All issues
Volume 22, Issue 2
Displaying 1-20 of 20 articles from this issue
- |<
- <
- 1
- >
- >|
-
A Method to Avoid Sudden Input ChangesTakayoshi TOTANI, Kenzou NONAMI, Hitoshi OKAMURA1986 Volume 22 Issue 2 Pages 125-130
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the linear fixed-end-point optimal control it is usually necessary to give the system sudden input changes at the initial and the terminal time in order to satisfy the boundary conditions. This paper proposes a method to realize the linear optimal control by means of a time-invariant control law and a compensation input without giving those sudden input changes to the system, and shows the procedure to obtain the compensation input. In this paper, the problem of the step transition of a carriage on which an inverted pendulum is mounted is treated as an example, and the results of simulation and experiment are given. As a result of the experiment, it is shown that the accuracy of the end state by the proposed method is better than by the method without considering the control of input changes. Because of this feature, the proposed method can be an effective means of control for problems like the biped walking locomotion in which the same sequence of motion is repeated.View full abstractDownload PDF (753K) -
Hiromitsu HIKITA1986 Volume 22 Issue 2 Pages 131-135
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a dynamic feedback compensator which is necessary for achieving both decoupling and arbitrary pole assignment in a linear multivariable system. The order of the dynamic compensator is directly determined by only the information of the transfer function matrix of a given system without realizing an integrator decoupled system by state feedback. A new decoupling algorithm obtaining a dynamic feedback compensator is proposed, which is based on a simple relation required to avoid pole-zero cansellation in a decoupled system. A modified decoupling algorithm is also presented for deriving a dynamic feedback compensator of low order which arbitrarily shifts closed loop poles except fixed ones canceled with zeros in the open left half-plane.View full abstractDownload PDF (676K) -
Jiro SHIMONISHI, Takao HINAMOTO, Sadao MAEKAWA1986 Volume 22 Issue 2 Pages 136-142
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper treats the problem of matching the transfer function matrix of a given two-dimensional (2-D) system to that of a desired 2-D model by means of a 1-D dynamic feedback of the output, i.e., a 1-D dynamic compensator. The objective is to find a 1-D dynamic compensator such that the closed-loop transfer function matrix is exactly equal to the desired one. A necessary and sufficient condition for the existence of the 1-D dynamic compensator is examined and the general solution is given. Finally, an example is solved to illustrate the proposed technique.View full abstractDownload PDF (780K) -
Yuzo YAMANE1986 Volume 22 Issue 2 Pages 143-149
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with desingning an adaptive state regulator which forces the inaccessible state of an unknown plant with unknown parameters and unknown order to go to zero as fast as possible. A class of system observer is introdced to provide the state estimates as well as the parameter estimates for the plant, which are unneccessary to converge to unique values. The adaptive state regulator is composed in a state feedback form by employing those estimates obtained from the system observer, which is to be adjusted dately. The evidence whether the state of the plant is forced to approach to zero can be acquired by observing the adaptive observer how the state estimates are regulated to zero.View full abstractDownload PDF (767K) -
Katsuhisa FURUTA1986 Volume 22 Issue 2 Pages 150-155
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents an algorithm to design a robust servo controller for a controlled variable to follow the reference signal in the presence of disturbace, where the disturbances and the references are modelled by the outputs of free linear dynamical systems. The proposed one is modified Davison's procedure to clarify the robustness of the controlled system and is shown to be extended to a digital control easily.
