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Volume 24, Issue 9
Displaying 1-20 of 20 articles from this issue
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Masayoshi KANEYASU, Hideo ARIMA, Shoichi IWANAGA, Akira IKEGAMI1988 Volume 24 Issue 9 Pages 893-900
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn algebraic method for quantifying gases, using an electronic system composed of an integrated sensor and a microprocessor, is described.
The integrated sensor is fabricated by using thick film techniques. It has three different elements on an alumina substrate. The elements are kept at around 400°C by a Pt heater mounted on substrate back. Since these elements are made from different semiconductor oxides, they posess different sensitivities to propane, carbon monoxide generated by incomplete combustion, and ethanol. First, ethanol is quantified by using the LaNiO3 element. Then, using the ethanol concentration, propane and carbon monoxide quantifications are carried out by the SnO2 and WO3 elements, respectively.
The microprocessor stores data tables prepared on the basis of the gas sensitivity functions in its memory. After table look up, gas quantification is performed algebraically.View full abstractDownload PDF (524K) -
Hirokatsu YASHIRO, Jiro OHNO1988 Volume 24 Issue 9 Pages 901-905
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method for measuring the permittivity of liquid and powder sample using a rectangular X-band waveguide is described. One end of the waveguide is terminated and a transition terminal is connected to the other end. A sample is packed in the waveguide. An X band wave is transmitted to the waveguide and a reflected wave is detected through a directional coupler connecting to the transition. The reflected wave is fed to a network analyzer by which the amplitude and the phase of the reflected wave are measured. The Permittivity of the sample is obtained from the ratio of the reflectances with and without the sample. The range of thickness of the sample is chosen so as to have the optimum sensitivity. Thus, the reflectance is measured by changing the thickness of sample. The permittivity is calculated from the rms method using the change of reflectance with thickness.
There are several advantages in this method. Because TE10 mode within the waveguide is maintained correctly, accurate relationship between the reflectance and the permittivity is established, and the error can be reduced by adjusting the thickness of samples.
The propriety of this method was confirmed by measuring the liquid samples the permittivity of which is known. Powder samples were measured and good reproducibility was obtained.View full abstractDownload PDF (674K) -
Hirokimi SHINGU, Masao OTSUKI, Ryuichi TANAKA1988 Volume 24 Issue 9 Pages 906-913
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper reports on the analytical and experimental clarification of the possibility of measuring angular accelerations about two axes independently by the use of the Dynamically Tuned Dry Gyro (TDG) with the improved Rebalance Control Circuit (RCC).
First, direct and cross transfer functions relating outputs to inputs of the TDG were derived, taking into consideration the improvement of the RCC. It is then shown that the TDG functions efficiently as a sensor which is able to measure not only angular velocities but also angular accelerations about two axes simultaneously. Next, the hardware of each element of the RCC, which is necessary for the measurement of two-axis angular accelerations, was designed and manufactured, based on the parameters and figures of the TDG used in this study, and each manufactured parameter was adjusted properly. Third, electrical inputs were applied to the TDG, and the direct and cross transfer functions were measured experimentally. It was evident that the experimental results of direct transfer function which prescribes the performance of angular accelerations' measurement agree with the analytical solutions and are not influenced by the manufacturing accuracy of the RCC, but gain characteristics of cross transfer function, which correspond to the degree of measuring error of the angular accelerations, are significantly influenced by the manufacturing accuracy. Finally, it is concluded that measurement of two-axis angular accelerations is realizable through the use of the TDG and the RCC as mentioned in this paper, though there are many items which need further improvement in design and manufacture.View full abstractDownload PDF (1173K) -
Hiroshi HANAIZUMI, Sadao FUJIMURA, Hiromichi TOYOTA1988 Volume 24 Issue 9 Pages 914-919
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method for measurement of diffuse property of a rough surface in the thermal infrared is proposed. This method is based on the fact that the spatial distribution of sensitivity in the field of view of a radiometer is broadened by reflection on the rough surface. In the present method, the diffuse property is measured as a spatial transfer function which describes the change of sensitivity distribution between before and after the reflection. The transfer function is independent of the size of the field of view of an actual radiometer and the lack of uniformity of sensitivity distribution in it.
