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23 巻, 10 号
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香川 利春, 清水 優史1987 年 23 巻 10 号 p. 1003-1008
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with how to correct the indication of the float-area type flow meter when line pressure changes. Float-area type flow meters are often used for small range flow rate measurements. In this range of measurement, flow rate characteristics of the meter are affected by the pressure drop in the small annular slit between float and tube. According to the analysis, new correction method for float-area type flow mether is introduced. The experimental data are in satisfactory agreement with the calculated results of the flow meter.抄録全体を表示PDF形式でダウンロード (720K) -
二宮 隆典, 広井 高志, 中川 泰夫1987 年 23 巻 10 号 p. 1009-1016
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーRecently many types of practical robot vision systems have been developed. However, most of them are based on the 2-D image processing technique and can recognize objects only on a known plane. On the other hand, much fundamental research effort on 3-D recognition has been made, but achieved results are still time-consuming and impractical.
In this paper, we describe the compact 3-D sensor for robots. 3-D information about objects can be detected by the light section method. Projecting a slit light onto the object and taking its image from the oblique direction, the distances from a point on the slit light plane to the light stripes, which are intersections of the object and the slit light, can be measured based on the triangulation. The proposed sensor projects two slit lights one by one, which are arranged like X-shape. The light stripes neighboring the intersection of two slit lights in the taken images are guaranteed to be on a continuous surface. Therefore, once the sensor is directed to the desired surface just roughly, the orientation and the distance of the surface in the 3-D space can be detected through the calculation of the distances to the points neighboring the intersection of the slit lights, without moving the sensor.
The developed sensor consists of two slit light sources and a solid state TV camera. Infrared LED chips are used as the light source and Camera Control Unit is separated from the sensor itself. They enable us to realize a light-weight and compact sensor which is suitable for being mounted on a robot arm. The size of the sensor is 200mmW×57mmH×75mmL and the weight is 400g. According to the experimental results, the repeatability of the detected position of the cylindrical object is σ=0.04mm for the x-y coordinate, σ=0.09mm for the distance and σ=0.2° for the orientation and the acquisition time is about 0.1 second.抄録全体を表示PDF形式でダウンロード (2456K) -
津村 俊弘, 橋本 雅文, 石田 明1987 年 23 巻 10 号 p. 1017-1023
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーWe now develop an active type of positioning system for roboted vehicle moving on three dimensional space by use of a laser beam and a corner cube (retroreflector). In this system a vehicle, first, searches a corner cube target fixed on a ground reference point and emits a laser beam toward the target. When the laser beam captures the target, the vehicle geometrically determines the own position and attitude based on the directions of the target measured by the laser beam.
In order to continue the accurate position finding even during movement of the vehicle, the above positioning system requires a laser tracking control which always directs the laser beam toward the center of corner cube target.
This paper presents a laser tracking control method. First we show that the directional deviation of the laser beam relative to the center of target, which is needed for accurate tracking control, is easily determined by the active use of unique reflectional characteristics of the corner cube. Then we design the laser tracking controller on which the feedback gains are obtained based on LQ regulator theory. Further we show the capability of our proposed tracking method through some experiments using a proto-type system.抄録全体を表示PDF形式でダウンロード (1955K) -
佐藤 弌也, 米山 隆雄1987 年 23 巻 10 号 p. 1024-1029
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes the development of a machine condition diagnosis system using acoustic emission (AE) techniques. The system is applicable to rotating machinery such as steam turbines, generators and rolling mills.
The basic algorithm of the system discriminates between various abnormal conditions of machines using the relationship between AE waveform characteristics and frequency characteristics of an envelope detection signal of the AE. In order to analyze the waveform characteristics, the following waveform parameters are calculated: mean value, AE event, duration time, rise time, and AE energy. The frequency characteristics of the envelope detection signal of the AE are obtained by fast Fourier transform (FFT) calculations. Using the results of the waveform analysis, the AE signal is identified as either a continuous type or a burst type. Then using the results of the frequency analysis, the AE signal is identified as either a wide band type or a narrow band type, and the latter is further classified as either a rotation tuned type or an untuned type. These categorize the AE signal by six types of abnormal conditions.
