巻号一覧
25 巻, 11 号
選択された号の論文の20件中1～20を表示しています
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清水 達也, 小野 敏郎1989 年 25 巻 11 号 p. 1143-1147
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーGauss' double weighing method has been used for mass measurement using a precision balance. The main advantage of the method is that the resulting measured value is independent of the difference in length of the right and left arms of the balance beam.
In this paper, it is shown that the basic concept of the double weighing method can be applied not only to mass measurement but also to a linear measuring process in general. We propose the “double measuring method” which consists of a pair of measurement processes exchanging the standard device and the device to be examined as the input device to the measuring instrument. Applying this idea, two theoretical results were obtained. One is that the resulting measured value is independent of the dynamics of the measuring instrument. The other is that the dynamics of a measuring device can be obtained under dynamic conditions.
Moreover, this idea was applied to a calibration problem, which determines the difference in dynamics between two accelerometers, and the effectiveness of the proposed method was confirmed through an experiment.抄録全体を表示PDF形式でダウンロード (711K) -
明渡 純, 小林 寛, 町田 晴彦1989 年 25 巻 11 号 p. 1148-1155
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThe characteristics of a point light source diffraction have great differences from that of a parallel light source diffraction. Namely, a diffraction image of the former case moves in accordance hith the movement of a diffraction grating, however, a diffraction image of the latter case does not move. The former pattern is magnified by the optical lever effect and a very small displacement of the grating produces a great movement of the diffraction pattern suitable for the detection of a very small displacement. An optical encoder composed of a laser diode and a diffraction grating with 3μm pitch was made trial. The encoder has a high resolution and reliability for a mechanical shock in spite of a very simple structure.抄録全体を表示PDF形式でダウンロード (2861K) -
平野 文昭, 嶋田 純, 三宅 紀治, 籾井 和朗, 神野 健二, 本村 浩志1989 年 25 巻 11 号 p. 1156-1163
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a measurement technique for low velocities in the range 10-5cm/s to 10-2cm/s. A rotating grating disk, which functions both as a beam splitter and as a frequency shifter, is incorporated in the optical arrangement of a laser Doppler velocimeter (LDV). The photon-counting method is used for processing the LDV signal.
The accuracy of the developed device is examined by measuring the rotational speed of a glass disk. The direction of rotation of the glass disk, which is already known, is confirmed by rotating the grating disk.
The accuracy can be improved using the regression curve to remove the inherent bias in the device. The present device is proven to be capable of measuring low velocities from 2.6×10-5cm/s to 1.4×10-2cm/s with measurement error less than 9.1%.抄録全体を表示PDF形式でダウンロード (1186K) -
曹 麗, 小林 彬1989 年 25 巻 11 号 p. 1164-1171
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーIn the velocity measurement based on spatial filtering method, no output signal is obtained, when the aimed spatial fraquency component corresponding to the slit pitch of the detector is not contained in the object pattern.
For realizing a variable spatial frequency selectivity to match with an object, the problem has been solved by changing the slit width with mechanical or electronic means.
In this paper, a different principle to generate the characteristic spatial frequency component in advance is considered for spatial filtering system. We propose a multiple parallel optical-axes (MPOA) system realized by a lenticular lens here.
In the multi-projected pattern by MPOA, the spatial frequency component is newly generated, and the spatial frequency is determined by the optical-axes pitch and the magnification factor of MPOA system. This function is complexed by moving averaging effect due to the finiteness of lens visual field, and by the compound-synchronous emphasizing effects that depend on the multiple opical axes.
Analysis for MPOA system is presented, and the generation of spatial frenquency component is examined with computer simulations and proper experiments.抄録全体を表示PDF形式でダウンロード (1695K) -
橋本 亮一1989 年 25 巻 11 号 p. 1172-1177
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThis is a mathematical study on the properties and the characteristics of the quadra-harmonic mean type manipulability index (H2).