In this paper, we discuss the algorithm for reconstruction of the spatial distribution of sensitivity and for estimation of the spatial transfer function. A mathematical model for description of diffuse property and measured diffuse property of some objects are also shown.View full abstractDownload PDF (1375K) -
Shigenori OKUBO1988 Volume 24 Issue 9 Pages 920-926
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn model following control systems, it is assumed that zero points of a linear part are stable because zero points of a linear part of a controlled object become poles of a closed loop system. This situation is same also in case of nonlinear model following control systems, but it happens that boundedness of inner states of a closed loop is assured depending on nonlinear properties. A nonlinear system is stable when the convergent degree of a nonlinear part is stronger than the divergent degree of a linear part.
We will discuss nonlinear model following control systems in case of the above mentioned situation in this paper.
In case that unstable zeros are controllable and observable poles of a nonlinear closed loop system, a linear output feedback which stabilizes an unstable part of an object system exists implicitly. This operation is to take out a linear part from a nonlinear part and construct an output feedback. As this operation is a theoretical one, no operations are necessary in actualitly. This theoretical operation is possible when an inner product of a nonlinear function vector f(v) satisfies a inequality condition and a transfer function from f(v) to v in a closed loop system is positive real in the mean of weakness. Weakly positive real is not necessary to satisfy equality conditions but satisfies inequality conditions. These conditions relieve conventional positive real conditions, so the concept is useful for design of general linear systems.
We show a simulation of nonlinear model following control system which has the third order polynomial and two inputs and two outputs in order to assure the effectiveness of a design theory of this paper.View full abstractDownload PDF (853K) -
Tsutomu MITA, Yuichi CHIDA1988 Volume 24 Issue 9 Pages 927-933
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe LTR (Loop Transfer Recovery) is realized in continuous-time control systems using high gain unknown input observers. And the continuous-time LQ optimal control system has excellent stability margin. However, in digital control systems, the corresponding results are not known. In this paper, we firstly show that the LTR is easily obtained using output 2-delay digital control proposed by authors. And secondly we show the max-min optimization method of return difference and min-max optimization method of settling function using stable state feedback control. Lastly we show that, in LQ optimal control, the weighting matrix is used for the compromising parameter to get good robustness and to get good settling property.View full abstractDownload PDF (917K) -
Shogo TANAKA, Tsuyoshi OKITA1988 Volume 24 Issue 9 Pages 934-941
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSGeneralized-likelihood-ratio (GLR) method is well-known for its most rapid failure detection speed. But, in its use, it has a drawback such that we must assume a priori several hypotheses which are likely to happen. Step one has been often used for its convenience for the case where an anomalous function adds to the dynamics or sensor equation when anomaly occurs.
In this paper, we first discuss the detectability of such a failure in linear discrete dynamical systems by the step-hypothesized GLR method by introducing the discriminating measure “divergence” and show that if the system is observable and the anomalous function has a bias in some sense, the anomaly or failure is in principle detectable.
It is also shown that if the bias is included in a weakly-diagnosable-space (WDS), the probability of missed alarm cannot be made smaller than a certain value, even if many observation data are used. In order to overcome the problem, we next develop a weighted step-hypothesized GLR method which gives a large weight on the GLR for the bias component in the direction of WDS, and enables the detection rate to raise totally.View full abstractDownload PDF (1145K) -
Motoji YAMAMOTO, Hiroaki OZAKI, Akira MOHRI1988 Volume 24 Issue 9 Pages 942-947
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, manipulator joint trajectories are planned to make an arbitrary cost function as good as possible in consideration of various physical constraints containing time derivative of input function. An algorithm presented here consists of two procedures. The first one iteratively changes the joint trajectories described by B-spline and the second one improves the trajectories using the idea of time scaling. This algorithm can be also applied to the case that some points are specified and joint trajectories must pass through those points This method is applied to an example of the manipulator with two links and two degrees of freedom. Numerical results show that this method is applicable to planning of manipulator's joint trajectories.View full abstractDownload PDF (306K) -
Masao INOUE1988 Volume 24 Issue 9 Pages 948-953
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new feedback control law of task-oriented coordinates of manipulators is proposed. Although the conventional control law has some desirable features such as simple computation, suitability to the singular points, etc., it is difflcult to get a tolerable performance because the law has been introduced based on an ideal dynamic model. Moreover, as the system is considered to be described by a continuous time, the stability margin has not been clarified.
