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Volume 22, Issue 6
Displaying 1-21 of 21 articles from this issue
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Toshiaki TABUCHI, Takashi SOEDA1986 Volume 22 Issue 6 Pages 597-603
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the design of an adaptive observer which would identify the parameters and estimate the state of singleinput single-output discrete-time linear system with measurement noise.
The observer design is done by using the parametric representation of original system to separate the parameter identification process and the state estimation one. Parameter identification is carried out by using a method similar to RML (Recursive Maximum Likelihood) identifier. The main difference from RML method is the estimation of measurement vector. Since the proposed method utilizes the full available information in this estimation, the improvement of parameter estimation accuracy can be expected as compared with RML method. Once obtained the parameter estimate, the state estimate is obtained by simple manipulation of the parameter estimate.
A simulation result for two order system indicates the acceptable performance of the proposed method in both deterministic and stochastic environments.View full abstractDownload PDF (787K) -
Application for Disturbance Decoupling Problem in the Sense of TrajectoryMitsuji SAMPEI, Katsuhisa FURUTA1986 Volume 22 Issue 6 Pages 604-609
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we propose the method for analyzing the nonlinear system in the time scale which is different from actual one. New time scale is defined as dt/dτ=s(x), where ‘t’ and ‘τ’ are actual time scale and that of defined one respectively, and s(x) is the function which we call ‘time scaling function’. Analysis of the system in new time scale ‘τ’ enables us to investigate the intrinsic structure of the system, in fact disturbance decoupling problem can be reviewed and extended in the sense of trajectory.
‘Wide-Sense Disturbance Decoupling Problem (WSDDP)’ is defined to seek feedback law and time scaling function which make the output transition in time scale ‘τ’ independent of disturbance, i.e. to seek feedback law which makes the output trajectory independent of disturbance. WSDDP is solved using new concepts ‘wide-sense (f, G) invariant distribution’ and ‘wide-sense locally (f, G) invariant distribution’.View full abstractDownload PDF (745K) -
Atsushi WATANABE, Makoto YOKOYAMA1986 Volume 22 Issue 6 Pages 610-615
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe measurement of the kernels of the Volterra series model of a nonlinear dynamical system is carried out as follows; first by applying orthogonal expansions to the kernels, a parametric model is derived, and then the parameters are optimally determined in the sense of the least mean square error over the whole length of the input-output observation of the system. In this general method, it is known that, if the test input is a white gaussian signal, a great saving is obtained in the amount of computation required to write the normal equation determining the optimal parameters. The purpose of the present paper is to show that, even when the test input is not white, by applying the Karhunen-Loève expansion to the input time series, it can be treated as if it is a white signel, and as the result, the same amount of computational saving as for the white gaussian input is obtained.View full abstractDownload PDF (798K) -
Tsutomu HASEGAWA1986 Volume 22 Issue 6 Pages 616-622
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new planning method of collision-free paths for a manipulator with 6 revolute joints is described.
Although a good description of free space is crucial for the path planning, it is practically impossible to construct it in 6 dimensional space which integrates position and orientation. The manipulator can be decomposed into a hand and an arm so that each of them has 3 degrees of freedom of motion. The collisionfree space for the arm is uniquely described in the 3 dimensional angular space. The collision-free space for the hand is characterized by the different constraint on its orientation. Given a range of orientation, the swept volume of the hand is made by sweeping it within the range. The free space for the hand is defined as collision-free space for this swept volume.
Combined with a local search technique for a collision-free hand motion in the real 3-D workspace, the collision-free path can be efficiently searched for using this characterized description of the free space.
The path planning system has beeen implemented for the ETA-2 (ETL's Torque Controlled Arm v. 2). The system has successfully solved the problems of 6 degrees-of-freedom pick-and-place operation.View full abstractDownload PDF (1588K) -
Nobuyuki MATSUI, Eiichi BAMBA1986 Volume 22 Issue 6 Pages 623-628
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe human response and information processing in control tasks is affected by psychological states as well as physiological limitations. Therefore, investigating their effects, the realization of man-machine systems which are able to compensate for human errors and carelessness is required. From this point of view, problems of inattention have been studied in various ways. Also, it is well known that vagueness associated with mental phenomena could be described by the concept of ‘Fuzzy’. Accordingly, in this paper, the fraction of attention is considered on the basis of the ‘Fuzzy Entropy’ as a trial approach. Numerical estimations for human operator attention allocation are calculated and the types of the membership functions of the fuzzy set are tested as the human subjective evaluation.