There are several essential properties of manipulability indices which ensure that an index can be conveniently applied to actual theoretical or numerical analyses of robotic arms; i.e. that the index is: (1) scalar valued; (2) based on the singular values of Jacobian matrix; (3) independent of the task space coordinates; (4) expressed as an analytic function; and that (5) the index has a closed algorithm. But few studies have paid enough attention to them.
This paper discusses first the geometric meanings of the index H2, and it shows that the inverse of the index value coincides with the square mean root velocity in the joint coordinates space corresponding to the randomly given reference velocity in the task space.
Second, it is proved that the index H2 has the essential properties described above. Special attention is paid to the analyticity of the index function.
Furthermore, it is also proved that the value of the index H2 approximates minimal singular value of the Jacobian matrix within a neighborhood of each kinematic singular point, while it approximates the arithmetic mean of singular values within a neighborhood of each kinematically isotropic point. These approximated values express the manipulability best, but they do not have closed formulae nor simple numerical algorithms. These approximations are also illustrated graphically.抄録全体を表示PDF形式でダウンロード (810K) -
極零相殺のメカニズムと計算法近藤 良, 原 辰次1989 年 25 巻 11 号 p. 1178-1185
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes a parametrization, a mechanism of pole-zero cancellation and a computational method for H∞ sub-optimal compensators via a chain scattering description.
H∞ sub-optimal control problem is solved by transforming it to the model matching problem using YJB-parametrization. We can obtain the sub-optimal compensator by substituting the solution of the model matching problem that is solved using various methods proposed by many researchers. However there are many pole-zero cancellations in the obtained compensators so that tedious calculations have been required in the state space to reduce its order.
In this paper, using a chain scattering matrix description we express the mechanism of the pole-zero cancellation in the derivation of the controller explicitly and show that the sub-optimal compensator does not depend on the specific coprime factorization of the plant. Finally, the computational method of the sub-optimal compensators in the state space is presented.抄録全体を表示PDF形式でダウンロード (872K) -
評価とその応用江口 弘文, 渡辺 憲司, 山下 忠1989 年 25 巻 11 号 p. 1186-1193
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーA guided vehicle which utilizes the principle of proportional navigation has a target tracker to measure the angular rate of the line-of-sight. This tracker consists of 2-axes gimbals mechanisms to prevent the “tracker-to-vehicle” coupling. But no gimbals mechanisms have perfect performance, and as well known in the practical guidance system designer, the “tracker-to-vehicle” coupling suppresses the guidance system performance.
This paper presents a definition and a mathematical model of the “tracker-to-vehicle” coupling. Then, by using the definition and the model, the constraint conditions of the “tracker-to-vehicle” coupling for a target tracker are shown by two methods. The first is by the stability analyses of the parasitic loop which are generated by the existence of the “tracker-to-vehicle” coupling. The second is by the simulation analysis of the guidance system including “tracker-to-vehicle” coupling.抄録全体を表示PDF形式でダウンロード (1084K) -
村田 年昭, 土谷 武士, 武田 郁夫1989 年 25 巻 11 号 p. 1194-1201
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a precise expression discribing the phenomena for a primary flux linkage controlled-induction machine.
In the analysis and synthesis of a vectorcontrolled induction machine driven by a PWM inverter, control inputs are stator voltages and a stator angular frequency.
In the induction machine, rotor flux and secondary current produce torque. The β axis component perpendicular to the rotor flux, which makes contribution to the generated torque and must be controlled to be zero in the case of secondary flux control, does not become zero. Therefore, the primary current component in the direction of the primary flux linkage is directly affected for the variation of the primary current component proportional to the generated torque. Such the phenomena is undesirable for the purpose of an ideal vector control.