Suitable application software for a diagnosed object are provided from rubbing diagnosis, rotor crack diagnosis and journal bearing diagnosis software which were developed using the algorithm described above. Thus, abnormal conditions and source locations can be monitored in detail. The system uses an interlocutive form with the operators, who can use graphic, data, or trend displays for the diagnosed results.抄録全体を表示PDF形式でダウンロード (1775K) -
GMDHによる混合臭気定量モデル兼安 昌美, 大石 知司, 池上 昭, 有馬 英夫, 岩永 昭一1987 年 23 巻 10 号 p. 1030-1037
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes an analytical method and experimental results of identifying and quantifying smells using an electronic system composed of an integrated sensor and a microcomputer. The integrated sensor with six different elements on an alumina substrate was fabricated by using thick film techniques. The elements are kept at around 400°C by a Pt heater mounted on the sensor back. Since each element was made from different semiconductor oxides, they possess different sensitivities to material odors and the integrated sensor can develop specific patterns corresponding to each odor as a histogram of conductance ratios for each element. The microcomputer identifies the scent on the basis of similarities calculated by comparing standard patterns stored in the memory and a sample pattern developed by the integrated sensor. The scent is then quantified by using the sensor element with the highest sensitivity to the smell identified. A model for the smell quantification in state of mixture of different two scents has been developed. The model is essentially based on the GMDH algorithm, and is in need of some data sampled from the integrated sensor in different temperature controlled by a voltage of the Pt heater. The experimental results show that smells can be successfully identified and quantified with the electronic system.抄録全体を表示PDF形式でダウンロード (1705K) -
大久保 重範1987 年 23 巻 10 号 p. 1038-1045
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーIn this paper we discuss a design of model following control systems (MFCS) for discrete time systems and the robust stability conditions. In case that a controlled object has unstable zeros, it has been difficult to design a stable MFCS by using conventional methods. The reason is that a characteristic polynomial of the closed loop system involves a characteristic polynomial of unstable zeros. In this paper we use the method to involve a zero characteristic polynomial in control input signals. This method is one of a signal synthesis. Under the condition that all of the future values of reference inputs are known, we can synthesize bounded signals which are necessary for control inputs. Futhermore we discuss robust stability conditions when the transfer function of a controlled object has errors. We use a formulation whose errors exist in a numerator matrix and a denominator matrix of a right coprime decomposition as additive forms. Such a formulation does not lose the generality, but makes quantitative analysis of robustness easy. From Rouche's theorem and norm calculations of matrices, we obtain robust stability condition. In robust analysis of discrete time system by this paper's method, there is no limitation of polynomial degree of error matrices. This property does not exist in continuous time systems. So we can expand this paper's robust stability conditions to the case that error matrices are general analytic functions.抄録全体を表示PDF形式でダウンロード (978K) -
石原 正, 伊東 一博, 竹田 宏1987 年 23 巻 10 号 p. 1046-1052
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーFrequency-domain properties of Mita's digital optimal servosystem extended to general input delay case are investigated. It has been pointed out that the closed loop transfer function matrix of this optimal servosystem contains explicitly that of the optimal regulator used in the derivation. In addition to this interesting property, this paper shows that the guaranteed stability margins and the disturbance rejection property of the optimal servosystem have explicit relations to those of the optimal regulator. The influence of the choice of the cost function and that of the input delays on these properties are clarified by use of the well-known asymptotic properties of the optimal regulator. These results provide useful guide in the design of the digital optimal servosystem.抄録全体を表示PDF形式でダウンロード (982K) -
愛田 一雄, 北森 俊行1987 年 23 巻 10 号 p. 1053-1059
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a design method of preview control system which does not use LQ approaches is presented.
One of the authers has proposed the design methods of IPD and PID type control system based upon partial knowledge about plant dynamics. In these design methods, σi which denotes the first order moment of the impulse response of every control loop in multi-input-output control system is used as a parameter representing the rise time.
A preview controller is designed such that it overtakes the delay of response to the reference signal by σi. This preview action has the following effects.
(1) For IPD type control system, the tracking and steady-state errors are improved.
(2) For I2PD type control system whose design formula is given here, in addition to the effects of (1) the overshoot of response to the step reference signal is suppressed.
Two numerical examples are presented to demonstrate the above effects.抄録全体を表示PDF形式でダウンロード (781K) -
増田 達也, 藤井 克彦1987 年 23 巻 10 号 p. 1060-1067
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーRecently the analytic hierarchy process (AHP) developed by T.L. Saaty attracts attention as one of the particularly useful vehicles for allocating resources, analyzing policy impacts, and making a decision.