In this paper, a manipulator whose joints are rate-controlled to reduce the effects of frictional disturbances is considered. The rate-control makes the motion of the manipulator to be described by difference equations with a descrete time. The characteristics may be evaluated by the eigenvalues of the equations. First, a simplified model of a manipulator with 2 D.O.F. is introduced. Then the difficulty of the conventional control law is indicated. Second, a new control law that predicts the error and provides an effective feedback in order to improve the characteristics of the conventional law is proposed. Finally, the law is applied to a practical redundant manipulator with 7 D.O.F. The results of the experiments display good performances.View full abstractDownload PDF (1169K) -
Shigeo HIROSE, Shugen MA1988 Volume 24 Issue 9 Pages 954-959
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new control method named “Redundancy Decomposition Control”, is proposed for the resolved acceleration control of redundant manipulator. The proposed method can be summarized as follows: (1) The redundant degree of freedom of the given manipulator is decomposed into a non-redundant subset. (2) For every time interval from t to t+Δt, the acceleration of the corresponding subset of degree of freedom is assumed to be controlled and the inverse dynamics as well as evaluation function are calculated using the non-redundant Jacobian inverse matrix. The calculation is parallelly performed for all the combinations of degree of freedom. (3) The optimum set of degree of freedom is selected and it is used for the control of the time interval from t to t+Δt.
Comparison is made between the proposed method, and conventional methods, that is the pseudo-inverse matrix method and the null-space vector method. It is shown that the proposed method almost always realizes better motion planning than the former two methods, and has the capability to be used in real time control.View full abstractDownload PDF (803K) -
Takayuki SUZUKI, Takuya KAMANO, Masato FUSHIMI, Hironobu HARADA1988 Volume 24 Issue 9 Pages 960-966
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn recent years the wind energy has been reconsidered because it is clean and the many studies for the effective use of the wind energy have been done. However, it is difficult to study the control method of speed and output power of the windmill generator system, because the wind speed is influenced by geographical feature and weather condition. Therefore a windmill simulator is required in order to study the wind power system constantly.
In this paper, the design and the characteristics of windmill simulator are described. The simulator is mainly composed of three devises, that is, a d.c. separately excited motor, a d.c. high power amplifier and a personal computer and is able to simulate the windmills by changing the coefficients in software. As examples, the stock multibladed windmill and the propeller type windmill are simulated. The steady state characteristics obtained by simulator are compared with the practical and the theoretical characteristics. Moreover the transient responses and the dynamic characteristics for natural of the windmill systems are investigated by using the simulator. As a result, it becomes clear that the proposed windmill simulator is useful to study the control methods of the windmill generator systems.View full abstractDownload PDF (1594K) -
Ikuo KAWAGUCHI, Kazuo YAMAGUCHI, Kozo NAKAHATA1988 Volume 24 Issue 9 Pages 967-972
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a high speed reference bit pattern generation method for pattern inspection by comparing LSI reticle patterns with their design data.
A multi-processor parallel processing bit pattern generator has been developed, which is able to convert the design data composed of angles against the scanning direction of linear sensing device (CCD), the corner point addresses of a rectangular pattern which is an element of a circuit pattern, and the others, into the bit pattern at high speed.