As a result, it is found that the ‘psychological entropy’ defined by the maximum fuzzy entropy with respect to the ‘incidence probability’ produces the optimal attention allocation and the number of the effective displays is 3 or 4. The method presented in this paper is also compared with the other model to demonstrate the validity.View full abstractDownload PDF (741K) -
Tetsuo SAWARAGI, Sosuke IWAI, Osamu KATAI1986 Volume 22 Issue 6 Pages 629-636
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA knowledge-based decision support system (DSS) is presented, which aids a decisionmaker in the face of complex societal problems in formulating alternatives and evaluating them based on a problem-oriented knowledge represented as cognitive maps, i.e., networks of causal relations in its knowledge base. The knowledge concerning such problems is so enormous and complicated that each alternative cannot have unique consequence, that is, it affects the goals to be attained both in promoting (positive) and suppressing (negative) ways through causal relations. In this paper, a method to separately quantify those dual effects is developed taking account that the effect is weakened in propagating through sequential intermediate causal relations and is strengthened in integrating a numbler of sequential effects existing in parallel. Then, from those quantities two attributes are derived concerning intensity of total effects and predominance of both effects, and the preference characteristic over those attributes is discussed. Using those ideas, a knowlede-based DSS is constructed, which can rank sets of alternatives according to their contribution to the decisionmaker's own utility by extracting his own personal attitude for his problem through interactive conversations.View full abstractDownload PDF (1332K) -
Koichi OSUKA, Hirokazu MAYEDA1986 Volume 22 Issue 6 Pages 637-643
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSFor advanced control and design of manipulator systems, developement of the methods to identify manipulator dynamics precisely is essentially important.
The dynamical model of a manipulator can be obtained by decomposing the manipulator into many components, measuring their dynamical parameters, and calculating the coefficients of the nonlinear model. But it costs quite much labor to perform these, and still the obtained model is said to be inaccurate.
A practical method to identify the coefficients of the nonlinear terms of the model from simple test motions was proposed by the authors. In this paper this method is applied to a real manipulator with three rotational joints, and the results are shown to be satisfactory.
Some important technical details for the application are also mentioned.View full abstractDownload PDF (834K) -
Unknown Obstacle Detection and DescriptionYoshiaki ICHIKAWA, Hiroshi KAMIMURA, Sakae SUGIYAMA1986 Volume 22 Issue 6 Pages 644-651
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a method to update a map according to the observation results on unknown obstacles acquired by a mobile robot during its travel. The map is two dimensional on which obstacles are described with polygons or circles. The sensed data obtained by observations with a range-finder consist of sensed points and directions on obstacle surfaces. The map update is subdivided into 3 levels as follows, (1) describe imaginary obstacles onto the map that represent each sensed point, (2) find clusters from sensed points and describe imaginary obstacles that represent their sizes and positions, (3) describe obstacle shapes by estimating them with sensed data. These levels are selectively used according to the amount of data and allowed time to spare. Level 1 and 2 are used in real-time when the robot is moving, and level 3 is conducted when sufficient data and time are available. In order to estimate unknown obstacle shapes with sensed data, an algorism is developed that selects and binds neighbor pairs among sensed points. The algorism can estimate concave or multiple shapes. Experiments using a mobile robot demonstrated utility of each level.View full abstractDownload PDF (1928K) -
Yoshikazu MIYAZAWA1986 Volume 22 Issue 6 Pages 652-658
