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Volume 22, Issue 7
Displaying 1-20 of 20 articles from this issue
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Boundary Input·Boundary OutputHiroyuki UKAI, Tetsuo IWAZUMI1986 Volume 22 Issue 7 Pages 719-726
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper investigates a servomechanism problem for a distributed parameter system of parabolic type. The system is described by initial-boundary value problem of a diffusion equation with inputs and outputs realized only through the boundary. A feedback control system is designed so as to stabilize the resultant controlled system exponentially and regulate outputs to given reference inputs in spite of unmeasurable disturbances. It is assumed that disturbances and reference inputs treated here both belong to general classes.View full abstractDownload PDF (996K) -
Sigeru UCHIKADO, Kimio KANAI1986 Volume 22 Issue 7 Pages 727-732
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with a design method of an adaptive control system for linear timevarying systems with time polynomial parameters.
The proposed method is summarized as follows
(1) the controlled system is a continuoustime one
(2) by deriving an input-output relation with differential operators, the adaptive system can be designed with an ordinary approach and the existing adaptive law can be applied without any modification.
First, we give the formulation of the problem and the proposed method is represented via a polynomial algebraric approach, in which the scheme is perspective.
Finally, numerical simulation studies can be shown to justify the proposed method.View full abstractDownload PDF (615K) -
Shinji SHINNAKA, Takashi SUZUKI1986 Volume 22 Issue 7 Pages 733-738
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a general method to design discrete-time adaptive controllers for periodically time-varying inversely stable linear plants.
First of all, discrete-time adaptive control for periodically time-varying plants is formulated and control objective is made clear. Secondly, a general control law for achieving control objective is derived and periodicity of controller parameters is clarified. Next, a general algorithm is developed to estimate such controller parameter using plant input and output, and it is shown that according to the proposed method control objective is asymptotically achieved. In addition to the design method, necessary and sufficient conditions for inverse stability of the plants are shown. The presented design and analysis method is such general one as includes as special cases most of conventional methods for time-invariant plants.View full abstractDownload PDF (679K) -
Toshiaki TABUCHI, Takashi SOEDA1986 Volume 22 Issue 7 Pages 739-744
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the improvement of convergence rate of RML (Recursive Maximum Likelihood) method in ARMA parameter estimation, A recursive parameter estimator is developed by using Gauss-Newton method. Main difference the proposed method with RML one is the estimation of the expectation of Hessian in Gauss-Newton method. Proposed method estimates this quantity so as to minimize the estimation error of Fisher's information matrix which is considered as the information processing ability of RML estimator. Resultant algorithm is constructed by linking RML estimator with extended Kalman filter. The feature of proposed method is that the stability monitoring is not required in intermediate computation.
It is shown in numerical experiment that the convergence rate of the parameter estimates is improved by using proposed method.View full abstractDownload PDF (754K) -
Kunihiko ICHIKAWA1986 Volume 22 Issue 7 Pages 745-749
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAdaptive identification for time-varying continuous-time systems is considered in this paper. Although the convergence speed of least square adaptive law is extremely rapid, its performance becomes deteriorate remarkably when it is applied to time-varying systems. In order to overcome its defect while making full use of its advantage, an adaptive identifying scheme using least square algorithm with intermittent reset is proposed. When parameters to be identified vary as an exactly quadratic function of time, the identification problem can be reduced to the one with constant parameters by introducing two additional parameters for each time-varying parameter. The adaptive identifying scheme using least square algorithm is applied over a prescribed short period by assuming that parameters vary quadratically with time. At the end of the period, the matrix Γ(t) is reset to Γ(0) of large value, while the initial values for the estimates are chosen so as the estimated value and its derivative continue at the connecting instant. The scheme is cofirmed to be of satisfactory tracking performance through simulation studies. Besides, the least square algorithm for contiuous-time systems is developed in this paper.View full abstractDownload PDF (526K) -
Kunihiko HIRAISHI, Atsunobu ICHIKAWA1986 Volume 22 Issue 7 Pages 750-755
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSNon-negative integer solutions of a matrix equation of a Petri net play an important role in the analysis of the reachability of the net. A solution x of the matrix equation is expressed as x=α+β where α is a non-negative integer solution of the matrix equation and β is a solution of the homogeneous equation. Number of solutions of the matrix equation is, therefore, infinite in general and this causes serious difficulty in examinning whether or not any of the solutions has fireable sequence. The difficulty will be considerably relieved if the conditon is found under which the solution α has fireable sequence when the solution α+β has fireable sequence. This paper gives a sufficient condition, that some places specified by the solutions α and β are to be either forward or backward conflict-free places. This condition, though sufficient, is very much weaker than those previously obtained, that the net is structually conflictfree, in other words, all the places of the net are to be conflict-free.View full abstractDownload PDF (889K) -
Koichi OSUKA1986 Volume 22 Issue 7 Pages 756-762
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a model referenced adaptive control system (MRACS) for nonlinear mechanical systems is proposed.
In general, dynamic models of mechanical systems, such as manipulators, are highly nonlinear. This is the reason why control of such systems is difficult. Though the mechanical systems are nonlinear as mentioned above, the form of nonlinear terms in the models can be determined by the structure of the mechanical systems. So we can know the form of nonlinear terms perfectly. Moreover, because of the special feature of mechanical systems, the position, the velocity, and the acceleration of each degree of freedom are measurable.
