linearity (D.N.L.) of an A-D converter (A.D.C.) is the most influential characteristic to the measurement of probability density function (P.D.F.) of random signals. We have already established in (1) the method to measure P.D.F., reducing D.N.L., under the condition in which a successive approximation type or a parallel type A.D.C. is used. This kind of A.D.C. has a short conversion time and is used in various fields, but has a relatively large D.N.L.. For this reason, this kind of A.D.C. is scarcely used in the measurement of P.D.F..
This paper presents another new method to measure P.D.F., reducing D.N.L., under the same condition. In the new method, a supplementary ramp signal is employed to average the least significant divisions of A.D.C.. The following results are obtained. [1] This new method enables one to detect the probability jump that corresponds to a discontinuity in a probability distribution function or a thin spectrum in the P.D.F.. [2] The conversion speed is increased as compared with the old method in (1). Finally, the experiments are carried out to verify the effect of this method.抄録全体を表示PDF形式でダウンロード (1915K) -
芝 亀吉, 八木 康男1980 年 16 巻 5 号 p. 694-698
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーA thermoelectric bimetal thermometer is a thermally grafted thermometer composed of a thermocouple and a bimetal thermometer.
The measuring principle of the thermoelectric bimetal thermometer is as follows:
The temperature of the bimetal is so controlled that the difference between the measured temperature and the bimetal temperature is equal to a present value.
Practically, the electromotive force of the couple is equal to the set value by adjusting the temperature of the bimetal.
Experiments are carried out by a trial thermoelectric bimetal thermometer.
The both temperatures obtained by the thermoelectric bimetal thermometer and by a thermoelectric thermometer with the reference temperature of 0°C agree fairly well.抄録全体を表示PDF形式でダウンロード (630K) -
鶴岡 久1980 年 16 巻 5 号 p. 699-704
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThe weight measurement of fruits, or vegetable roots without separating them from leaves or stems is considered. The principle of this measurement is to use the change in the natural frequency when a known weight is attached to a fruit or a root. The natural frequency is measured by the resonant method in which a forced vibration of the fruit, or the root occurs in a sinusoidal magnetic field generated by an ultra-low-frequency oscillator. The relative error of the measured natural frequency in this method is about ±10-3.
But if a weight is added to the fruit, the vibration mode of the fruit generally changes. The true value of the fruit weight must be calculated from the natural frequency when an infinitely light weight is added. Therefore, several different finite weights are attached to the fruit, and from the correspondingly calculated values of the fruit weight, the true fruit weight is estimated by the exterporation method. The forced vibration of the fruit using an iron string attached to the stalk generates the least rolling of the fruit. From these results, the total relative error of a fruit weight measurement is considered to be ±4%, and confirmed by a few examples of tomato.
The weight of the root of root vegetable, grown by the hydroponic calture, is also measured from the cantilever model. But the relative error of the measurement could not be less than 10%. If the natural frequency can be measured more accurately, the improvement of the root weight measurement is possible.
By these weighing methods, the optimum growth of the fruit, or the root vegetable can be studied. And the optimum harvest time can be decided from the measurement of the fruit weight and the stalk stiffness.抄録全体を表示PDF形式でダウンロード (865K) -
田口 幹, 梅谷 陽二1980 年 16 巻 5 号 p. 705-711
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーWhat feature properties should be extracted is the most important problem in the recognition of non-symbolic patterns or so-called ‘general shapes’. In the case of the recognition of general shapes, the categories are determined by the purpose the recognizer has in mind, although symbolic patterns like alphabets have their categories fixed a priori. Therefore, the problem of pattern recognition of general shapes cannot be dealt with in a general way.
The authors discuss this problem from the following points of view;
1) The recognizer determines the‘searching shapes’as the category set according to the purpose in his mind.
2) The primary measure in the recognition of the general shapes is‘similarity’.
In this paper, the authors propose a new method for selecting feature properties in the recognition of the general shapes. The method is based on the human impression of similarity:
1) Enumerate as many feature properties as possible, after determining the searching shapes.
2) For every searching shape, generate the so-called random shapes having the same properties by using the Pattern Reproduction Method.
3) Select such limited number of properties among the candidate properties that can sufficiently generate shapes similar to the searching shapes.
