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Volume 22, Issue 5
Displaying 1-16 of 16 articles from this issue
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Hiromitsu HIKITA, Takeshi WATANABE1986 Volume 22 Issue 5 Pages 497-502
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe stability-margin bounds are given for a linear decoupled system which is realized by a constant-gain state feedback. The sensitivity is also derived as the function of the transfer function matrix of the decoupled system. These results are extended to a decoupled system in which pole-zero cancelations can partially be avoided. It is investigated how an observer takes part in them in the case of output feedback. Finally, it is shown that the robust stability and sensitivity are more adjustable by using a Howze-Pearson dynamic compensator in order to completely avoide the polezero cancelations.View full abstractDownload PDF (743K) -
Kunihiko ICHIKAWA1986 Volume 22 Issue 5 Pages 503-507
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is exclusively devoted to the multivariable exact model matching, based on the recognition that decoupling control is nothing but the special case of exact model matching where the reference model transfer matrix is chosen as a diagonal matrix. An extremely simple design procedure in the frequency domain which achieves multivariable exact model matching is presented, where an interactor associated with the plant transfer matrix plays an important role. It is illustrated that the existence of diagonal interactor is the condition for obtaining a decoupling control system by state variable feedback only, from the view point of the structure of a more general decouping control system. The zeros of the plant are canceled by state variable feedback, and n-m poles of the plant can be arbitrarily assigned, where n is the number of plant zeros while m is that of plant zeros.View full abstractDownload PDF (585K) -
Setsuo SAGARA, Miyoichi EGUCHI, Kiyoshi WADA1986 Volume 22 Issue 5 Pages 508-513
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper discusses the properties of leastsquares estimators for over-parametrized pulse transfer function model. The estimators have the biases in the presence of measurement noise, but the higher model order becomes, the closer the step response calculated from the estimated parameters gets to the true one. This attractive property is explained through the poles and zeros of the estimates, and the basic equation of the biases for overparametrized model is derived. We show a guide to choose the model order so that the identification experiment can easily be performed by only least-squares method without considering for the model structure and the identification algorithm. This over-parametrized identification is very practical and usefull to get the rough characteristics of the system, because least-squares method is very simple and effective.View full abstractDownload PDF (674K) -
Yoshihiko MIYASATO1986 Volume 22 Issue 5 Pages 514-520
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with the problem of constructing model-reference adaptive control for Attasi-type two-dimensional systems. This is the problem of synthesizing the compensator for an unknown 2D system so that the tracking error between the output of the process and the output of the prescribed reference model, which is also defined over 2D domain, is regulated to zero asymptotically.
First we derive a 2D parametrized representation. It is constructed with a kind of 2D state variable filters, those are known, and unknown system parameters. Then we design a model reference adaptive control system using this representation. The vertical-type adaptive control system and the horizontaltype adaptive control system are constructed according to the direction of the convergence of parameter adaptive laws.
These results are applied to solving the problem of adaptive image processing, and adaptive control for some infinite dimensional systems such as distributed parameter systems and time-delay systems.View full abstractDownload PDF (755K) -
Sigeru UCHIKADO, Kimio KANAI1986 Volume 22 Issue 5 Pages 521-526
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with a design method of a multivariable linear discrete-time adaptive servo system with unknown disturbances such as step, lamp, acceleration. By including the internal model to control and adaptive laws, feedback gains can be identified without any bias, and it also assures that output errors tend to zero asymptotically, thus the control object can be achieved.
Finally, numerical simulations are shown to investigate the feasibility of the proposed approach.View full abstractDownload PDF (679K) -
Kazuo AIDA, Toshiyuki KITAMORI1986 Volume 22 Issue 5 Pages 527-534
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a method of designing the preview controller of the robust servo-mechanism for a discrete linear time invariant system subject to a reference input which is the output of linear free system, named reference system.
It is assumed that the controller can make use of preview information with respect to all states of reference system from the present time upto l time units in the future. The optimal preview control problem is formulated as that of minimizing a quadratic performance index in the infinite period.
It is revealed that the controller can be designed under certain condition for the case that the reference system has some instable modes and we can always design it for reference inputs such as polynomial and sinusoidal type ones which may be considered to be important in practical use. Moreover, it is proved that the optimal performance index of the designed control system is uniquely evaluated.