In the second, the digital servo control system is designed based on the quadratic criterion function given to a continuous system and it is shown that the use of the higher order sample-hold circuit is desirable, and the remark for choice of the sampling interval based on the criterion function is also given.View full abstractDownload PDF (559K) -
Toshiharu SUGIE, Tsuneo YOSHIKAWA1986 Volume 22 Issue 2 Pages 156-161
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we study linear time-invariant multivariable systems with two-degree-of-freedom compensators. Firstly, we parametrize all stabilizing compensators by the two independent parameters which determine the system transfer matrix and the robustness property, respectively. Based on this parametrization, a basic structure of the control system is given. This structure clarifies that both specifications on the system transfer matrix and the robustness property can be satisfied independently. Secondly, utilizing this basic structure, we give a general solution of the robust tracking problem in the two-degree-of-freedom control systems. Thirdly, the concept of basic structure is extended to the control systems with sensors whose dynamics are not negligible.View full abstractDownload PDF (864K) -
Masatoshi SAKAWA, Hitoshi YANO1986 Volume 22 Issue 2 Pages 162-167
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a new interactive decision making method for multiobjective nonlinear programming problems with fuzzy parameters. The fuzzy parameters involved in objective functions and constraints are characterized by fuzzy numbers. The concept of α-Pareto optimality is introduced in which the usual Pareto optimality is extended based on the α-level sets of fuzzy numbers. In our interactive decision making method, if the decision maker (DM) specifies his reference objective values and the degree α of the α-level sets, the minimax problem is solved and the DM is supplied with the corresponding α-Pareto optimal solution together with the trade-off rates among the values of the objective functions and the degree α. Then by considering the current values of the objective functions and α as well as the trade-off rates, the DM responds by updating his reference objective values and/or the degree v. In this way, the satisficing solution for the DM can be derived efficiently from among an α-Pareto optimal solution set.View full abstractDownload PDF (844K) -
Yoshiteru ISHIDA, Norihiko ADACHI, Hidekatsu TOKUMARU1986 Volume 22 Issue 2 Pages 168-175
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDiagnostic aspects of static diagnosis model comprising fault units, measurements and their static interrelation are discussed. Diagnosability of systems, fault identifiability of a fault unit, and redundancy of a measurement are defined on the model and are characterized in terms of Boolean functions. Multiple fault diagnosabilities are expressed by a distance defined on the model.View full abstractDownload PDF (935K) -
Experiment and Model AnalysisTadashi YAMASHITA, Takao TANIGUCHI1986 Volume 22 Issue 2 Pages 176-182
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn experimental method and a mathematical analysis for the human gait initiation are presented. In the experiment, two force plates are used to measure the force to each leg separately. A mathematical model is derived in a suitable form for the analysis of the initiation process of the gait. We analyze not only the inverse motion of the point of application but also that of the vertical reaction force using the model to show their contribution to the gait initiation. Also, this model is useful to explain the differnce between the motion of the center of mass of the body and that of the point of application in the gait initiation process.
The following results are obtained: the inverse motion of the reaction force moves the body toward the first supporting leg in the lateral direction; the inverse motion of the point of application in the sagittal direction accelerates the body in the walking direction; the magnitude of the inverse motion of the reaction force can be estimated by the mathematical model. The transition of the body state from a quiet standing to a steady walking is simulated and compared with an experimental result.View full abstractDownload PDF (858K) -
Shigeyuki SAKANE, Masaru ISHII, Masayoshi KAKIKURA1986 Volume 22 Issue 2 Pages 183-190
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSModel-based approaches are essential to the development of robots with high adaptability to various environments. We propose the concept of a Hand-eye simulator: a simulator for a hand-eye coordinating system as a basic tool for off-line programming of visual sensors. The simulator provides useful functions to assist the hand-eye coordinating system in visual recognition and monitoring of the robot environment. Two of these functions, one for eliminating the appearance of the manipulator from the input images to reduce unnecessary image features and another for assisting cameras in occlusion avoidance to get adequate image data without occlusion are described. Solving the problems in effective use of multiple and various kinds of sensors, based on the simulators as described in this paper, will become a key issue for making intelligent hand-eye coordinating systems.View full abstractDownload PDF (3252K) -
Discrimination of the Vowels and Its Application to Word RecognitionKiyotoshi MATSUOKA, Tadayoshi FURUYA, Kenji KUROSU1986 Volume 22 Issue 2 Pages 191-198
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSLip reading is a regular method that enables the deaf to understand other people's speech by visual information. The acquisition of the technique, however, requires great effort and long time, and the educational system for its teaching is not established yet.