Verification for this method has been carried out on a digital computer, dealing with Jordan curves as sampled patterns to discuss 23 kinds of psychological properties of the shape. As a result, four properties out of the 23 are selected to be significant for the recognition of both convex and concave shapes.抄録全体を表示PDF形式でダウンロード (932K) -
小笠原 康夫, 黒田 英三, 藤井 克彦1980 年 16 巻 5 号 p. 712-717
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーA mathematical model of the cardiovascular control system is proposed in order that the function of the control system is analyzed from an engineering viewpoint. The intrinsic characteristics of the heart-vessels system are expressed by an electric circuit model. The mathematical model also includes the dynamic behaviors of the control mechanism including receptors, CNS (central nervous system) and effectors associated with the cardiovascular system. Some simulation results are also presented.抄録全体を表示PDF形式でダウンロード (987K) -
高森 年, 米持 政忠1980 年 16 巻 5 号 p. 718-724
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーA new method of designing a pneumatic high-pass filter has been developed by the authors on the distributed parameter circuit theory, although it is generally believed that a pneumatic high-pass filter circuit is difficult to construct because no series capacitance is found in the fluidic passive elements.
The procedure of this design method is as follows:
(1) Determination of characteristic impedances of cascading elements in a channel junction low-pass filter with different cross section4).
(2) Realization of a frequency transformation p to 1/p for changing the filter into a high-pass filter.
(3) Realizarion of an equivalent transformation for the reduction of circuit elements.
(4) Determination of characteristic impedances and dimensions of cascading elements in a pneumatic high-pass filter.
In this paper, the design calculations for some pneumatic high-pass filters are shown according to the design method and the characteristics of these filters are examined on the basis of Schaedel's analytical theory. The results indicate that these filters have relatively good characteristics, but a slight deviation is observed when the characteristic curves are compared with the desired characteristic curves.抄録全体を表示PDF形式でダウンロード (839K) -
現象論的考察清水 顕, 和田 力1980 年 16 巻 5 号 p. 725-731
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーSome types of switching phenomena observed in a wall-reattachment fluidic amplifier are systematically described from the view-point of the unstabilization of reattachment. First, two factors for causing the unstable reattachment defined here are pointed out and experimentally confirmed. These are: (a) pulling out a jet from one side to the low-pressured opposite side, and (b) separating the reattached flow by the pressure non-decreasing along the downstream from the reattachment point. Then, our interesting “switching” can be understood as a phenomenon that the reattachment is sequencially unstabilized by the these two different reasons.
Adopting the above view-point, we can directly investigate the reasonableness of existing theories, and revise them for the better. Further, in formulating the so-called splitter switching which has not been investigated in detail, this view-point may produce many important suggessions because we can grasp the jet behaviors in more detail.抄録全体を表示PDF形式でダウンロード (3444K) -
谷江 和雄, 舘 〓, 小森谷 清, 阿部 稔, 浅羽 樹一郎, 冨田 良幸1980 年 16 巻 5 号 p. 732-739
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with the information transmission characteristics by two-dimensional electrocutaneous phantom sensation. Three sets of electrodes were triangularly located on the skin just above the biceps branchii and stimuli were given to each electrode simultaneously. The effects of relative magnitudes on the mental locations of two-dimensional phantom images and their just noticeable differences were first measured. Then the channel capacity and the maximum information transmission rates were studied in this electrocutaneous communication system by phantom sensation.
The following results were obtained. (a) The mental location of the two-dimensional phantom sensation is proportional to log [E2/ (E0+E1)], in which E0, E1 and E2 are the presented energy to the electrodes, respectively. (b) The just noticeable difference of the mental location has a tendency to become larger as the location approaches to the center of the triangle formed by the electrodes. The channel capacity is estimated to be about 4[bits/symbol]from the just noticeable difference of the mental location. (c) The maximum information transmission rate is calculated to be 2.8[bits/ symbol] from the results of category discrimination tests. This value is larger than the corresponding value evaluated in other informational dimensions such as the frequency and the magnitude dimensions. Therefore this shows the fact that stimuli presented by the phantom sensation can be discriminated more easily in the absolute terms than those by other single dimensional information transmission methods. And also this is almost the same as that by vibro-tactile two-dimensional phantom sensation.抄録全体を表示PDF形式でダウンロード (1171K) -
浅田 春比古, 花房 秀郎1980 年 16 巻 5 号 p. 740-746
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes an adaptive tracing control of industrial robots for arc welding, inspection and other manufacturing processes, wherein the end effectors mounted at the tips of robot hands are required to move along spatial curves on the objects. First, the tracing control systems are described. A parameter on a given spatial curve is introduced to indicate the progress of tracing action, and a local coordinate system which moves along the curve together with the end effector is used to describe the relative position and attitude between the effector and the object surface. Then some proper variables suitable for evaluating control performance are derived. These variables are called job variables and the control specification about them is determined. Second, a sensor feedback control system to meet the specification is designed. Usually, the required control accuracy for each job variable is different, for example, in arc welding, the gap between an electrode and a welding groove should be controlled more accurately than its attitude. In the proposed control scheme, the sensor feedback loops are constructed for important job variables and are tuned with high gains. As for the auxiliary job variables which have not much influence upon the job, loop gains are tuned low enough to reduce the burden on the actuators. The compensator for independent tuning about job variables is derived from off-line data of the spatial curve to be traced, and is varied being syncronized with the progress of tracing action on the execution phase. Finally, experiments verify the theoretical results.抄録全体を表示PDF形式でダウンロード (1632K) -
広瀬 茂男, 梅谷 陽二1980 年 16 巻 5 号 p. 747-753
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーLegged locomotion is considered to be superior to conventional wheeled vehicles with respect to the adaptability in the rough ground conditions. In the past score of years research experiments have been performed, but no practical walking vehicle has ever been realized. The authors have examined this problem and have come to the conclusion that one of the main reasons of the retarded advent of a practical walking vehicle lies in its mechanical aspects, and proposed a “3 dimensional cartesian coodinates pantographic mechanism” for the legs to minimize the mechanical limitation.
