巻号一覧
24 巻, 6 号
選択された号の論文の19件中1～19を表示しています
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肥後 尚志, 室井 徳雄1988 年 24 巻 6 号 p. 545-551
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, authors propose the new measuring method of the density of dc current flowing in solution by the way of feedback Current Pulse-width-Modulation method (C.P.M. method) using a pair of Hg-Cl electrodes with less polarization and quick response of rise-time of micro-second region.
C.P. M method is the one of zero-compensation methods balancing the integral of current flowing in solution with respect to time, by the integral of pulse current which the pulse height and width are known as yet.
On the basis of C.P. M method, authors manufactured the measurement apparatus as trial and tried to measure the density of current ranging of order of about mA/m2.
As the results, it is shown that the density of dc current flowing in solution is able to be measured free from the conductivity of solution and this method is applicable for the measurement of density of stepchanging current flowing in solution.抄録全体を表示PDF形式でダウンロード (873K) -
佐藤 拓宋, 張 錫相1988 年 24 巻 6 号 p. 552-556
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーOptical fiberscopes have been used extensively as a powerful means for medical inner scope or nondestructive testing. In the conventional devices, however, one fiber is used as one pixel, hence bundled fibers of several tens thousands should be used resulting in fairly thick fiberscope.
In this paper, a new fiberscope which uses only one fiber for image transmission is shown. The image distortion is compensated by using the phase conjugated wave which is generated at the output of the fiber and the result is retransmitted through the same fiber.
The special features of the proposed system are as follows; i) introduction of time-shearing write and read processes reduced the severe conditions which are required for the fiber and it is also very effective for the elimination of extra noise waves, ii) using the special feature of phase conjugated wave it becomes possible to reconstruct any desired cross-section of 3-D object field, and iii) the diameter of the fiberscope is reduced to two times of a fiber and ultra-thin fiberscope is realized. The usefullness of these techniques are shown by the constructed system.抄録全体を表示PDF形式でダウンロード (2353K) -
高橋 千晴, 稲松 照子, 北野 寛1988 年 24 巻 6 号 p. 557-562
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーA humidity generator using divided flow method was constructed for trial. The principle, the structure and the characteristics of the generator are described. The accuracy of mass flow meters and the efficiency of saturators were investigated. The cause of errors of the generator is discussed and the accuracy of the generator is estimated.
The generator was compared with the high precision two-pressure and two-temperature humidity generator, using a quartz crystal dew-point hygrometer. The humidity value of the air produced by these two generators showed a good agreement with an accuracy of ±0.5% and it is confirmed that a divided flow humidity generator can be used as a working standard for the calibration of humidity sensors.抄録全体を表示PDF形式でダウンロード (859K) -
池田 雅夫, 青木 伸夫, 羽室 浩, 後藤 行夫1988 年 24 巻 6 号 p. 563-568
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーA fast weighing method is proposed for scales of load cell type. It has been common so far that such scales compute the weight of an object using the steady state data. To shorten the measuring time, the proposed method utilizes the transient data which is obtained before the measurement system reaches the steady state. It is shown using well-known results of linear system theory that a simple weighted mean of finite data gives the weight. Experimental results indicate that the proposed method reduces the measuring time to about one third of the case in which the steady state data is used.抄録全体を表示PDF形式でダウンロード (861K) -
原 辰次, 陳 友社1988 年 24 巻 6 号 p. 569-574
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper we consider robust stabilization problems for three types of plant uncertainty. In the first part, the time constant margin problem in the first order lag element is investigated by using conformal mappings and the Nevanlinna-Pick interpolation theory. Necessary and sufficient conditions are derived for the existence of a controller that stabilizes all SISO linear plants with a prescribed band of the time constant, and the maximum allowable time constant is clarified. In the second part, we discuss the robust stabilizability for two classes of stable factor and graph metric perturbations. The sufficient conditions, which can be checked by a finite step algorithm, are derived.抄録全体を表示PDF形式でダウンロード (855K) -
池田 雅夫, 高野 誠1988 年 24 巻 6 号 p. 575-582
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーThe repetitive control is considered for linear time-invariant systems with nonzero relative degrees. For this purpose, the class of repetitive reference signals is restricted to exclude those which the systems can never follow as long as the control inputs are bounded. Then, a sufficient condition is presented for synthesis of a feedback system which tracks such reference signals. That is, when a plant is strictly positive real, we have a repetitive compensator which guarantees that the L2 norm of the tracking error computed with respect to the repetitive period goes to zero. Under this condition, it is shown that the restricted class of reference signals is the set of all bounded repetitive signals with bounded derivatives.抄録全体を表示PDF形式でダウンロード (1055K) -
渡部 慶二1988 年 24 巻 6 号 p. 583-588
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with repetitive control for linear systems with delay in input. A necessary condition for stabilizationis presented. A design method of a repetitive control system, which adopts stabilization by state predictor, an attenuator and partial pole placement on the basis of spectral decomposition, is proposed.抄録全体を表示PDF形式でダウンロード (730K) -
野原 勉, 細江 繁幸, 伊藤 正美1988 年 24 巻 6 号 p. 589-595
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper a method for constructing a reduced order model retaining the internal structure of original high order cascade and feedback structured systems is derived by Mullis-Roberts algorithm.