This paper describes an attempt to realize lip reading, using techniques of image processing and pattern recognition, in which we aim at clarifying possibilities and limitations inherently existing in lip reading. Although our final goal is the realization of speech understanding, this paper only deals with recognition of vowels and words of the Japanese language as the first step.
The front or side view of the mouth is taken with a TV camera, and some feature values of the lip shape were extracted. Discrimination of five vowels were performed by the maximum-likelihood method and the vowels were correctly discriminated by more than about 80% Moreover, word recognition based upon the vowel discrimination was performed. The result showed a remarkable capability of lip readig for a small number of words. Finally, several problems are discussed in relation to the actual lip reading of the deaf.View full abstractDownload PDF (1645K) -
Fumio MATSUDA, Tomohiro IWASAKI, Minoru UEDA1986 Volume 22 Issue 2 Pages 199-204
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a method of generating Freeman chain code from edge coordinates using a State transition graph. Segments which indicate a existence of object across one horizontal line are classified in to seven types according to connectivity between each segments on two adjacent horizontal line. Seven types reclassified in to five features of segments using the state transition graph. The five features are Appearance, Disappearance, Branching, Joining and Connecting. The table including the edge coordinates and the features, generates Freeman chain code easily and identify separation of two or more objects. The capacity of memory for storing the edge coordinates data and the feature data is smaller than that for storing binary image data. The processing time is very short because large amount of data remain not processed.View full abstractDownload PDF (692K) -
Axi-Symmetric CaseFujihiko SAKAO1986 Volume 22 Issue 2 Pages 205-209
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe principle of determining linear displacement of a (quasy) rigid plane facing to the only open end of a duct through measurement of acoustic pressure in the duct, reported previously by the author, was extended to the axi-symmetric configuration. A simple calculation procedure was confirmed to give reliable results except for near-resonance amplitude, through conparison with experimental results. Operational characteristics such as linearity of acoustic pressure, extent of its variation, sensitivity of output to pick up position, and magnitude of response to the acoustic excitation were determined by numerical simulation based on the calculation, and results were summarised into a map of characteristics as functions of frequency and pick up position. Excellent linearity was predicted for (and only for) frequencies about 95% and 285% of the fundamental resonance frequency of the tube with one end open and the other closed. Experimentally, however, excellent linearity could be achieved for the gap length only up to half the radius of the tube, the limit being about a half of that for the 2-dimensional case. This difference is not surprising in view of the increased importance of peripheral cross section of the gap in relation to the axial cross-section of the tube in the axi-symmetric case. Hence, the operational range of the gap (plane displacement) was limited to 0 to half the radius. For this re-defined range, linearity of the output etc. were reexamined, results showing that fairly good characteristics can be obtained for rather wide range of conditions around those frequencies given above. Determination of displacement through resonance frequency variation was also referred to.View full abstractDownload PDF (712K) -
Development of Cross Correlation Type FlowmeterHitoshi ARAKI1986 Volume 22 Issue 2 Pages 210-217
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSElectromagnetic flowmeters are used widely in the sodium test loops and fast breeder reactor plants, and recognized to be one of the most reliable ones. But it is possible that the electromotive force of the flowmeters decreases by the decrease of magnetic flux density and by the increase of sodium inpurity. From these reasons, there is the cross correlation with flow fluctuation signals as one of the in-situ calibration methods.
For the establishment of this method, sodium flow measurement tests were conducted using the 6 inches electromagnetic flowmeter. And for the flow range of 1∼5m/s, calibration was confirmed to be possible within the accuracy of ±4%. These results were found to be realized under the following conditions; (1) Electrode are settled at the direction of 45° from the center of the pipe, (2) Flow fluctuation frequency of 15∼20Hz are used by the band pass filter, (3) Distance between electrods is 150mm, (4) Correction coefficient to the flowmeter output is 1.00.