First, I will show that for such systems, MRACS, which has particular adaptive mechanism and is assured global asymptotic stability, can be constructed, using actively the information of the nonlinearity and the special feature of mechanical systems, without any linearization or approximation. Then I will show the effectiveness of this MRACS using DARM-1 (Direct Drive Arm with two degrees of freedom).View full abstractDownload PDF (1906K) -
Sadayuki TSUGAWA, Saburoh TABEI1986 Volume 22 Issue 7 Pages 763-770
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a computer-aided instruction system of automobile driving that is applied when a trainee practices driving with an automobile on a training ground. The system automates the instruction by functions of route guidance and driving data acquisition during driving and by a function of driving diagnosis based on the driving data after driving. The system consists of a personal computer in the control center, on-board computers in automobiles and communication control units connected to the personal computer through GP-IB. Information to an automobile during driving is transmitted over bidirectional, local and digital road-vehicle communication by inductive radio from the communication control unit to the on-board computer. Route guidance information is outputted to a trainee in an aut omobile in a synthesized female voice by ADPCM. Driving data that have been acquired in the on-board computer during driving are transmitted to the personal computer after driving for issue of a driving diagnosis chart. The system has been installed on a training ground and the onboard computers have been mounted in 12 automobiles, For the road-vehicle communication, inductive loop antennas have been buried at 9 points in the roads. Each automobile is equipped with an automatic braking system using an ultrasonic ranging unit for collision avoidance on the training ground. The braking system detects an obstacle within 10m from an automobile and operates the brakes adaptively depending on the velocity. Experiments by trainees show that the instruction system and the route guidance system by speech synthesis are effective on the training ground.View full abstractDownload PDF (3509K) -
Takuso SATO, Eisuke TOHJIMA, Yoshiki YAMAKOSHI1986 Volume 22 Issue 7 Pages 771-778
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper a new method for measurement of gass flow vector's distribution across a desired line is proposed.
A contineous low intensity high frequency probing ultrasonic wave is propagated along the line and an impulsive high pressure pumping ultrasonic wave is emitted from the opposite direction and the flow velocity of the gass at each point on the line is observed by utilizing the nonlinear interaction of the pumping ultrasonic wave and the medium with proper signal processings.
The principle and some experimental results are presented. The results clearly show the effectiveness of the proposed method.
The special features of the method are 1) no need of any special seeds which are required in ultrasonic or laser doppler method, 2) the measurement can be done only by the transducers arranged at both ends of the observing line.View full abstractDownload PDF (853K) -
Sadao FUJIMURA, Tatsuya YOKOTA1986 Volume 22 Issue 7 Pages 779-784
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThermal patterns of the terrain surface are very often used to know the state of the environment. They are usually obtained by remotely sensed IR data. Accurracy and reliability are essential for the practical applications of the remotely sensed data. They are examined by measurements obtained on the ground. As far as the authors know, the evaluation of them has been made merely through comparison (that is, only through good or bad coincidence) between the estimated and the observed temperatures. There is no established relation between the temperatures, on which the evaluation should be based. In the present paper, a temperature estimated from remotely sensed data is related to the observed temperature at the same place through a simle physical model. In the model the atmosphere is represented by a thin layer described by using a transmittance and an effective temperature. We consider four kinds of models slightly modified from each other. By using the extended Tn relation of radiance to a temperature T which we already established, it is shown for all the models the regression coefficient given by regression analysis is not larger than 1. In the analysis the estimated temperature is taken as a dependent variable and the measured one as an independent variable. This gives us a reference relation between the both data. It is shown that this relation holds for most of the actual data.View full abstractDownload PDF (1640K) -
Young Taek HYUN, Seiichi SHIN, Shigenori OKUBO1986 Volume 22 Issue 7 Pages 785-787
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (378K) -
Satoshi MIKAJIRI, Tomiji HISAMURA1986 Volume 22 Issue 7 Pages 788-790
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (330K) -
Hidetoshi WAKAMATSU1986 Volume 22 Issue 7 Pages 791-793
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (415K) -
Hiroyuki KAIZU, Ren-Zhou WANG, Koji KUSADA, Tsuneo TANIGUCHI1986 Volume 22 Issue 7 Pages 794-796
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (386K) -
Hiroshi YAMADA1986 Volume 22 Issue 7 Pages 797-799
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (435K) -
Tadashi EGAMI, Kohei SUDOH, Takeshi TSUCHIYA1986 Volume 22 Issue 7 Pages 800-802
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (364K) -
Kohei SUDOH, Tadashi EGAMI, Takeshi TSUCHIYA1986 Volume 22 Issue 7 Pages 803-805
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (274K) -
Shoji IIDA1986 Volume 22 Issue 7 Pages 806-808
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
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The Effects of Calibration Error on a Two-Degrees of Freedom Force Sensor Having a Cross SensitivityTeruyuki IZUMI, Tatsuo NARIKIYO1986 Volume 22 Issue 7 Pages 809-811
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (325K) -
Yoshiya TERAO, Masaki TAKAMOTO, Kyoji KAMEMOTO, Hidekazu ASADA, Hideki ...1986 Volume 22 Issue 7 Pages 812-814
Published: July 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (344K)
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