An example is presented to show that the preview action improves the performance of the control system.View full abstractDownload PDF (927K) -
Keiji WATANABE, Mitsuyoshi YAMATARI1986 Volume 22 Issue 5 Pages 535-541
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, it is generally shown that a repetitive control system is a neutral system. It is proved that the control system is spectrally controllable if and only if there is no pele-zero cancellation between the controlled system and the compensator. By using spectral decomposition method, the repetitive control system is stabilized to make the steady state error admissibly small with desirable transient characteristics.View full abstractDownload PDF (723K) -
Hiroshi NOGAMI, Hajime MAEDA, Shinzo KODAMA1986 Volume 22 Issue 5 Pages 542-548
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper we discuss the problem of designing compensators which achieve infinite gain margin (IGM) and/or infinite gain reduction tolerance (IGRT) for stability under the uncertainty of gains in feedback loops.
Using the coprime factorization approach over M(S), the ring of stable real rational matrices, the results are essentially stated as follows:
Let ND-1=D-1Ñ be a doubly coprime factorization of the given plant P over M(S), and let ψ(N) be the largest invariant factor of N∈M(S). Suppose that P is an m×r strictly proper real rational matrix with rank P=m and that ψ(N) and ψ(D) are coprime. Then there is a compensator C that achieves IGM and IGRT, if both ψ(N) and ψ(D) have no finite zeros in the open right-half plane and have no multiple jω-axis zeros (including j∞) with multiplicity≤3.
Conversely, the conditions become necessary subject to the requirement that the closedloop system is decoupled with det PC≠0.
It is also shown that under the same hypotheses as that of linear gain case there exists a compensator C that stabilizes the system for all nonlinear gains ki(yi) such that ∞>ki(yi)/yi≥ε>0, i=1, …m, where ε may depend on nonlinear gains, if both ψ(N) and ψ(D) have no finite zeros in the open right-half plane and have no multiple jω-axis zeros (including j∞).View full abstractDownload PDF (920K) -
Kazuo NAKAMURA1986 Volume 22 Issue 5 Pages 549-556
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn a process of decision making among multi-attribute alternatives, it is often very effective to screen the evidently inferior candidates on the basis of attribute-wise preferences. The present paper, first, suggests the methods to construct five types of noninferior relations which are essentially fuzzy. Then, corresponding to the conditions of attribute-wise preferences the properties of these fuzzy noninferior relations are investigated from the viewpoints of rational decision procedure. To be concrete, comparability, lower boundedness by disjunctively aggregated preferences, positive associativity to attribute-wise preferences, non-intensification by adding a new attribute with unpreferability, nonimpairment by adding a new attribute with preferability and transitivity of their negative inverse relations are discussed.View full abstractDownload PDF (1002K) -
Hidetomo ICHIHASHI, Hideo TANAKA, Kiyoji ASAI1986 Volume 22 Issue 5 Pages 557-562
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSTaking into account human subjective measures, fuzzy measures and fuzzy integrals have been intensively discussed. Fuzzy measures have the monotonicity property instead of additivity. Fuzzy integrals have been applied to the evaluation of complex and vague objects. Weber proposed ⊥-decomposable measures and integrals by them. The first subject in this paper is to define an integral by pseudo addition (+) and pseudo multiplication (×) that are distributive and commutative Bemiring operations. This integral takes the value between the minimum and the maximum value of the integrand. Thus a class of decision problems can be expressed by this integral in a unified form.
A decision in a “fuzzy environment” has been defined by Bellman and Zadeh as the intersection of fuzzy sets of goals and constraints. The decision as the intersection of fuzzy sets by applying the minimum operater implies that there is no compensation between membership values of alternatives. The simple additive weighting method is the most widely used method of multi-attribute decision problems, where weights are considered to be an additive measure.
This paper proposes to use fuzzy integrals for the aggregation operator that implies various degree of compensation. (+)-decomposable measures can be regarded as a measure expressing the grade of importance.
A numerical example is shown to illustrate how to identify pseudo additive weights in a multi-attribute decision problem by the fuzzy integrals.View full abstractDownload PDF (756K) -
Eiji TOBA, Hitoshi HARA, Sadamu SEKIGUCHI, Keigo IIZUKA1986 Volume 22 Issue 5 Pages 563-566
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes the fabrication of single-mode fused biconical taper fiber couplers and their application.
By using a fused biconical taper coupler technique, single-mode optical fiber couplers have been fabricated which have low insertion loss and uniformity branching ratio.
