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Volume 25, Issue 12
Displaying 1-17 of 17 articles from this issue
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Kiyosuke WAKABAYASHI, Hisaaki OCHI, Kimisuke SHIRAE1989 Volume 25 Issue 12 Pages 1263-1268
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a method for analysing the concentration of each component in a gas mixture by processing signals generated from the Tin oxide gas sensors. The values of sensor resistances vary with various species of gases and their concentrations. It is therefore imppossible to detect each gas concentration in a gas mixture with a kind of the gas sensor. From the measurements of the values of the sensor resistances depend on various species of gases, we conjecture that the sensor resistance in a gas mixture may be approximatly represented by the parallel connection of the several resistances determined from gas components in gas mixture. For example, in a gas mixture (gases A, B and C is air), the sensor resistance is composed of the three resistances depending on gases A, B, C respectively. In order to examine whether the conjecture above is valid, we made experimentaly a new system for analysing a gas mixture and used the system for analysing gas mixtures compose of two and three components. The experimental results obtaind show that the conjecture is valid.View full abstractDownload PDF (846K) -
Tadataka KONISHI, Mitsuru BABA, Seiichi WASHIO, Toshio MURAKAMI, Genzo ...1989 Volume 25 Issue 12 Pages 1269-1274
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the fields of mechanical and chemical engineerings, it is important to measure diameters of bubbles in liquid accurately. Many measuring methods of bubble diameter have been reported. Almost all of them use photograph and are unsuitable for a real-time measurement of bubble diameter.
In this paper, a new dynamic measuring method of bubble diameter using CCD image sensor is described. Experimental results demonstrate that bubble diameters measured by a system using the method are good agreement with those measured by photographs within the linearity of ±1.0%.
A drive of CCD image sensor at scanning time of 0.25ms enable the system to measure bubble diameter changing fast in 15ms.View full abstractDownload PDF (755K) -
Nobuaki KOBAYASHI, Takayoshi NAKAMIZO1989 Volume 25 Issue 12 Pages 1275-1280
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA simple block decoupling condition is given in this paper for linear structural systems. First the existing block decoupling condition is modified, which however depends on the system parameters. On the basis of this modified condition, the new type of decoupling condition independent of the system parameters is derived. This decoupling condition can be evaluated by using the graphrepresentation of systems. Hence this can be applied not only to the structural system, but also for determining which output block can be decoupled, from only the structural information of the system.View full abstractDownload PDF (758K) -
Shin Ichi AIHARA1989 Volume 25 Issue 12 Pages 1281-1288
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we consider an identification problem for a nonstationary parameter contained in stochastic nonlinear dynamical systems, whose states are modeled by stochastic boundary value processes. We review nonlinear filtering problems for stochastic boundary processes where the unknown nonstationary parameter is fixed. An equation of an unnormalized conditional distribution for Xt (system state) given by Yt (observation) and θt (parameter) is derived.
