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Volume 19, Issue 11
Displaying 1-14 of 14 articles from this issue
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Joe IMAE, Kyojiro HAKOMORI1983 Volume 19 Issue 11 Pages 851-857
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSStrong variation techniques have been found to be efficient in the theoretical study of optimal control problems and it can be expected that such techniques may play an important role in a field of computational methods. Strong variations, however, had not attracted attention before “step size adjustment method” using such variations was introduced in differential dynamic programming.
This paper proposes a strong variation algorithm for numerical solutions of controlvariable-constrained optimal control problems. In this algorithm a new “step size adjustment method” is presented. The control interval is divided into subintervals Ik(k=1, …, m) and Ik into I1k, I2k (|I1k|=(1-ε)|Ik|, |I2k|=ε|Ik|, and ε∈[0, 1]). While adjusting the value of ε and the number of the subintervals m, a new control ui+1 is determined by calculating ui+1ε according to the following formula;
ui+1ε(t)={ui(t) for t∈I1k r(t) for t∈I2k
where ui and r are the present control and a control maximizing the related Hamiltonian function, respectively. The idea of the switching scheme is based on the concept of chattering controls first proposed by Gamkrelidze.
It is proved that accumulation points generated by the algorithm, if exist, satisfy maximum principle. Some examples are given to show the usefulness of the algorithm. Incidental conditions concerning the size of Ik are considered and the related problems in programming are discussed.View full abstractDownload PDF (752K) -
Hiromu GOTANDA, Setsuo SAGARA, Kiyoshi WADA1983 Volume 19 Issue 11 Pages 858-865
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the present paper, we propose a unified approach to order determination of the process and noise dynamics by the order test statistics which is developed on a new concept of model correlation residuals. The statistics is not fluctuating even for models of order exceeding the process order so that it enables us to determine both orders of the process and noise dynamics in a unified manner, while the ordinary statistics based on the instrumental variables method are fluctuating for those models, which inevitably causes the separate order determination of the process and noise dynamics. The proposed statistics is efficiently evaluated by a newly derived recursive algorithm. On Monte Carlo simulations we confirmed the validity of our approach.View full abstractDownload PDF (998K) -
Shogo TANAKA, Tsuyoshi OKITA1983 Volume 19 Issue 11 Pages 866-872
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper discusses the synthesis of an optimal actuator of a multi-input oscillatory system, which is desirable from the viewpoint of a minimum energy control problem whose terminal time is not necessarily assumed to be very large.
That is, considering the situation such that a numerical approach has been adopted until now to the synthesis because of the high nonlinearity of a performance index, the paper derives a lower bound or an upper one for the optimal performance value in order that the optimality of the actuator can be checked in the execution of the numerical method. Three criteria named here as the determinant criterion, trace one, and min-max one are respectively used.
Furthermore, the paper shows that optimal actuator can be analytically solved even for the relatively small terminal time in the case where the terminal time satisfies a condition concerning the system natural angular frequencies and the degree of freedom of multiinput actuators.View full abstractDownload PDF (853K) -
Seiji YASUNOBU, Shoji MIYAMOTO, Hirokazu IHARA1983 Volume 19 Issue 11 Pages 873-880
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA predictive fuzzy control that uses rules based on a skilled human operator's experience is proposed and applied to train automatic stop operations.
In recent years automatic train operation (ATO) systems using a microcomputer instead of a human operator have been developed for new transit systems including subway, monorail and new public-transit systems.
Some problems of the train operation are that it is controled by performance indices such as, safety, riding comfort of passengers, and accuracy of the stop gap. So, train operation is a nonlinear control function. Up to now, this system has been developed by linearlized control using a target pattern. However, it is difficult to control the train in a manner similar to a human operator.
In this paper, we propose a predictive fuzzy control which selects the most likely control rule from the sets of control rules. It is described as follows.: “If (u is C→x is A and y is B) then u is C.”. And the proposed fuzzy control is applied for a train automatic stop control system which evaluates comfort, accuracy of a stop gap and running time.
The simulation result of our newly developed fuzzy control system shows it can directly adjust a system performance as desired in the same way as that controlled by a skilled operator, so it is able to stop a train comfortably and accurately.View full abstractDownload PDF (1005K) -
Shinji SHINNAKA, Takashi SUZUKI1983 Volume 19 Issue 11 Pages 881-888
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe purpose of this paper is to generalize various adaptive algorithms and to give a unified analysis on their properties.
