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Volume 17, Issue 5
Displaying 1-15 of 15 articles from this issue
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Nobuaki KOBAYASHI, Takayoshi NAKAMIZO1981 Volume 17 Issue 5 Pages 529-536
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA simple method is presented for designing an observer at some control station of a linear decentralized control system in this paper. A necessary and sufficient condition is given for the existence of the observer. It is then shown that the design problem of the observer for a linear decentralized control system is reduced to the problem of constructing the stable left inverse system, and that the minimal order observer can easily be derived by using the algorithm for the inversion developed by Moylan. An extensive application of the proposed method is also included to the design of a zero sensitivity observer to the variation of the system palameters.View full abstractDownload PDF (1021K) -
Application of GMDH Algorithm Using AIC as Total CriterionSusumu SAITO, Shuichiro KOBAYASHI1981 Volume 17 Issue 5 Pages 537-544
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a revised GMDH having a unified heuristic criteria and a new construction of a prediction model of water demand are developed. Water demand varies with social and economic activity and with rhythm of living. So the system which consumes water may be complex with many variables.
The GMDH algorithm is one of the strong methods to deal with modeling of such complex problems. However it is difficult to obtain such a model that has moderate complexity and non-overfitting by the basic GMDH. Accordingly, we present the two studies below. The one is the revised GMDH algorithm which automatically selects optimal polynomials, intermediate variables in each layer and decides to stop the calculation by Akaike's Information Criterion (AIC) evaluated by using all the parameters in the structure of the final expression. The other is the relative type prediction model of water demand which is not affected by increase or decrease of population and economic activity during long term.
The revised GMDH and the relative type model are applied to identify the daily water demand in one year and made sure the practical use by results of prediction for six successive months.View full abstractDownload PDF (1021K) -
Yasuhiko MUTOH, Kunihiko ICHIKAWA1981 Volume 17 Issue 5 Pages 545-551
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a model reference adaptive control system (MRACS) for single-input single-output linear discrete systems is considered. Ionescu and Monopoli already proposed the discrete MRACS using state variable filters and an augmented error signal, which is regarded as a discrete version of Monopoli's continuous MRACS. The positive real concept is not utilized in their adaptive system, and as a result a very complex Liapunov function was needed to assure the stability of the adaptive scheme. From this point of view, the general model reference adaptive scheme using the positive real concept is proposed in this paper. Furthermore, a very simple adaptive system can be derived as a special case of this MRACS. This MRACS does not include the state variable filters and an error augmenting dynamics. Since in this MRACS only past input and output signals of the model and the plant are used, it is of great advantage to construct practically.View full abstractDownload PDF (752K) -
Katsunobu KONISHI, Toshio YOSHIMURA, Takashi SOEDA1981 Volume 17 Issue 5 Pages 552-559
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA method to design the self-tuning regulator is presented for single-input single-output linear discrete-time systems described by LS model with unknown constant parameters. The control input of the regulator is divided into the CE control input and the correction control input, and the latter is assumed to be a zero-mean white noise independent of the former. Firstly, the least squares identifier of the parameter is analyzed, and it is shown under some regularity conditions that the upper bound of the parameter estimation error is inversely proportional to the minimum eigenvalue of a matrix used in the identifier. Secondly, the relation between the eigenvalue and the variance of the correction control input is derived. Lastly, the suboptimal variance that maximize the convergence rate of the difference between the control cost predicted at each time step and its minimum value is determined as a function of the above eigenvalue. A numerical example is presented to illustrate the effectiveness of the proposed method.View full abstractDownload PDF (1037K) -
Atsunobu ICHIKAWA1981 Volume 17 Issue 5 Pages 560-566
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIntransitive preference relation is often observed, when a multi-attribute preference is involved in decisions. To handle these cases, it becomes necessary to express the preference function which preserves the intransitive preference relation in terms of the single-attribute preference functions. This is called the decomposition of preference function.
This study is to investigate the necessary and the sufficient conditions for the various types of the decomposition of preference functions. Decomposable structure, difference structure and additive difference structure are examined along with the concepts of preference independence, Parato preference and restricted transitivity each of which plays an important role in the nacessary and the sufficient conditions for these structures.