In this paper, it becomes clear that the conditions for a decoupling control are derived by considering an equivalent circuit on the basis of the primary flux linkage reference frame. A high torque response is obtained from a comparison of the primary flux linkage control with the secondary flux linkage control. We propose a system synthesis method on the basis of an optimal control theory which attains the speed control, the vector control by the primary flux linkage control and the primary flux constant control simultaneously. The availabilities of the proposed method are shown from simulation results.抄録全体を表示PDF形式でダウンロード (974K) -
鮫島 匠臣, 竹田 宏, 笹木 義夫, 三浦 清1989 年 25 巻 11 号 p. 1202-1209
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a dual mode high speed position control, with high accuracy, of a Linear DC Motor (LDM). In our research, a linear encoder using magneto resistive effect element is used as the position detector and the dual mode control consists of seek and analogue controls. The seek control is a bang-bang control switched on a line in the phase plane, the gradient of which line is adaptively changed according to an initial position error of the LDM, so that the position error approaches zero in the shortest time. However, a sliding mode occurs owing to modelling errors of the LDM, so the true time optimal control can not be obtained.
This paper considers the condition under which a sliding mode occurs by our control and proposes a method of correcting the gradient of the switching line by repeating trial experiments to minimize the interval of the sliding mode, consequently our control has the control performance very near to the time optimal one. In a neighborhood of the origin in the phase plane, an analogue feedback control system is constructed to keep the LDM at the origin. Finally, experimental results prove that the proposed method is very effective to a high speed position control.抄録全体を表示PDF形式でダウンロード (1023K) -
築根 秀男1989 年 25 巻 11 号 p. 1210-1217
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes a method for analyzing optical flow and reconstructing 3-D motion and structure using three views. Instead of taking correspondence between tokens in stereo images, it tries to estimate motion and structure by comparing the analytic representation of optical flows in stereo images. The assumptions made here are: 1) images are formed by orthographic projection, 2) a rigid motion is to be analyzed. Firstly it is shown that the optical flow of an arbitrary motion is that of purely rotational motion under orthographic projection. Then by combining the parameters describing apparent rotational optical flow observed from each view, the 3-D velocity vector field can be reconstructed. The calculation of depth map of the object in motion follows directly. In order to adjust the estimated parameters of the rotational optical flows from three views and obtain a more plausible solution, an optimizing process is proposed where the geometrical relation between three views are used as constraints. The results of applying this method to computer generated optical flow and real optical flow are shown and the effectiveness of the method is tested. The merit of the method is that it can recover the 3-D velocity vector field and the depth map of the moving object from noisy optical flow avoiding correspondence problem peculiar to stereoscopic techniques.抄録全体を表示PDF形式でダウンロード (1135K) -
石渕 久生, 田中 英夫, 長坂 一徳1989 年 25 巻 11 号 p. 1218-1224
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThe main purpose of interval regression is to obtain two interval regression models by which the given interval data are explained in two ways. Formerly the two models were obtained by solving two LP problems called Min and Max problems respectively. Since the two LP problems were independent of each other, the consistency of the two models was not assured. In this paper, we intend to propose the revised method to obtain the two interval regression models being consistent with each other. Our intention is achieved by combining Min problem with Max problem. For the application of the proposed method, two interval regression models representing the relation of the feed speed and the surface roughness in grinding experiments are calculated. Lastly the concept of the interval regression is explained in the context of rough sets and fuzzy sets.抄録全体を表示PDF形式でダウンロード (933K) -
島 孝司1989 年 25 巻 11 号 p. 1225-1232
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーWe will focus on the computational aspects of hierarchical overlapping coordination, the concept of which was proposed by Haimes and Macko, and develop and propose the new coordination methodology using mixed decomposition method.
The overlapping coordination is the optimization methodology which utilizes multiple decompositions. The hierarchical overlapping coordination methodology developed by Macko and Haimes is a feasible decomposition method in the sense that every constraint is satisfied during the optimization process. The coupling variables are used as the coordination variables, there. Recently, the new approach which uses the nonfeasible decomposition method has been developed by Shima. The Kuhn-Tucker or Lagrange multipliers are used as the coordination variables and the coupling constraints of each decomposition may not be satisfied during the optimization process.