The performance of an adaptive system is generally dominated by the adaptive algorithm implemented in it. Therefore it is extremely important in designing such a system to well understand the properties of the various algorithms and to select the one meeting design specifications best. This paper is written from this point of view, taking the following organization. First, a general adaptive law is presented that includes not only the generalized adaptive law proposed by Landau et al. but also the recursive least squares algorithm in general form. Next, an ellegant analysis on the properties of the presented law is given. This analysis results in a unified one on the properties of a variety of algorithms. Finally, it is shown that an attractive algorithm, enabling us to control the rate of convergence, can be obtained from the presented general adaptive law.View full abstractDownload PDF (902K) -
Katsunobu KONISHI, Toshio YOSHIMURA1983 Volume 19 Issue 11 Pages 889-895
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the minimum variance control of single-input single-output linear discrete-time stochastic systems with unknown constant parameters. Three types of on-line identification algorithms which have one adjustable parameter (a.p.) are proposed, that is, stochastic approximation type, least squares type and mixed type of stochastic approximation and least squares algorithms. Firstly, an allowable region of a.p. values for each algorithm is derived in order to ensure the global convergence of the corresponding adaptive control system. Secondly, the a.p. value which make the algorithm become asymptotically an approximation of least squares algorithm is determined. Lastly, a numerical example in the second order system is presented to illustrate the effectiveness of the proposed identification algorithm.View full abstractDownload PDF (794K) -
Masafumi UEDA1983 Volume 19 Issue 11 Pages 896-902
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA simple dew-point hygrometer injecting a saturated salt solution is described. The dew-point hygrometer consists of a metallic vessel (∼200cm3), a U-tube manometer and a syringe. A gas to be measured is placed into the vessel, and then a definite amount of saturated salt solution known of the equilibrium relative humidity is injected in the vessel. The dew-point of the gas is determined theoretically from observed values of the pressure difference caused between the gas and the open air, the temperature of the gas and the atmospheric pressure. The other hand, using the gas known of dew-point, the equilibrium relative humidity of a saturated salt solution injected can be determined. Salts used in the experiments are NaCl, K2CO3. 2H2O, MgCl2. 6H2O and LiCl. The results of measurements of equilibrium relative humidity and dew-point are shown and discussed.View full abstractDownload PDF (832K) -
Yasuhiko HARA, Keiichi OKAMOTO, Toshimitsu HAMADA, Kiyoshi NAKAGAWA1983 Volume 19 Issue 11 Pages 903-908
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a defect recognition method which can be applied for automating visual inspection of LSI photomasks. The method recognizes defects such as short circuits, protrusions and pinholes. It can be classified as socalled “comparison method” in which the pattern under inspection is compared with a standard pattern and an unoverlapped portion of the patterns is regarded as a defect. The usual comparison method has a drawback: it can not detect defects smaller than the alignment error of the two patterns.
Using the newly-developped comparison method, these small defects as well as bigger ones, can be detected. The method detects defects by extracting local features from the compared two patterns and by comparing them, instead of simply performing an exclusive-or operation of the two patterns.
The mechanical, electrical and optical structure of the automatic inspection system for LSI photomask patterns, which utilizes this method, is also described. The system detects defects as small as 0.8 micronmeter at the 100% assurance. The inspection speed is 90 minutes per 100×100mm photomask.View full abstractDownload PDF (2213K) -
Toshifumi TSUKIYAMA, Yoshiaki SHIRAI1983 Volume 19 Issue 11 Pages 909-915
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a method for detecting persons walking in a passage way from two consecutive TV images at long intervals. The method consists of three steps: 1) extracting regions of objects in a passage way from each TV image, based on the mean and the variance of brightness, 2) finding persons in the regions of objects on the basis of their shape and size and locating the persons in a passage way, 3) finding the correspondence of the persons between two consecutive images on the basis of their locations. The movements of persons are obtained by locating them in each image. The range information about persons is calculated from the decline of a TV camera, its height and other parameters. The method is effective even if the size and shape of walking persons change to a great extent and, even if the number of persons are not always equal between the images. There are many applications for this method. One will be vision systems for autonomous vehicles which can move around on a passage way for guiding the blind. In order to catch up with the movements of persons, the processing for finding a path should be done fast, say every 0.7sec. We used special hardware called DIP for the high speed processing.View full abstractDownload PDF (3037K) -
Toru OKANUMA, Yasuo TACHIBANA1983 Volume 19 Issue 11 Pages 916-921
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a yaw attitude error estimation of the low altitude zero-momentum three-axes stabilized satellite is discussed. For the satellite, the sensors are earth sensor, gyro which detects angular velocity. The actuators are orthogonal three reaction wheels.
Gyro input axis is laid in roll-yaw plane, and its output signal is not yaw error angle but is nearly equal to a linear sum of yaw error angle and its derivative when attitude errors are small.
The proposed estimation algorithm, which estimates yaw error angle and its derivative separately, uses a reduced-order observer, which dimension is two. Measurement variables of the observer are gyro output signal, roll error angle, yaw wheel angular rate and roll wheel angular rate. Input variables of the observer are roll and yaw wheel control torques and disturbance torques. However, no information about disturbance torques is required according to the appropriate selection of the observer parameters.
By some simulation results for the digital attitude control, an efficiency of the proposed yaw error estimation algorithm is confirmed.View full abstractDownload PDF (727K) -
Tomoyasu ITO, Hisato KOBAYASHI, Minoru HAYASE1983 Volume 19 Issue 11 Pages 922-924
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (304K) -
Masahiro KANEDA, Ichiro AKAHORI1983 Volume 19 Issue 11 Pages 925-927
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (290K) -
The Case of Trapezoid Fuzzy ParameterHideo TANAKA, Hidetomo ICHIHASHI, Kiyoji ASAI1983 Volume 19 Issue 11 Pages 928-930
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (238K) -
Hiroshi HANAIZUMI, Sadao FUJIMURA, Hiromichi TOYOTA1983 Volume 19 Issue 11 Pages 931-933
Published: November 30, 1983
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (376K)
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