The insertion loss of a fiber coupler was 1.90dB, and the variation of branching output port ratio of the coupler was about 5 percent.
It was also found that it is possible to improve the mechanical strength and durability of the coupler by covering it with a brass pipe of a small diameter. These results indicate that the single-mode fused biconical taper fiber coupler is satisfactorily applicable to temperature sensors if it is built in as the optical path of the Mach-Zehnder type interferometer.
Moreover, the single-mode fused biconical taper fiber couplers can simplify optical parts of measurement systems.View full abstractDownload PDF (990K) -
Measurements of 3-D Orientation of Robot Hand Using Phase Diff erenceShin-ichi NAKAJIMA1986 Volume 22 Issue 5 Pages 567-573
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the field of profile following works by robot manipulators, a sensory feedback controller using the proximity information can reduce the setting errors and simplify the teaching works. Then it is necessary to develop the proximity sensor which can measure the relative posotion/orientation of the endeffector and objective surface.
This paper proposes a new ultrasonic proximity sensor for measurements of the hand orientation against an object. For three dimensional applications, a method is presented which obtain the two directional angles of the line normal to the surface. The method uses the mutual phase difference between the reflected echoes of three receivers arranged in encircling the transmitter.
The sensing system can be developed using commercially available transducers. And it has many advantages as high resolution, wide measuring range, simple structure, light weight and so on. The sensing system is suitable for the proximity sensor attached to the hand of robot manipulators.
The principle using the phase difference is useful for measurements and controls by a null method. Then, the sensing system is applied to the control system which maintain the direction of hand normal to an objective surface.
Experiments using typical wrist mechanisms show the effectiveness of the sensory feedback system. They also show the applicability of the sensing system to profile following works.View full abstractDownload PDF (1355K) -
Iwao YAMAMOTO1986 Volume 22 Issue 5 Pages 574-579
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA pneumatic gripping device is described in this paper. Two sets of bellows which have the same construction are aligned. A nozzle is put on a movable end of each of the sets of bellows and the nozzles counter-face each other at a distance. The insides of the sets of bellows are interconnected and also connected to a supply chamber regulated at a constant pressure through an orifice. Air from the supply chamber flows into the sets of bellows passing through the orifice and flows out to the atmosphere through both of the nozzles.
When an object is inserted in the space between the nozzles, the gaps between the nozzles and their counter-faces decrease and the pressure of the sets of bellows increases. The pressure increase makes the gaps more and more small, due to the elongation of the bellows. Owing to such regenerative action of the bellows to the pneumatic circuit, the nozzles contact their counter-faces and maintain to grip the object with a pressing force proportional to the supply pressure.View full abstractDownload PDF (786K) -
Trajectory Pattern and Load Bearing Capacity on the Contact PointsShunji HIROKAWA1986 Volume 22 Issue 5 Pages 580-587
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes simulated analytical results on the femoropatella joint disease and operation in the knee, using the previously reported three-dimensional kinematic model.
The primary cause of the cartilage degeneration on the retropatella surface is predominantly considered as abnormal joint contact stress.
However, in spite of many experiments, not only its aetiology but also the exact stress pattern have not been clarified yet.
In the present study, by the altemation of the physiological parameters in the normal knee, the following three clinical cases were simulated, and the trajectry pattern of contact points and the load bearing capacity in each case were quantitatively obtained.
The parameters for simulation-experiment were selected by clinical and pathological significance, as following;
1) Q-angle (a position of the quadriceps muscle's origin)
2) A length of patellar ligament
3) A position of the tibial tuberosity
Besides, by connecting the articular surface geometry and the Hertzian elastic contact theory, the contact stress between the normal and the tibial tubercle elevating knees were compared and examined.
The simulation results indicated that variations in Q-angle have little effect on the joint contact force, a patella alta case is injurious to the cartilage showing an undulating pattern of contact force, and the elevating of the tibial tuberosity reduces the contact stress by 20-30%.
Furthermore, the sliding pattern on the mediolateral contact points, which is closely related to cartilage wear, was examined.View full abstractDownload PDF (1064K) -
Tsugito MARUYAMA, Takashi UCHIYAMA, Tadashi AKITA1986 Volume 22 Issue 5 Pages 588-590
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (1322K) -
Yoshitomo OKADA, Sakae SHINOMIYA, Keiichiro AKIYAMA1986 Volume 22 Issue 5 Pages 591-593
Published: May 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (266K)
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