巻号一覧
25 巻, 2 号
選択された号の論文の22件中1～22を表示しています
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花泉 弘, 奥村 浩, 椿 広計, 藤村 貞夫1989 年 25 巻 2 号 p. 133-138
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーA new method for segmentation of a remotely sensed image is proposed. This method consists of division and merging. The image is divided into spatially uniform areas by the division. The division rule is based on the difference of the coefficient vectors of a local regression model fitted to neighboring areas of the image. If the difference is not significant, these areas are regarded as spatially uniform. As the difference is a F-statistic, a statistical test is employed to evaluate the significance of the difference, and the threshold for the test is theoretically derived. An area is divided into two subareas when the null hypothesis “coefficient vectors of a local regression model fitted to these two subareas are identical” is rejected. The division is repeated until all subareas are spatially uniform.
After the division, divided subareas are merged into uniform areas by reapplying the statistical test. The merging is based on the similarity of the coefficient vectors for the subareas. Merged areas are labeled for output.
In this paper, we describe the regression model, the formulation for the statistical test, and the determination of the threshold. The validity of this method is confirmed by numerical simulation. The processing result for an actual remotely sensed image is also shown.抄録全体を表示PDF形式でダウンロード (1389K) -
佐々木 基文1989 年 25 巻 2 号 p. 139-144
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーIn this paper, a stationary error analysis of finite-dimensional adaptive identifier for a distributed parameter system of parabolic type is considered. The proposed method is based on the eigenfunction expansion and the error analysis by Ioannou and Kokotovic of the robust adaptive identifiers for a lumped parameter system. An error estimate for the finite dimensional adaptive identifier is obtained, and the validity of the higher order approximation of the adaptive identification for the distributed parameter system is shown. A simple simulation is demonstrated in order to ascertain the efficiency of the proposed method.抄録全体を表示PDF形式でダウンロード (740K) -
大屋 勝敬, 西村 行雄, 米澤 洋1989 年 25 巻 2 号 p. 145-151
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーIt is difficult to discuss the design method of Model Following Control System (MFCS) for general type of nonlinear systems. Then, many previous papers have investigated the design method of MFCS for the case of particular nonlinear systems, in which the location of nonlinear elements and the characteristics of nonlinearity are restricted. Much of them has dealt with a controlled object which contains input in linear part, and comparatively few design methods in the case of a controlled object containing input in nonlinear part have presented.
In this paper we consider the design problems of the controlled objects which are constructed by a cascade connection of a nonlinear element and a linear element, and propose a design method of the control system following responses of the linear reference model for the specified step input. Nonlinear elements satisfing the gain condition wf(w)>σw2 are treated, where w is control input, f(w) is a characteristics of the nonlinearity and σ is positive number. As the reference model, two cases are considered, namely that are case 1, the order of the model is as same as that of object and case 2, the order of the model is lower than that of object.
Finally, computer simulation results are presented to illustrate the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (818K) -
Jianxin XU, Hideki HASHIMOTO, Fumio HARASHIMA1989 年 25 巻 2 号 p. 152-158
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーOne novel kind of observers for nonlinear systems is introduced in this paper. This kind of observers can be constructed through introducing switching terms and average operators. The analysis of the observer system shows that the proposed VSS observer has promising properties, such as the validity in the presence of high nonlinearity or the finite time convergence, as being illustrated through numerical examples.抄録全体を表示PDF形式でダウンロード (747K) -
章 菲菲, 細江 繁幸, 伊藤 正美1989 年 25 巻 2 号 p. 159-166
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーA new approach is presented to the generalized Nevanlinna-Pick interpolation problem. This approach is based upon a recursive way, called block-reduction method, for solving the problem of finding all V'(s) (∈CH∞) satisfying ||T-UV||∞<1, where the A-matrix of the minimal realization of U-1(s) has a block diagonal form. Differential interpolation conditions are easily treated.抄録全体を表示PDF形式でダウンロード (818K) -
石原 正, 植田 哲郎, 竹田 宏1989 年 25 巻 2 号 p. 167-174
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーFeedback properties of discrete-time LQG controllers which utilize the optimal statepredictors to compensate L-step computation delays are discussed. First, we derive right and left coprime factorizations of the transfer function matrix of the controller. Using these factorizations, we obtain simple expressions of the sensitivity matrices and the complementary sensitivity matrices at the input and the output of the plant, which clarify effect of the computation delays and the imperfect observation. Furthermore, these expressions are used to show that duality between the feedback properties at the input and those at the output holds for L≥1 and to identify the asymptotic feedback properties obtained by the loop transfer recovery procedures. A simple numerical example is presented to illustrate the feedback properties.抄録全体を表示PDF形式でダウンロード (1047K) -
崔 然旭, 荒木 光彦1989 年 25 巻 2 号 p. 175-179
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーA method of approximately evaluating the optimal value of the performance index of discrete-time control systems is proposed. The obtained approximating value ΦL(T) converges to the true value monotonically when L→∞. If we use this method together with the result of Fukata, et al., we can easily obtain the optimal value of the performance index for all values of the sampling period with fairly high accuracy.抄録全体を表示PDF形式でダウンロード (532K) -
湯浅 秀男, 伊藤 正美1989 年 25 巻 2 号 p. 180-187
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーIn the large scale complex systems, it is hard to control the whole system by only one controller and it is required to attain variety, flexibility and fault tolerability, etc. For this purpose, an autonomous decentralized system has been studied recently. On one hand, organisms actually have these properties, and this is due to a structure constructed by a lot of homogeneous subsystems. In this paper, a gate pattern generator system of a quadruped animal is considered as one example of autonomous decentralized systems. It is well known that this system is made by neural oscillator networks.