Introducing a pathwise version of this equation, existence of maximum likelihood estimates (M.L.E.) for the unknown parameter θ. is studied. The consistency property for M.L.E. is also explored under many independent experimental observation data. In order to derive a realization algorithm for M.L.E., necessary conditions for an optimal M.L.E., i.e., variational inequality and adjoint equation are presented.View full abstractDownload PDF (932K) -
Hikaru MARUYAMA, Hajime MAEDA, Shinzo KODAMA1989 Volume 25 Issue 12 Pages 1289-1296
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a method for designing control systems based on the decomposition of time scale, and discusses its property by the singular perturbation theory. The system treated in the paper is a multivariable linear time-invariant system consisting of subsystems S1 and S2 such that S1: x=A11x+A12z+B1u1, S2: z=A21x+A22z+B2u2.The following procedure is proposed to regulate the state x. i) Find the controllers' gains K1, K2, so that S1 with z=K1x, u1=K2x is stable and satisfies the pre-assiged specification, i.e., it satisfies x*=(A11+A12K1+B1K2)x*=Ã1x*, with Ã1 stable, and also find K such that Re λi [B2K]<0. ii) And then construct the feedback system by applying u1=K2x and u2=(1/ε)K(z-K1x), where ε>0. Such a design method is achieved if (A11, [A12 B1]) is stabilizable and rank B2=dim z. It is shown that the feedback system is stable and the trajectory x tends to x* as ε→0. As the second part of the paper, the case where the gains K1, K2, and K are determined by the solutions of LQR problems is considered. It is shown that such gains give a suboptimal solution to the LQR problem of the total system with an appropriate cost function. Based on the LQR theory, the robust stability is discussed. Finally, a numerical example is given for illustration.View full abstractDownload PDF (915K) -
Masami IWATSUKI, Masayuki KAWAMATA1989 Volume 25 Issue 12 Pages 1297-1302
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a newly defined sensitivity called deterministic sensitivity in discrete time linear systems. The deterministic sensitivity is defined by using an actual system of which coefficients are fixedly deviated from desired values. The ensemble mean of deterministic sensitivity is given by stochastic assumptions for the deviated coefficients. This measure gives a good estimate of sensitivity of realization structures. The ensemble mean of deterministic sensitivity equals the statistical sensitivity, and contains the frequency sensitivity norm. It is shown that the proposed sensitivity analysis is appropriate because the analytical results are in good agreement with the simulation results.View full abstractDownload PDF (776K) -
Koichi SUYAMA, Young Taek HYUN, Toshiyuki KITAMORI1989 Volume 25 Issue 12 Pages 1303-1309
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the finite spectrum assignment problem for scalar systems with non-commensurate time-delays, and presents the following two results.
(a) A necessary and sufficient condition for finite spectrum assignability by an output-feedback compensator using a class of the finite Laplace transform.
(b) Under the condition (a), a design procedure of the compensator.
It is shown that the spectral controllability and observability of the system is necessary but is not sufficient for finite spectrum assignment by the control systems considered in the (a).View full abstractDownload PDF (872K) -
Hajime MAEDA, Kohji FUJITA, Keiji SAWADA, Shinzo KODAMA1989 Volume 25 Issue 12 Pages 1310-1315
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper discusses the continuity of the relation between models for designing linear multivariable systems and resulting system performances. To state the problem more precisely, let P be the transfer matrix of the model, and let H be the transfer matrix of the closed loop system designed through an appropriate control scheme. Since H is uniquely determined by P, H is regarded as a function of P. If H depends continuously on P, then the small error in modelling causes only small change of H, while if it is not the case, the small error in modelling yields the transfer matrix H that is drastically different from the expected one.
The problem treated in this paper is: under what condition is H(P) continuous with respect to P? As the design scheme, we consider the linear quadratic optimal regulator (LQR), and the linear quadratic optimal servosystem with integrators (LQI); and give sufficient conditions for the continuous dependence of H(P), in terms of the pole-zero cancellation in the open right half plane.View full abstractDownload PDF (770K) -
Masahiro OYA, Yukio NISHIMURA, Yoh YONEZAWA1989 Volume 25 Issue 12 Pages 1316-1323
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe authors propose a state representation suited for describing uncertain single-input single-output systems and stabilizing method of that systems.
