Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
Volume 17, Issue 6
Displaying 1-13 of 13 articles from this issue
  • Nobuaki KOBAYASHI, Takayoshi NAKAMIZO
    1981 Volume 17 Issue 6 Pages 617-623
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    The filtering problem for continuous-time linear stochastic systems with completely unknown disturbances is considered in this paper. Specifically the filter which estimates the maximum estimable subspace of the state from noisy observation is drived. The only assumption is that the system is left invertible. Hence the filter derived by Mehra is easily derived as a special case. The stability of the resulting filter is then investigated, and a condition for the filter to be stable is presented in terms of the invariant zeroes of the system. Furthermore a sufficient condition under which a given linear function of the state can be estimated is given. A design procedure of the filter to estimate a linear function of the state is also developed.
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  • Yoshinori KAWASAKI, Zenta IWAI
    1981 Volume 17 Issue 6 Pages 624-630
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
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    This paper is concerned with the application of adaptive techniques for simultaneous parameter identification and state estimation to the design of an adaptive observer for systems having unknown pure time delay and parameters.
    First, by using the Padé approximation method, we derive a lumped parameter composite system for the time delay system of which time delay element is expressed by a transportlag type distributed parameter subsystem. Then, Luders-Narendra type adaptive observer is constructed for the composite system which approximates the original time delay system. Stability of thus obtained observer is guaranteed by the Popov's hyperstability theorem and the parameter, adjusting laws in this case are given by integral plus proportional terms. Simulation results of a second-order time delay system are presented to demonstrate the effectiveness of the design method proposed here.
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  • Tsunehiro TAKEDA, Toshiyuki KITAMORI
    1981 Volume 17 Issue 6 Pages 631-638
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Linear optimal control theory has been recognized as a powerful tool for control system synthesis. “Optimal feedback control law” is easily obtained by solving matrix Riccati equation, but there is no way other than the trial and error method to determine proper weighting matrices in the quadratic performance function. Hence, the practical use of the theory has been restricted.
    This paper proposes an algorithm of systematical determination of the weighting matrices. The algorithm concerns with the previously proposed optimal tracking systems (Sc*)7), and is derived by imposing the following requirements on Sc*, using the asymptotic pole configuration and the conditional stability characteristics of Sc* designed with very small weights on inputs8), 9).
    (1) Sc* should remain stable even if open loop gains of plants change from zero to infinity simultaneously.
    (2) Sc* should have the fastest step response under the condition of (1).
    (3) Sc* should be decoupled as much as-possible under the condition of (1) and (2).
    Some examples demonstrate the efficiency of the algorithm. The algorithm can also be used for ordinaly linear optimal regulator and optimal observer syntheses with minor change.
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  • Satoshi HANDA
    1981 Volume 17 Issue 6 Pages 639-644
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    This paper is concerned with a modeling of diagram for automated urban transportation system. The diagram is aimed at shifting smoothly from one headway to the other in a short time, and it is assumed that the driving time between stations is regarded as constant and the time getting on and off at each station is given as a linear characteristic of headway. In this paper, the stopping time is composed of the time getting on and off and adjusting time, and the train operation model is formulated using the constants of time for departure and arrival of trains. The performance index is defined as a quadratic form concerning the deviation from scheduled headway and the adjusting time, and the problem is treated after all as a quadratic programming with the adjusting time as variable.
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  • Morihiro MATSUTA, Kanji KITO
    1981 Volume 17 Issue 6 Pages 645-649
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    With an aim to develop a gloss meter which measures optical quantities closely associated with psychological gloss, several factors prescribing gloss were studied.
    Thirty steel sheets were coated with different paints, in which 4 vehicles and 3 pigments are appropriately combined. Sensory gloss evaluation by the ranking method was made of those samples by 27 observers. Correlations among the average ranking and the refractive index, surface roughness and color were studied.
    It is found that factors prescribing the gloss are refractive index, roughness, lightness value and chroma of painted surfaces, among which roughness is the most important factor. Relationships among the gloss, these elemental factors, and the optical characteristics of painted surfaces such as specular and diffuse reflectances are also clarified.
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  • Akira SANO, Jun-ichi YAMAZAKI, Takashi AKIMOTO
    1981 Volume 17 Issue 6 Pages 650-656
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Digital data communication systems are degraded by statistical noise and intersymbol interference caused by bandwidth constraints. This paper presents a new class of nonlinear equalizers with simplified structure implemented by digital filter circuits involving only decision slicers, which can approximately give the maximum likelihood (ML) bit estimates. The structure of the proposed generalized decision feedback equalizer (DFE) is obtained by inducing the concept of the decision feedback into the ML bit estimation. This paper also derives the computational methods for lower and upper bounds of the bit error probability and demonstrates that the proposed technique can give a significant improvement in error rate performance compared with the conventional DFE.
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  • Quantification of Physiological Information Included in Thermal Infrared Images
    Kenji OMASA, Fumiaki ABO, Ichiro AIGA, Yasushi HASHIMOTO
    1981 Volume 17 Issue 6 Pages 657-663
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Heat and mass transfer on a leaf were examined from the standpoint of evaluating distributional patterns of physiological informations such as transpiration rate, stomatal resistance and air pollutant sorptions from leaf temperature distribution measured by an instrumentation system of thermal infrared images, and models for the evaluating were derived. Furthermore, parameters of the models, accuracies of environmental controls and measurements on the leaf and so on were examined by experiments. As a result, transpiration rate and stomatal resistance to water vapor diffusion on the leaf were evaluated within accuracies of 0.02×10-5g·cm-2·s-1 and 0.3s·cm-1, respectively. Accuracies of sorption rates of air pollutants such as SO2, NO2, O3 and PAN will be applied corespondingly to that of transpiration rate from an analogy between the models for the evaluating transpiration rate and sorption rates of these air pollutants. Finally, changes in distributions of physiological informations mentioned above were evaluated from the changes in distribution of leaf temperature during SO2 exposure.