Here, we will develop and propose the newmethodology which uses the mixed decomposition method. Both coupling variables and Kuhn-Tucker or Lagrange multipliers are used as the coordination variables. The new problem formulation and decomposition are proposed first and then new coordination methodology is proposed. Simple example is solved in order to show how it works. The result shows that the proposed method is very promising. The proposed method will enlarge the application area of overlapping coordination and be very promising for the future application research.抄録全体を表示PDF形式でダウンロード (1049K) -
定性方程式を用いない定性推論石田 好輝, 新家 利彦, 船越 亮平, 得丸 英勝1989 年 25 巻 11 号 p. 1233-1238
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThere are several abstraction levels for qualitative modeling and reasoning. After two years efforts to use the current level of qualitative reasoning for the process diagnosis of existing chemical processing plant, we found that the abstraction level of reasoning and granularity of the model is too precise for our porpose. It is not only possible for getting the qualitative modeling of existing process with consistent contexts but unnecessary to generate the dynamic causal path for such detailed variables.
We developed a more abstract level of a qualitative reasoning. The reasoning is done directly on the toplogy of process flow obtained from a process flow diagram. Qualitative equations used in so far proposed qualitative reasonings are not needed. This level of qualitative reasoning seems more adequate to figure out the large-scale systems found in the most of existing process plant. In the reasoning, contexts such as set fixed over time or set free are made explicit on flows, which are critical for the reasoning. The inference engine for this flow level reasoning is applied to generate intermediate form of diagnostic knowledge expressed as trees where the given root event is developed for its cause dicection and effect direction.抄録全体を表示PDF形式でダウンロード (795K) -
葉 雄英, 藤村 貞夫, 山田 範秀1989 年 25 巻 11 号 p. 1239-1241
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーWe describe a method for determining 3D-shape of objects which consist of specular plane surfaces. The orientation of the specular planes can be determined by using relations among the parameters of two sets of image lines and of the specular plane. Results of simulation show that the errors in determining plane orientation are smaller than 0.2°.抄録全体を表示PDF形式でダウンロード (321K) -
関 享士郎, 志田 純一, 松木 英敏, 村上 孝一1989 年 25 巻 11 号 p. 1242-1244
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThe ferrimagnetic semiconductor (FMS) is one kind of ferrite whose electrical and magnetic properties have humidity and gas dependence and produce magnetostrictive vibration. The supersonic humidity/gas measurements using the FMS have been described here.抄録全体を表示PDF形式でダウンロード (335K) -
近藤 英二, 清田 高徳, 須永 照雄1989 年 25 巻 11 号 p. 1245-1247
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper discusses the linear-quadratic optimal control problem for single-input linear time-invariant discrete-time system with the fixed terminal state. The optimal feedback gains are made up by the variable gains and the constant gain.抄録全体を表示PDF形式でダウンロード (345K) -
川崎 直哉, 示村 悦二郎, 申 載雄1989 年 25 巻 11 号 p. 1248-1250
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーWe discuss the weighting matrices which shift only the specified poles in an LQ-problem. It is shown that no difference exists between the sets of optimal control laws by using specially formed weights for that shifting and the other weights.抄録全体を表示PDF形式でダウンロード (448K) -
森 武宏1989 年 25 巻 11 号 p. 1251-1252
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーCamparison in sharpness is made among existing stability robustness measures for linear time-invariant continuous systems. The relation of the decay rate of the systems to these measures is also discussed. Due to this work, all the cited measures can be arranged in order of sharpness.抄録全体を表示PDF形式でダウンロード (281K) -
山田 孝行, 藪田 哲郎1989 年 25 巻 11 号 p. 1253-1255
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper discusses low-pass filter effects of MRACS using a SISO force control servosystem. MRACS with low-pass filter is compared with MRACS without low-pass filter. Experimental results clarify that low-pass filter is so useful to reduce output errors.抄録全体を表示PDF形式でダウンロード (374K) -
オペレータのファジィモデルによる性能評価浜田 広児, 松島 晧三1989 年 25 巻 11 号 p. 1256-1258
発行日: 1989/11/30
公開日: 2009/03/27
ジャーナル フリーIn this study, we have evaluated two kinds of failure compensatory mechanisms, the differential element and the inching element, in a manual control system.
The performance of them are discussed by examining the component parameters of the operator's fuzzy models.抄録全体を表示PDF形式でダウンロード (338K)
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