The features of the generator are as follows:
(1) A multi-processor system with a pipeline processing of data transfer to pattern conversion is designed to generate such number of patterns as is proportional to the number of processors without any compromise of the generation speed.
(2) A FIFO data renewal control equipped with 5 pointers can receive and renew the design data without referring to the processor.
(3) Its microprogram control can diversify pattern shapes and accept any design data format.
Thus, when the scanning speed of the linear CCD with 1, 024 cells is 10MHz, the maximum number of patterns to be generated is 200per line with 16 processors in use.View full abstractDownload PDF (1339K) -
Shigeru ANDO1988 Volume 24 Issue 9 Pages 973-979
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn extended differential stereo vision algorithm designed to perceive an opaque object as well as superposition of transparent surfaces is described. It is based on a principle what we call a probabilistic accumulation of the binocular disparities. In the accumulation system, the outputs of a differential disparity detector are histogrammed, then its occurency peaks are detected to determine individual heights of the surfaces. To prove this principle, we derive first a relation between true surface heights and a response to them of the differential disparity detector. It is shown to be an average height weighted by their transparency gradients. Then by analyzing its probability density function, we show the response values tend to distribute in a multimodal manner such that their peaks correspond to the individual heights. The condition is pointed out to be related intuitively to a spatial inhomogeneity of the transparency variations. Several results of computer simulation are shown to examine a performance of the algorithm.View full abstractDownload PDF (2399K) -
Unpei KITAJIMA, Hiroshi KASHIWAGI, Masato SAKATA1988 Volume 24 Issue 9 Pages 980-981
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a method of deconvolution of Wiener-Hopf type integral equation using antisymmetric M-sequence as the test signal to a system to be identified.View full abstractDownload PDF (236K) -
Hideo ISHIHARA, Seiji KOBAYASHI1988 Volume 24 Issue 9 Pages 982-984
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes an adaptive and learning control scheme for unknown nonlinear systems. Plant dynamics are approximated by finite power series models around several operating points. The controller performs estimaion of parameters, prediction of parameter changes and storage of parameters.View full abstractDownload PDF (347K) -
Shigeru UCHIKADO, Kimio KANAI, Yasuhiro OSA1988 Volume 24 Issue 9 Pages 985-987
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe propose an algebraic polynomial method to unify the existing adaptive control systems with deterministic disturbances and also a new method having the dynamics order and the number of control parameters smaller than that of the existing ones.View full abstractDownload PDF (421K) -
Koichi SUYAMA, Seiichi SHIN, Toshiyuki KITAMORI1988 Volume 24 Issue 9 Pages 988-990
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSFrom the viewpoint of pole-zero cancellation, this paper studies PID control systems designed for first-order lag with time delay, by the partial model matching method and the improved ultimate sensitivity method.View full abstractDownload PDF (316K) -
Toshiyuki TANIGUCHI, Koin KAWAMURA1988 Volume 24 Issue 9 Pages 991-992
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA method to estimate the optimal electric current waveform of the coil for microstepping step motor is suggested. It is such that the current waveform to perform the linear displacement of rotor is derived from the characteristics of displacement for linear current by using the present method.View full abstractDownload PDF (714K) -
Norio BABA, Yoshio MOGAMI, Yasuhiro SHIRAISHI1988 Volume 24 Issue 9 Pages 993-995
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSLearning Performance of the nonlinear reinforcement scheme is considered under the two nonstationary unknown environments. The results obtained in this paper ensure the intelligent behavior of mobile robots in the maze.View full abstractDownload PDF (430K) -
Nobumichi ISHIDO, Tomiji HISAMURA1988 Volume 24 Issue 9 Pages 996-998
Published: September 30, 1988
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA method for finding a firing sequence for the reachability problem of Petri nets is proposed. By applying the integer programming to the matrix equations which describe marking transitions and firing conditions, a solution is reconstructed to realize the legal firing sequence. This method is suitable for solving relatively small size problems.View full abstractDownload PDF (395K)
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