It is shown that any transfer function with uncertain fixed parameters is realized by a state equation consisting of an unknown system matrix and a known driving vector. With respect to that specific state representation, the stabilization problem is considered for uncertain systems with parameter variations of the system matrix and disturbances. Namely, the states are transformed by a diagonal matrix T=diag [1, α-1, …, α-n+1] where α is the positive design parameter and construct the state feedback control system by using observer. Then it is shown that the control system is practical stable when the observer gains and feedback gains are settled by using the solutions of some Riccati equations. Moreover, in order to estimate the capability of the control system, the relation between the design parameter α and the output norm is derived. And it is shown that the output norm converges to any vicinity of the origin at the any rate of stability by increasing α. Though, it is assumed that the numerator polynomial is asymptotically stable, this design method can be applied for the systems in which parameters of the numerator polynomial vary.View full abstractDownload PDF (887K) -
Analytical and Experimental Study on Its StabilityTakashi KIDA, Isao YAMAGUCHI, Seiya UENO, Keiichi HIRAKO1989 Volume 25 Issue 12 Pages 1324-1330
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe DVFB control is known to have a robust stability property when it is applied to LSS. However it assumes the situation where ideal actuators are available. This paper studies the DVFB control system stability when it is implemented by using an actual actuator PMA (Proof Mass Actuator). We show that the existing stability conditions are violated in the case and propose two stability conditions for the purpose. These are verified by ground-based experiments.View full abstractDownload PDF (982K) -
Shigeo HIROSE, Akio MORISHIMA1989 Volume 25 Issue 12 Pages 1331-1338
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper discusses the construction of the basic motion regulating system of an articulated body mobile robot “Koryu” or KR consisting of plural cylindrical units linked in series. The algorithm to maintain vertical posuture of the joints, while the KR is on uneven terrain with arbitrary posture is firstly shown. Combination control of force and position is next introduced in order to execute simultaneous posture control and terrain adaptive control of all the joints. As to the combination control, hybrid type control and impedance type control are proposed. Previously test-assembled “Koryu-I” is further mounted with a force sensor of optical system and a posture sensor. The characteristics of the derived posture, force and their combination controls are demonstrated by the test robot to confirm the effectiveness of the controls.View full abstractDownload PDF (2904K) -
Study by Computer SimulationToshiyuki SHIMOOKA, Yoshinori MITAMURA, Toshio YUHTA1989 Volume 25 Issue 12 Pages 1339-1346
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSMulti-variable adaptive control of a left ventricular assist pump was studied. For the estimation of the system parameters, second order SISO AR (single input- single output autoregressive) models were introduced. The controlled variable is mean arterial pressure (mAoP), mean atrial pressure (mLAP), or mean blood flow (mBF) and the control input is vacuum pressure (VP) of the pump. Recursive least-squares method with exponential forgetting and covariance reset is used to estimate the parameters. Based on the estimated parameters, controlled variables in steady state for given vacuum pressures are predicted, and the desired vacuum pressure minimizing a performance index is searched. The performance index is weighed summation of square errors in the steady state.
Feasibility of the parameter estimator was studied by computer simulation for the various changes in the circulatory condition: decrease of left ventricular contractility at various rates, change in peripheral resistance, or arhythmia. The controller was able to keep the controlled variable in desired level. Then one input- two outputs (mAoP and mLAP) contoller was studied. In one example, left ventricular contractility suddenly decreased as much as the natural heart ejected no flow, and additionally peripheral resistance increased by 5% at the same time. mAoP dropped from 115mmHg to 97.5mmHg and mLAP rose from 3mmHg to 4.2mmHg instantaneously. But the controller smoothly restored the desired state (mAoP of 114mmHg, mLAP of 3mmHg) after 30 beats. The developed controller adaptively controlled two variables; mean arterial pressure and atrial pressure, for the various changes in the circulatory system. The estimator and controller is feasible for adaptive control of the left ventricular assist heart.View full abstractDownload PDF (1204K) -
Eitaro AIYOSHI, Shin YAMADA1989 Volume 25 Issue 12 Pages 1347-1354
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA great deal of attention has been paid to Newton-like methods to solve constrained optimization problems. One approach on this line is to solve a series of the quadratic programming problems, each of which requires to minimize a quadratic objective function with Hessian matrix of the Lagrangean function subject to a linear approximation to the constraint. Then, the Hessian is approximated by an adequate matrix which is revised on each iteration.