Two types of intransitive preference relation so far proposed are shown to be described by the additive difference structure, the condition that the additive difference structure is to be transitive is given and the rate of the intransitive preference in the additive difference structure is computed through the probabilistic simulation.View full abstractDownload PDF (1010K) -
Mizuo NAKAYAMA, Tomio YAMAURA, Akira KOBAYASHI, Yukio MATSUDA1981 Volume 17 Issue 5 Pages 567-573
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a new method for measuring the mean-frequency of a narrow-band random signal. The random signal is quantized into a three level signal (ternary signal) by setting two threshold levels above and below the zero-level of the random signal symmetrically. The method utilizes the auto-correlation function of the ternary signal. The mean-frequency is measured by tracking the first zero-crossing point of the auto-correlation function.
First, the principle of the method is described, and the effects of various parameters are numerically examined by assuming that the narrow-band random signal is a Gaussian random process.
Next, a prototype equipment is set up and the experiment of the mean-frequency measurement is performed. The experimental results are compared with the analytical results. It is noted that the variance of measured values becomes minimum when the threshold levels are set to be 80% of the r. m. s. value of the signal, and the variance of measured values is inversely proportional to the root of the measuring interval.
The typical performance of the prototype equipment is as follows: measuring range is 30Hz-10kHz, measuring accuracy is 0.3% (Selectivity 30, Time constant 1.0s, About 300Hz).View full abstractDownload PDF (1547K) -
Ken MISHIMA, Takao KUROKAWA, Hiroshi TAMURA1981 Volume 17 Issue 5 Pages 574-581
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a simple method of estimating the motor command, or the motor control signal to a muscle, from the electromyogram (EMG) recorded with a bipolar wire electrode. Value ranges of waveform parameters of typical single spikes (action potentials) are determined by examining the EMG. A digital computer transforms the EMG into a pulse train in the way that the computer assigns a pulse to the time instant when a local EMG waveform is recognized to be a spike based on the waveform parameters. Then a pulse density function is computed by using the pulse train and the pulse density functions from several movements of the same kind are averaged. It is stated that the average pulse density function gives a reasonable estimation of the motor command. The method is applied to fast ballistic movements of the human forearm and some properties of the motor command are considered from the standpoint of motor control.View full abstractDownload PDF (1168K) -
Morikazu TAKEGAKI, Suguru ARIMOTO1981 Volume 17 Issue 5 Pages 582-588
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper we consider the dynamic control of manipulators from the view point of mechanics, and propose a new method for task-oriented coordinate control which does not require a transformation from task-oriented coordinates to joint angles. The proposed method can be easily implemented by a microcomputer and suited to the sensor feedback control. Furthermore, it is shown that the proposed method is applicable even when holonomic constraints are added to the system, and when redundancy or singularity arises in the relation between task-oriented coordinates and joint angles. Effectiveness of the proposed method is verified by computer simulation utilizing an arm model with four degrees of freedom.View full abstractDownload PDF (946K) -
Tsutomu HASEGAWA1981 Volume 17 Issue 5 Pages 589-595
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe development of high-level manipulator language will cause an explosion of decralations about the real world environment. Procedures may be written in a few lines of statements of higher level language, while world descriptions will still require hundreds of statements. Since the world model is a complex data base describing three-dimensional objects, it is not easy to construct it. This paper describes a system which enables an user to construct objects models interactively. The system provides a laser spot as a measuring tool and a display monitor as a visualizing device of the internal data base and the real world. Using these devices, the user can supervise the process of model construction and check the result very easily.View full abstractDownload PDF (2957K) -
Junji FURUSHO, Hideto MORITSUKA, Masami MASUBUCHI1981 Volume 17 Issue 5 Pages 596-601
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new low order model is developed for biped locomotion system having five links by using predominant modes when local feedback is considered. It is shown that these predominant modes are not influenced by the coefficient of local feedback. By computer simulation, this low order model has been proved to provide good approximation for the original high order system especially with respect to the center of gravity and the angular momentum of the biped system. These properties are most important for the low order model of dynamical walking. Since the model is very simple and accurate, it can be used as the model for deciding global strategy of multilevel control.View full abstractDownload PDF (791K) -
Kazuo YAMANAKA1981 Volume 17 Issue 5 Pages 602-603
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (207K) -
Shigenori OKUBO1981 Volume 17 Issue 5 Pages 604-606
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (302K) -
Hideaki SAKAI, Hidekatsu TOKUMARU1981 Volume 17 Issue 5 Pages 607-608
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (219K) -
Akira KOBAYASHI, Yasuhiko SAKAMOTO1981 Volume 17 Issue 5 Pages 609-611
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (367K) -
Toshiyo TAMURA, Takayuki TSUJI, Tatsuo TOGAWA1981 Volume 17 Issue 5 Pages 612-614
Published: August 30, 1981
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (308K)
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