This paper presents some useful theorems for the sensitivity analyses of priorities (i.e., relative importances) used in the AHP. These theorems are derived from the principle of hierarchical composition which is expressed in the form of reachability matrix. Using the theorems, we can easily calculate the degree of effects caused by local or global changes in the priorities of some criteria, and also we can examine about the possibility of rank reversal among alternatives.
This paper, also, presents an application of the theorems to the problem of house selection, and demonstrates their effectiveness.抄録全体を表示PDF形式でダウンロード (1972K) -
林 慶星, 市川 惇信1987 年 23 巻 10 号 p. 1068-1075
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーTo introduce colors in Petri nets is believed to be an effective mean to reduce the size of Petri nets when the same type of devices are involved in a system. The notion of colored Petri net (CPN) can be defined in various ways depending upon how the color matchings are specified in the firing conditions. The concepts of the structural color matching and the firing color matching are introduced in this paper in order to define a new type of CPN suitable for representing the system consists of devices which can handle multiple processings. The sequencial control system (SCS) is represented by the CPN from its logical element level to the system function level in a single type of model. Equivalence of description power of the CPN and PN is proved, the way of representing SCS by the CPN is described and the properties of the CPN when it represents SCS are discussed.抄録全体を表示PDF形式でダウンロード (1035K) -
Kenji ONAGA, Qi-Wei GE, Norihiko ONO1987 年 23 巻 10 号 p. 1076-1083
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a technique of designing a periodic firing sequence σ=δδ… and its enabling initial marking MI for a bounded live Petri Net PN=(P, T, E, MI) with an aim of minimizing the number of tokens in MI, |MI|_??_ΣMI(p).
Let A=A+-A- be the place-transition incidence matrix of the PN. It is well known that if the initial token distribution MI is sufficiently abundant (namely MI=A-X0) then it is possible to construct a periodic firing sequence σ=δδ… with δ=X0 satisfying AX0=0. This paper presents a method of constructing multi-round firing of the period, δ=δ1δ2…δk, and its enabling initial marking MI with an aim of minimizing the token number |MI| through use of a partial ordering of the transition, induced by a given feed-back edge set F, and a decomposition X0=Y1+Y2+…+Yk such that in the i-th round δi transition t fires Yi(t) times in succession in accordance with the ordering J.抄録全体を表示PDF形式でダウンロード (863K) -
和田 清, 江口 三代一, 相良 節夫1987 年 23 巻 10 号 p. 1084-1090
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーIt is well known that generalized least squares (GLS) requires a large amount of memory and time for computation, although the estimates are accurate. One way to avoid this disadvantage is a usage of modified GLS in terms of correlation function (GLSC). In the case of small data size, however, the estimated results are unreliable even for the stationary sequences postulated in GLSC.
In the present paper, we propose a new GLS based on a product moment matrix to remove these defects. The proposed algorithm gives the same result as GLS but reduces computational time. It is especially effective in the case where the input is nonstationary and many iterations are required to get the good results.抄録全体を表示PDF形式でダウンロード (751K) -
内門 茂, 金井 喜美雄1987 年 23 巻 10 号 p. 1091-1093
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (334K) -
愛田 一雄, 北森 俊行1987 年 23 巻 10 号 p. 1094-1096
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (366K) -
井前 讓, 箱守 京次郎1987 年 23 巻 10 号 p. 1097-1099
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (390K) -
井前 讓, 箱守 京次郎1987 年 23 巻 10 号 p. 1100-1102
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new second-order algorithm for solving continuous time optimal control problems, and proves that accumulation points generated by the present algorithm, if exist, satisfy Pontryagin maximum principle, a necessary condition for optimality.抄録全体を表示PDF形式でダウンロード (282K) -
伊藤 正紀, 阿部 健一1987 年 23 巻 10 号 p. 1103-1105
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (315K) -
Jongkol NGAMWIWIT, 小峰 憲行, 飯田 逵彦, 野坂 康雄1987 年 23 巻 10 号 p. 1106-1108
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (356K) -
松田 文夫, 鈴木 和彦, 伊藤 昌文, 服部 秀三, 上田 実1987 年 23 巻 10 号 p. 1109-1111
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper discribed the diviation of the parameters on a binary image and its characteristic. The value of the deviation of parameters gives the order; the minimum and maximum of the distance from the gravity to the perimeter, area and perimeter.抄録全体を表示PDF形式でダウンロード (398K) -
富永 雅樹1987 年 23 巻 10 号 p. 1112-1113
発行日: 1987/10/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (233K)
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