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  • Iwao YAMAMOTO
    1981 Volume 17 Issue 6 Pages 664-670
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Described in this paper, is a pneumatic control device, which can perform similar operation to that of the silicon controlled rectifier in electronics. Two sets of bellows are located on the same axis in an enclosure which is opened to the atmosphere by an exhaust vent, and they devide the enclosure into three chambers. A nozzle opens at the movable end of one of the sets of bellows and faces the movable closed end of the other set. The back pressure chamber of the nozzle is connected to a pressure supply chamber through an orifice at the fixed end of the bellows mentioned first, and the back pressure serves as the output of the device. The nozzle, the movable closed end, the orifice and the bellows constitute an pneumatic micrometer circuit with positive feedback system. The pneumatic circuit is so arranged as to have bi-stable transfer characteristics over a wide range of supply pressure.
    An alternating pressure is introduced to the supply chamber as the exciting signal to the device, and a pressure pulse synchronized with it is put in the bellows with the closed end as the control signal. In the absence of the control signal or during the period when the alternating signal is negative, the output pressure maintains a low level. If the control signal is put in during the period when the alternating pressure is positive, the output pressure steps up from the level to a high pressure level which is equal to the supply pressure. Removal of the control signal fails to turn the output pressure off, and the output maintains the high pressure level until the supply pressure falls down to zero. By controlling the timing of the control signal to the alternating pressure, the rectified and phase controlled pressure signal to the alternating pressure can be obtained as the output of the device.
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  • Kouhei OHNISHI, Eisuke MASADA, Sakae YAMAMURA
    1981 Volume 17 Issue 6 Pages 671-678
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    The electromagnetically levitated vehicle moves along the rail, supported by attractive force of electromagnetics. This support system is inherently unstable and requires closed loop control for levitation gap. This control equipment is important to the vehicle implimentation and it must be designed by the specification of responce to the disturbances. This disturbances are assorted to two classes, one is rail arrangement disturbance which the vehicle ought to follow without offset and the other is external force disturbance.
    Up to this time analysis and synthesis of this control system has been carried out based upon mainly one magnet system. This is incomplete when we extend to one vehicle model which consists of two bogies and one vehicle body, because the bogie and vehicle body have six freedoms of motion, which are heave, roll, pitch, twist, sway and yaw. Therefore the control system is a multi input-output and multivariable system. We allocated these freedoms into two subcontrol systems. One is support system and the other is guide system. These two systems can be treated equally.
    Support system, which we take up, is decomposed by modes of motion in the model, and it is shown that not only input-output relations but also state variables and each disturbance can be decomposed into four decoupling modes which are correspond to four freedoms of motion in support system. We easily analize the vehicle responce to each disturbance in this decoupled mode. Other basic characteristics will be also shown by this useful decomposition theory such as the mode transfer between bogie and body.
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  • Tatsuo NARIKIYO, Masami ITO
    1981 Volume 17 Issue 6 Pages 679-685
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    In this paper is proposed a mathematcial model for simulating the swing phase dynamics of an above-knee prosthesis. The mathematical model of the knee-joint mechanism which can prevent hyperextension and hyperbending is presented by a pseudo potential function. The validity of the model is verified by the comparison of the simulation results with the observed data of human walking. It is revealed from the simulation results that the motions of the above-knee prosthesis during the swing phase of normal walking are primarily determined by the initial velocity of the prosthesis rather than hip torque. The proposed model will be used to check the goodness of above-knee prosthesis to be designed.
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  • Shigeo HIROSE, Shunta ODA, Yoji UMETANI
    1981 Volume 17 Issue 6 Pages 686-692
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Active Cord Mechanism (abbreviated as ACM) in this paper is the newly proposed bio-mechanical element with long and slender body and executes flexible winding motion such as a snake being in the natural world. The authors have been interested in ACM and have been making successive investigations on its mechanisms and control problems as a locomotor and a manipulator. In this paper some fundamental considerations as to the problems to realize the industrial applications of ACM are performed and shown that the designing of effective actuator system is crucial. As a results of these considerations, a mechanism named “Oblique Swivel Joints” is proposed to be suitable especially for ACM as a locomotor. The control problems of oblique swivel joints are then analyzed by tensor calculus, and basic control principles are derived. To verify these considerations an ACM mechanical model with oblique swivel joints is constructed. The mechanical model is 1.6m in length, 61mm in diameter and consists of 16 segments. It is controlled by micro-computer. By this ACM model, 3 dimensional posture formation and its successive transformation is demonstrated. The ACM model also demonstrates smooth locomotion like a centipede or milliped on a rugged surface or over a ditch by installing powered wheels along the ACM trunk and supplied cooperative control of the rotation of the wheel and the bending motion of the ACM trunk. Thus the authors believe that this study showed one of the ways for ACM to be utilized in various industrial applications.
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  • Toshio FURUKAWA, Etsujiro SHIMEMURA
    1981 Volume 17 Issue 6 Pages 693-695
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
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  • Kageo AKIZUKI, Koji ONO, Takashi SHIGEMASA
    1981 Volume 17 Issue 6 Pages 696-698
    Published: September 30, 1981
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Download PDF (352K)
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