A reduced order model obtained here is the optimal approximation in the sense that it minimizes the curvilinear integral of the squared norm of an approximation error at the unit circle of z plane. The algorithm for obtaining the reduced order models are described.
One feature of the proposed algorithm is that it is possible to compute reduced order models of each subsystem independently. The stability of the reduced order model is not always guaranteed. However, the rusults of numerical computations showed that the reduced order systems remain stable for almost all randomly selected examples and approximate the input-output behavior of original systems fairly well.抄録全体を表示PDF形式でダウンロード (1064K) -
村田 年昭, 土谷 武士, 武田 郁夫1988 年 24 巻 6 号 p. 596-602
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーFrom the modern control system theory stand point, a new synthesis method for a vector-controlled induction machine is proposed.
Firstly, it becomes clear that the induction machine can be described as three-input and three-output controlled object.
Three control inputs are the primary angular frequency, the flux linkage current component and the torque current component of the motor primary currents. Three outputs are the rotational angular velocity, flux linkage current component propotional to the rotor flux linkage and the flux linkage current component to be controlled zero for vector control.
Next, a speed control system by the vectorcontrolled induction machine is constructed based on a multi-input and multi-output optimal regulator theory.
Thirdly, the principle of detecting the current propotional to the rotor linkage flux is shown. This detecting method is simply constructed from the output signal of the controller and the primary volltage detected by the sensor.
The proposed state feedback control system has excellent characteristics for changes in the desired signal and disturbance signal, and in spite of parameter variations of the controlled object. Some simulation studies are carried out.抄録全体を表示PDF形式でダウンロード (924K) -
ラジアルスラスト特性の評価木村 一郎, 長村 和也, 高森 年1988 年 24 巻 6 号 p. 603-607
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーIn order to collect a lot of useful information under severe environmental conditions in the ocean, the development of remote controlled submersible vehicles which have excellent performance is considered important. The vehicles need a thruster for attitude control that has a high degree of freedom for thrust vector and a high response speed.
This paper presents a new jet thruster for submersible vehicles. The thruster is a three-dimensional fluidic thrust vector control (TVC) nozzle, of which the main jet deflects to any direction by selectively regulating four control jet thrusts and produces radial thrust for vehicle maneuvering.
To evaluate its performance, the following procedure was undertaken. First, the behavior of the jets was experimentally examined using flow visualization and image processing techniques to study the effects of nozzle design parameters. Next, both static and dynamic characteristics of the radial thrust were experimentally investigated. Finally, the step response of real radial thrust was inferred from the simulation of the TVC nozzle and measurement systems.
As a result, the following facts were specifically confirmed:
1) The jet behavior is affected especially by both offset and vent of the TVC nozzle.
2) A main jet deflects effectively and a large radial thrust can be obtained by a small control jet thrust.
3) The dead time of the TVC nozzle is much less than one second. Therefore, the response characteristic is superior to that of conventional moving part type thrusters.抄録全体を表示PDF形式でダウンロード (650K) -
坂根 茂幸, 佐藤 知正, 柿倉 正義1988 年 24 巻 6 号 p. 608-615
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーPlanning functions for effective use of vision sensors are essential to make a hand-eye system work autonomously in the environment. This paper presents such a planning function to focus attentions so that accurate and reliable visual feedback tasks may be achieved. The system automatically generates a layout plan of windows called Visual Motion Cells which allow effective and flexible connections between visual information of the target object and the manipulator control. The layout planning consists of local and global selections of the object edges suitable to affix windows. The selections are performed based on the models of the object and the robot environment. The local selection of edges checks the minimum requirements such as contrast and length of the edges. Then the global selection determines the best combination out of the locally selected edges. A singular value analysis which evaluates expected accuracy in deriving control parameters based on the VMCs is utilized in the selection. Experimental results of the 6-DOF visual feedback control, using an actual hand-eye system, demonstrate not only effectiveness of the system but also importance of sensor planning in making intelligent robot systems with high autonomy in the future.抄録全体を表示PDF形式でダウンロード (1729K) -
平地・坂道・階段歩行時の関節接触力と接触応力広川 俊二1988 年 24 巻 6 号 p. 616-622
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes simulated analytical results on the patellofemoral joint contact forces and stresses during various activities as level walking, ramp up and down, or stair ascent and descent, using the previously reported three-dimensional kinematic model.
In the model of this research, the patellofemoral joint reaction forces have been expressed as the function of the knee extension muscle force and the knee flection angle.
Therefore in this study, the musculoskeletal model of the lower limb was presented, with which the knee extension muscle force was introduced by putting the angular and the momentum data in it.
Then, the variations of joint contact force on the patellofemoral joint during various activities were calculated out by putting the respective data of muscle force and knee flection angle into the model of patellofemoral joint.
Furthermore, by connecting the Hertzian elastic contact theory with this model, the contact stresses on the patellofemoral joint were also calculated.