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSLQG approach is a useful metod for designing control systems in which disturbance effects should be alleviated. Although the order of the controller derived with LQG is generally equal to that of the controlled element, reduced-order controllers often give nearly the same performance index value as the optimal full-order controller gives. Since simple controllers are favorable in practical use, it is necessary to evaluate reduced-order controllers in the application of LQG. This paper presents an efficient algorithm to give sub-optimal and optimal reduced-order controllers. The algorithm consists of two processes. One is derivation of sub-optimal reduced-order controller, which is obtained by a chained aggregation model of the full-order controller. The model is given by Hessenberg representation of system matrix of the controller and diagonalization of covariance matrix of the controller states. Since diagonalization of the covariance matrix is equivalent to minimizing the residue of differencial equations, this chained aggregation model is suitable for the derivation of reduced-order models. The other is parameter optimization, which is obtained by using Gauss-Newton methed. Owing to this method, convergence characteristics are improved compared with ordinary gradient methods or Newton-Raphson method. An illustrative example is pretented. The algorithm is applied to an analysis of a basic windtunnel experiment model of an aircraft gust load alleviation system. The mathematical model of the experiment model is described by a 7th order system. In the case of suboptimal reduced-order controller, up to 3rd order controllers give similar performance indices as the optimal full-order controller gives, and in the optimized case, up to 2nd oder reduced-order controllers do so.View full abstractDownload PDF (937K) -
Koichiro DEGUCHI1986 Volume 22 Issue 6 Pages 659-665
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSTo form a comparison of two images of the same object field obtained at different times or under different conditions, it is necessary spatially to register the images pixel-by-pixel, and thereby correct for relative translational shifts, magnification differences and other geometrical distortions. A common technique for registering a pair of image is to form a cross-correlation between the images and determine the location of the maximum correlation. However, there are many cases where one of the pair images is partially covered, for example, such as by clouds or snows in remote sensing images.
In this paper, how the cross-correlation function is distorted when one image is partially covered is analyzed, first. Then, new methods for the registration between partially covered images are proposed.
It is shown that, in the applications, there are three types of such image coverages; 1) partially lacked or darkened, 2) partially added with another pattern, and 3) partially replaced or occluded by another pattern. These types of coverage model are formalized, and the registration methods are proposed for these three types, respectively. Experimental results of the proposed methods applied to example images in remote sensing, medical imaging and scene analysis are also shown. Correct registrations are obtained in spite that one of the pair image to be registered is partially covered.View full abstractDownload PDF (3150K) -
Deflection Effect in the Upstream Region of the NozzleMotoyuki NAWA, Hideo HANAFUSA1986 Volume 22 Issue 6 Pages 666-671
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn Air Deflecting Device having a convergent nozzle with combination of two control ports and curved guide walls has a feature of wide and continuous deflection. We studied about wide deflection mechanism of this device on the stand point of deflection effect in the upstream region of the nozzle.
Four parameters in the upstream region were examined by experiments and influences of the parameters on the deflection angle were revealed. At the same time, by using velocity and pressure data in the upstream region at a wide deflecting condition, we also made clear the feature of the wide deflection effect in the upstream region.
In order to get more detailed informations, flow visualization and numerical analysis were carried out. As a result, deflection effect in the upstream region was found out to be brought about by three factors; (1) existance of convergent streamlines, (2) curvature increase at the attachment side and (3) deflection acceleration effect at the non attachment side in the upstream region of the nozzle. By a result of numerical analysis, we also found out that chages of velocity vectors due to the deflection effect prevailed about 2.5 times of the nozzle width toward upstream of the nozzle.View full abstractDownload PDF (2023K) -
Pulsation Error at High Reynolds NumbersJunji KANAZUMI1986 Volume 22 Issue 6 Pages 672-676
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis report concerns the problem of pulsation error in the measurement of pulsating flow at high Reynolds numbers by making use of float-type flowmeter. The motion of the float is discussed theoretically on the basis of equation of motion taking into account the extra pressure due to unsteadiness of the flow. The effect of the extra pressure on the pulsation error is examined by making comparison of the present solution with previous one in which the extra pressure was neglected.
Following points may be noted:
1) Pulsation error is more or less reduced by the effect of unsteady extra pressure.