In future, effectiveness of this method would be confirmed for larger flow pipe.View full abstractDownload PDF (910K) -
Minoru TAKAGI, Tsutomu WADA, Akira SHIMIZU1986 Volume 22 Issue 2 Pages 218-223
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSOn a fluidic pump system with vortex diodes, the effects of the system parameters and the operating conditions on the pumping characteristics are studied theoretically and experimentally. In this system the delivery pipe is connected to the top of the upper tank, unlike in the previous study. The pump is equipped with Zobel-type diodes (chamber diameter: 6 and 12cm, height: 1 and 2cm) and driving cylinders (diameter: 15 and 22cm), and is tested under some delivery heads 1-10.7m.
The results obtained are as follows:
(1) The calculated results agree well with the experimental ones.
(2) There is an optimum mean liquid level in the driving cylinder, at which the timemean delivery flow rate Q takes the maximum.
(3) There is an optimum driving air supply pressure p+0 for the given delivery head H, which maximize the pump efficiency η. The value is given by p+0=ρgH/0.8.
(4) To increase η and Q, it is necessary that the discharge volume of the driving cylinder is reasonably large in comparison with the volume of the delivery pipe.
(5) There is an optimum diameter of delivery pipe, which maximize η and Q under given operating conditions.View full abstractDownload PDF (639K) -
Hidekazu KURIMOTO, Norihiro WATANABE, Masakazu MATSUBARA1986 Volume 22 Issue 2 Pages 224-229
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSTwo relay feedback control schemes of a periodic distillation column which keep the compositions of the overhead and bottoms products constant were investigated together with the open-loop control scheme by computer simulation. The instability of the direct feedback scheme in which two switchings of the operational mode are carried out when the overhead and bottoms compositions reach the respective desired values was shown by stability analysis. So, the indirect feedback scheme was introduced. In this scheme both switchings are carried out when the bottoms composition reaches the respective desired values and a cascade controller is provided to modify the desired value of the bottoms composition for the overhead composition control. It was ascertained that this scheme indicates both enough stability and good control performance.
Some considerations on the local stability of the above two schemes were also made by using the transition graph.View full abstractDownload PDF (876K) -
Tomoyuki AKASHI1986 Volume 22 Issue 2 Pages 230-237
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes some improvements into a temperature control of the heating cylinder of an injection moulding machine. The resin is molten by band heaters through the thick cylinder layer in the heating cylinder and the temperature of the resin should be controlled precisely in the heating and melting process.
In this paper, the heating process is described as an interactive system which is composed of some sequential heating process. The heat flow among the heating process is compensated by a decoupling method and the control system is designed in each decoupled process independently, considering the irreversible thermal characteristics of resin. At this time, a lumped parameter model of the heating cylinder is obtained by means of the finite element method and the design margin of the control system is expressed as a Gershgorin band.
on the other hand, the molten resin flow and the frictional heat are generated by the screw revolution intermittently in the heating cylinder. The intermittent process is modeled as a sampling system and the control design margin is obtained experimentally.
The effect of the new control method is verified by some experiments in conclusion. This research may be applied to other similar intermittent and distributed parameter process as a general method of control system.View full abstractDownload PDF (1055K) -
Kimio AKAZAWA, Takashi AMEMIYA, Hidekatsu TOKUMARU1986 Volume 22 Issue 2 Pages 238-240
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (364K) -
Kiyotoshi MATSUOKA1986 Volume 22 Issue 2 Pages 241-243
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (392K) -
Takuji MURAO, Yoshiaki KOKOSHIMA, Tohru KATAYAMA, David N. WORMLEY, Yu ...1986 Volume 22 Issue 2 Pages 244-246
Published: February 28, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (412K)
- |<
- <
- 1
- >
- >|