The simulation results indicated that the contact stresses were rather uniform during the supporting period of gait in each activity and their maximum values were not so different among various activities, though the contact forces showed steep variations and their values showed much differences among them.抄録全体を表示PDF形式でダウンロード (933K) -
辻合 秀一, 高島 修直1988 年 24 巻 6 号 p. 623-627
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーIn multivariate analysis, the means, the variances and the correlation coefficients are widely used. As there are many methods of cluster analysis, it is difficult to chose a proper method. The probability ellipses which have the mean, the variance and the correlation coefficient are drawn in a bivariate control chart. The clustering are made by use of the relative situation and the size of the probability ellipses on that chart. Therefore, this cluster analysis contains the basic statistics which are the means, the variances and the correlation coefficients.
In this cluster analysis, the nearest neighbour method is used as the distance between the clusters. And the distance between two samples is defined by two methods using probability ellipse. The one is based on the thought that two ellipses adjoin and the other is, that one ellipse adjoin the center of other ellipse. For the latter, as the distance is asymmetric, we can find difference between characters of two samples' neighbourhoods.
Moreover, as an application of this method, cluster analysis of EEG is studied. This method is applied to 2-dimentional display of the frequency vs. the amplitude. This cluster analysis have basic statistics and visual representation.抄録全体を表示PDF形式でダウンロード (578K) -
安藤 繁, 田部井 俊幸1988 年 24 巻 6 号 p. 628-634
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーThe purpose of this paper is to solve a narrow depthrange problem of the differential stereo vision systems which has been regarded as an essential drawback of the principle. It is enabled by extracting a reliable depth slice from series of measurements and by accumulating them dynamically while changing a convergence angle of the stereo cameras. For this purpose, three self-evaluators for 1) feasibility, 2) consistency, and 3) error variance of measurements are defined by statistical consideration of the estimators. By combining these quantities, we separate reliable depth regions from ineffective ones of excessive depth. Then, these slices are accumulated to build up a total 3-D shape. The accumulation algorithm is nearly optimum because it is derived from least square criteria based on the evaluated statistics. Estimating inter-slice shifts internally, it can work even if the absolute depth of the slices are unavailable. According to the several experiments, we found the proposed method was added great performance owing to absolute accuracy improvement by implicit averaging effects and to relative accuracy improvement by the range expansion.抄録全体を表示PDF形式でダウンロード (2323K) -
平石 邦彦, 市川 惇信1988 年 24 巻 6 号 p. 635-640
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーThe central issue of this paper is to find a class of Petri nets that a necessary and sufficient condition for reachability is obtainable. For this purpose, some classes of Petri nets are defined by stractural conditions related to directed circuits.
A necessary and sufficient condition for reachability can be obtained for a trap circuit Petri net (tc-net) where a set of places on any circuit forms a trap, and for a deadlock circuit Petri net (dc-net) where a set of places on any cicruit forms a deadlock. A tc-net is a subclass of normal Petri nets. For a normal Petri net, a sufficient condition for reachability is obtained.
Reachability for a conflict free Petri net can be decided by finding a firable firing sequence for finite minimal solutions of the matrix equation. This property is also true for larger classes of Petri nets than conflict-free. These are a non-decreasing circuit Petri net (ndc-net) where number of tokens on any circuit is nondecreasing for any firings of transitions, and a non-increasing circuit Petri net (nic-net) where number of tokens on any circuit is non-increasing for any firings of transitions. A ndc-net and a nic-net are subclasses of a tc-net and a dc-net, respectively.抄録全体を表示PDF形式でダウンロード (775K) -
江原 史郎1988 年 24 巻 6 号 p. 641-643
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーA method of the measurement of a psychological quality on transmission system is described.
The psychological quality is defined by the value of the evaluation function on the distance between input and output of psychological qualities concerning psychological transmission system introduced.
A method and necessary conditions for objective measurement of the subjectively assessed psychological quality are considered.抄録全体を表示PDF形式でダウンロード (410K) -
江原 史郎1988 年 24 巻 6 号 p. 644-646
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーA test signal simulating program sound signal is proposed. The aim of the signal is to measure a similar nonlinear characteristics that appears actually in a program sound signal transmission and to evaluate auditory deterioration by the nonlinear distortion.
For the purpose it has a level fluctuation and consonancy.
A simple method of the generation of the intensity fluctuation, examples of disposition of sine wave frequencies and the specification of a realized generator are given.抄録全体を表示PDF形式でダウンロード (1011K) -
小林 史典1988 年 24 巻 6 号 p. 647-649
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーFor applications where spectra are evaluated with logarithmic frequency axes, this note proposes a novel method. It reduces operations by utilizing a property of sinusoid and recursiveness, and it is 5 to 8 times as fast as FFT.抄録全体を表示PDF形式でダウンロード (372K) -
田村 捷利, 加瀬 渡, 向山 修1988 年 24 巻 6 号 p. 650-652
発行日: 1988/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper a comparison study of three MRACS design methods is given for a class of MIMO plants which have nondiagonal interactors. Some characteristic of the structure of the MRACS are listed up and a practical effectiveness is examined through numerical experiences.抄録全体を表示PDF形式でダウンロード (361K)
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