2) The results for the pulsation error obtained in a previous paper1) are valid only for the case of low pulsation frequency or the case of small scale factor of the extra pressure effect (flow of gas in particular).View full abstractDownload PDF (644K) -
Basic Experiment on the EarthToshiro ONO, Haruo SHIMAOKA1986 Volume 22 Issue 6 Pages 677-684
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe measurement of mass is a basic element of technology in space industries under weightless conditions. However existing available devices or systems for mass measurements are not usable because they are gravimetric.
Therefore, we proposed in the previous paper a method of dynamic mass-measurement usable in oscillating space crafts or space structures under weightless conditions. In the method, the mass value of goods can be estimated through processing the observed data both on the absolute acceleration of the oscillating goods-plate of spring scale and on the deflection of the spring by means of a software.
In this case, the oscillation of goods-plate is caused by the initial displacement from its rest position.
Recently we produced a device to investigate the feasibility of the dynamic mass-measurement under weightless conditions on the earth, and confirmed it experimentally.View full abstractDownload PDF (2079K) -
Eisuke TOHJIMA, Takuso SATO1986 Volume 22 Issue 6 Pages 685-690
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method for real-time nondestructive measurement of the distribution of defects in pipe-like objects is proposed.
In this system two ultrasonic waves, a probing wave with continuous low pressure amplitude at relatively high frequency and a pumping wave with impulsive high pressure, are used. They are propagated in opposite directions. Then the information on the change of the pumping wave form due to the defects on the inner wall of a pipe is transferred into a phase change of the probing wave; hence the distribution of defects along the probing wave can be detected by demodulating the phase change of the wave.
The principle, physical construction, a number of signal processing steps to increase the sensitivities, and observed results are presented.View full abstractDownload PDF (632K) -
Rinzo EBUKURO1986 Volume 22 Issue 6 Pages 691-696
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWord structure similarity will closely relate to confusion in aural comprehension due to the phoenetic similarity. This paper is aiming at giving the tools for disparity analysis between two words notifing the word structure, and provides the operation procedure for the disparity format which is defined in this paper. Disparity between two words is expressed on the disparity coordinate, and word similarity and substitution error word pair can be analysed on the coordinate. New concept for the error analysis is also propesed and experimental results are demonstrated here.
This disparity analysis method will be useful for the voice communication's quality analysis and estimation in many field especialy in the voice input applications.View full abstractDownload PDF (850K) -
Mitsuo KINOSHITA, Tetsuo ITO1986 Volume 22 Issue 6 Pages 697-702
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn present design work of process control systems of complex facilities like a nuclear power plant, simulation programs are generally repeatedly used in order to determine the structure of the controllers and the optimum controller parameters. It is very desirable to eliminate some of the time-consuming and tedius tasks encountered in designing the many process control systems of the plant.
This paper deals with an interactive design system which supports an efficient control system designer. A linear model of the controlled system is identified using simulation test data or actual plant data and then utilized to determine the structure of the controller and the optimum controller parameters. Determination of the optimum controller parameters is based on a partial model matching method. That is, the optimum controller parameters are determined so that the closed-loop transfer function of the control system partially concides with that of a desirable reference model. A nonlinear programming method is used to calculate the controller parameters efficiently by the equations corresponding to a general control system which includes many various type compensators and feedback elements.
The interactive design system is experimentally applied to design a reactor water level control system and a reactor power control system of a boiling water reactor plant. The results of the control system design show that the optimum controller parameters can be easily determined, and that the interactive design system is useful to achieve efficient designing of the control systems.View full abstractDownload PDF (845K) -
Hiroo YAMAURA, Toshio TAKOH, Yasunari SHIDAMA, Toyomi OHTA1986 Volume 22 Issue 6 Pages 703-705
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (357K) -
Sigeru UCHIKADO, Kimio KANAI1986 Volume 22 Issue 6 Pages 706-708
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (373K) -
Takashi SEKIGUCHI, Ario OHSATO, Kazukiyo SUZUKI, Hidemi KODATE, Susumu ...1986 Volume 22 Issue 6 Pages 709-710
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (272K) -
Atsuki MATSUMURA, Sadao FUJIMURA1986 Volume 22 Issue 6 Pages 711-713
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (272K) -
Shigenori OKUBO1986 Volume 22 Issue 6 Pages 714-716
Published: June 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (363K)
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