In this paper, a methodology of the parallel quasi-Newton method for unconstrained optimization problems is converted into a method with parallel computing capabilities for problems with equality constraints. The proposed method is characterized by simultaneous perturbations of a trial point in plural directions, and by approximation to the Hessian of the Lagrangean by use of informations at the perturbed points. Then, the parallelism can be induced into the perturbation process of a trial point and the computations of the gradients as well as evaluations of the Lagrangean at the perturbed points. It is remarkable that the BFGS formula represented in matrices is used to update the approximation of the Hessian, not the approximation of the inverse. This point is different from the unconstrained case.
The mentioned algorithm is tested on some simple examples. The experiments indicates that the algorithm effects better convergence than the currently used constrained quasi-Newton method, even when the algorithm is performed in a serial fashion.View full abstractDownload PDF (1027K) -
Hideo YUASA, Masami ITO1989 Volume 25 Issue 12 Pages 1355-1362
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIt is important that large scale complex system has some good properties e.g. variety, flexibility, fault tolerability. Recently, an autonomous decentralized system has been studied for getting such a system. And it was already shown in the previous paper that (1) homogeneity of subsystems, (2) a system which expresses a global order (this system is called “total system”) and (3) a potential function of this system are very important. For (2) and (3), the following two conditions are necessary for the large scale system.
(1) the total system is autonomous.
(2) the total system is a gradient one.
If so, the large scale system can be dealt as a lower order total one, and the behavior is easy to understand because the order depends on the potential function. And the local dynamics of subsystems determine whether these conditions are satisfied or not.
In this paper, the differences of states are chosen as variables of total system. And it shows the necessary and sufficient condition for local dynamics to make the total system to a gradient one. This theorem makes clear the relation between local dynamics and global order. Using these results, it is discussed the fault tolerability of this system as to keep a gradient system. Lastly, some computer simulations demonstrate this theorem.View full abstractDownload PDF (1528K) -
Kazunobu KASHIWABUCHI, Nobuharu AOSHIMA1989 Volume 25 Issue 12 Pages 1363-1370
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA dataflow processor is applied for real time signal processings. Advantages of using the dataflow processor for interrupt processings are (1) Store and load operations of registers are not necessary because there is no register in dataflow processor. (2) Main processings are not stopped because parallel processings are possible. (3) All interrupts can be treated equally. (4) Interrupt signal itself (token) can hold data, so data input time is saved. (5) Interrupt processing programs can be written easily because they are essentially same as ordinary processings.
A signal processing system by ImPP (Image Pipelined Processor, dataflow processor from NEC Corp.) is designed and constructed. This system is named “dasp” and installed four ImPPs, MAGIC, A/D, D/A and memories. Special pseudo-DMA data transfer is adopted for analog input and output.
Real time signal processing ability of “dasp” is examined. The μ-law compander and PARCOR vocoder are implemented on “dasp” and evaluated. The results showed that the “dasp” had enough capability or real time signal processings and was comparable or even better than typical DSP systems.View full abstractDownload PDF (1052K) -
Tsutomu HASEGAWA, Shin KAMEYAMA1989 Volume 25 Issue 12 Pages 1371-1378
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes an interactive geometric modeling system for a manipulation environment composed of complex-shape objects. The system enables to construct the accurate model with a good man-machine interface. The modeling process is composed of two different phases; an interactive initial teaching and an automated improvement of model accuracy. In the interactive phase, a human operator recognizes the object, gives its name to the system, and designates a few feature points on it with a laser pointer. The system generates the possible hypotheses of the position and orientation for the object, and then visualizes each hypothesis on the CRT display. Thus the operator sellects the correct one as an initial estimation. In the automated improvement phase, the system collects 3-D data as much as possible from the visible surface of the object by driving the laser pointer and calculates the accurate position and orientation of the object.View full abstractDownload PDF (3271K) -
An H∞ Theoretical ApproachKoichi OSUKA, Toshiro ONO1989 Volume 25 Issue 12 Pages 1379-1381
Published: December 30, 1989
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we give a sufficient condition for quadratic stabilizability of an uncertain linear system via output feedback. To do this, we applied a results which is concerned in H∞ control ploblem.View full abstractDownload PDF (278K)
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