This paper discusses the total controlling system for the walking vehicle having this special leg mechanism and elaborates especially on the control subsystem of the basic motion regulation. As a result it is deduced that the total controlling system should have a hierarchy structure. And six basic motion regulations such as the height and the horizontal posture control of the body, the leg adherence control to the ground in 4 leg standing posture or the shirk motion control of the swing leg from the obstacles are shown to be necessary and sufficient for a usual walking movement.
The walking vehicle model is constructed and controlled by microcomputer. It has 8 tactile sensors and a posture detector, measures 870mm in its leg length, and wighs 10kg in total. This walking vehicle model successfully illustrates miscellaneous functions such as the walking on an uneven ground, the walking on a side way or the turning motion while walking with stability and smoothness, and thus proved the validity of the present considerations on the control princiles for walking vehicle.抄録全体を表示PDF形式でダウンロード (3406K) -
Hot-Film 流速計による実測検討山口 隆美, 吉川 哲夫, 吉川 昭, 菅原 基晃1980 年 16 巻 5 号 p. 754-760
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーThe turbulence intensity near the central axis of the canine ascending aorta was measured with a hot-film anemometer. The cardiac output and the heart rate were controlled arbitrarily by the use of an extracorporeal circulation called open-loop method and of an atrial pacing. Drugs other than anesthetics were not used.
Blood flow velocity waveforms showed high-frequency fluctuations appearing near at the peak systolic velocity and persisting all the way through the deceleration phase of systole. These fluctuations were regarded as turbulence.
We designed a computer method for separating the turbulence from the physiological changes of the blood flow velocity. The mean turbulence intensity was defined as the square root of the time integral of the ensemble average square of the turbulence velocity; the integration interval was the whole deceleration phase of the ensemble average blood flow velocity. The relative mean turbulence intensity was defined as the ratio of the mean turbulence intensity to the time mean sectional average velocity in the aorta. It was constant in most animals regardless of the changes in fluid mechanical parameters. In some animals, however, the relative mean turbulence intensity was dependent upon the peak Reynolds number. The relative mean turbulence intensity positively correlated with the frequency parameter, but the correlation was not so strong. The amplitude ratio (ratio of the peak velocity to the mean velocity) failed to make its role clear in the turbulence phenomena in the present experiments.抄録全体を表示PDF形式でダウンロード (1010K) -
田中 正吾1980 年 16 巻 5 号 p. 761-762
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (294K) -
誘導電動機速度制御系構成土谷 武士1980 年 16 巻 5 号 p. 763-765
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (318K) -
美多 勉, 鳥海 功1980 年 16 巻 5 号 p. 766-767
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (221K) -
森 泰親, 示村 悦二郎1980 年 16 巻 5 号 p. 768-769
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (249K) -
陶山 愛一, 関口 隆1980 年 16 巻 5 号 p. 770-771
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (235K) -
岡田 三郎, 住本 哲宏1980 年 16 巻 5 号 p. 772-773
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (288K) -
半谷 精一郎, 大森 俊一, 積田 伸夫1980 年 16 巻 5 号 p. 774-775
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (231K) -
宮田 武雄, 亀石 真志1980 年 16 巻 5 号 p. 776-777
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (223K) -
松宮 恒夫, 高木 亀一1980 年 16 巻 5 号 p. 778-779
発行日: 1980/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (246K)
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