First, gait patterns of a quadruped animal are investigated for a construction of pattern generator. Second, coordinations of two coupled oscillators are considered. The order parameter of this system is the relative phase between two oscillators, and it can be controlled by interaction functions. A potential function of relative phase is very usefull for determining good interactions.
Some computer simulations show that this system generates some gait patterns (e.g., walk, trot, rotatory gallop) suitable for its moving speed.抄録全体を表示PDF形式でダウンロード (1043K) -
橋本 稔1989 年 25 巻 2 号 p. 188-193
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーSince the dynamic equation of robot arms represents a nonlinear and time-varying system, it is difficult to control precisely the manipulator when it moves with high speed and heavy load. In order to solve this problem there have been proposed many control schemes with compensating the dynamic effects involving dynamic interaction between joints. However, it is not easy to compute the inverse dynamics in real time. To reduce the computational burden, many authors have derived various computational schemes of the inverse dynamics.
In the present paper, we propose to introduce a torque sensor for each joint, instead of the computation, to measure the torque generated by the dynamic effects. The advantage of this technique is that the computational load is reduced much and the control system becomes robust for unexpecting external disturbance such as gravity acting on objects picked up and put down or other interactions with the environment. Therefore, this control scheme could be useful to the precise and robust control of the robot manipulators. We introduce dynamic modeling and stability analysis of the joint torque feedback control for robot arms with reducers in the drive trains. Furthermore, we will show the experimental results for a two joints arm which prove the validity of the control technique.抄録全体を表示PDF形式でダウンロード (828K) -
川又 政征, 中陦 修, 樋口 龍雄1989 年 25 巻 2 号 p. 194-199
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーIn order to control robot arms with high speed and high accuracy, it is necessary to evaluate sensitivities of robot arms, which are the effects of link parameters errors, torque calculation errors and disturbances on joint variables and end-effector's position and orientation. This paper proposes the sensitivity analysis of robot arms using the concept of controllability and observability measures in linear systems. Three sensitivities of robot arms are defined by the degrees of controllability, observability and output-controllability. The relation between the sensitivities and manipulatability is discussed. Furthermore, the magnitude of the deviation caused by these errors from a nominal trajectory can be evaluated using sensitivities.抄録全体を表示PDF形式でダウンロード (810K) -
則次 俊郎, 和田 力, 石田 直樹1989 年 25 巻 2 号 p. 200-207
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーIf the controllability of a pneumatic robot is well improved, its more advanced applications can be expected. However, since the parameters of this type of robot cannot be easily identified and depend on the operating conditions due to some high nonlinearities such as the fluid resistance of control valves and the sliding frictions, to obtain the desired control performance over a more extensive range of operations, an adaptive control strategy capable of accomodating the uncertainties and variations of system parameters is required. And its control algorism had better be as simple as possible.
In this study, to satisfy above requirements a novel control scheme is proposed on the basis of the variable structure system theory, named an adaptive variable structure control scheme. In this control, the phase-plane trajectory is confined on the switching line like in the sliding mode control, but the switching line is rotated adaptively to the phase-state. This control scheme can overcome the problem of chattering encountered in the usual sliding mode control, in addition, it can always generate the specified trajectory approaching the state origin without any overshoot.
It is applied to a practically used articulated robot which is pneumatically actuated with the pulse code modulation type digital servo previously developed by the author. The PTP type position control is executed and of which the dynamic response and the positioning accuracy are experimentally examined. As a result, the obtained control performance is so satisfactory that the efficiency of the proposed control scheme may be ascertained. And its flexibility in setting the control parameter values makes itself very practically available.抄録全体を表示PDF形式でダウンロード (1039K) -
自動車を操舵トルク入力系と見る場合藤代 武史, 伊藤 健, 川辺 武俊, 金井 喜美雄, 越智 徳昌1989 年 25 巻 2 号 p. 208-214
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーWe have already proposed a feedforward type control system for the four wheel steering (4WS) vehicle using the model following control theory. The control system is designed on the assumption that the input is the steering wheel angle. In this paper we deal with the stability of the 4WS vehicle. Generally, it is considered that the driver steers a vehicle by both steering wheel angle and steering wheel torque. We carry out an investigation of the pole location and a computer simulation for the 4WS vehicle as a steering wheel torque input system that has a feedback path to the control system through the dynamics of a steering system. Furthermore, proving ground tests are conducted with a real 4WS vehicle. The results show that the feedforward control system has an effectiveness to stabilize the vehicle motion.抄録全体を表示PDF形式でダウンロード (1345K) -
小柳 孝巳1989 年 25 巻 2 号 p. 215-220
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーOptimum design of the position control system using radiation counting rate meter is presented in this paper.
As the controlled object (water level or edge of plate) covers the incident window of radiation detector from one side to the other with constant speed, the amount of incident radiation varies. This radiation is measured by a counting rate meter and at the time when the output of rate meter reaches the threshold value, a relay acts and stops the motion of controlled object.
In a previous paper, the auther gave some expressions for calculating statistical characteristics of output of rate meter, considering saturation of rate meter.
By these expressions mean value and standard deviation of the stopping position of controlled object can be obtained.
From these results it is proved that the optimum time constant of the rate meter is the one which stops the controlled object at the position where incident window has just closed, and also that the extent of saturation of rate meter has no effect on standard deviation of stopping position.
The necessary total incident counts while the controlled object gose across window can be also obtained, for getting a given standard deviation of stopping position.
Compare this control system with a system using radiation scaler (digital measurement), this system is favorable in case of high moving speed of controlled object, because the necessary total incident counts is less than scaler type system.抄録全体を表示PDF形式でダウンロード (837K) -
岩尾 範人1989 年 25 巻 2 号 p. 221-228
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーIn order to develop steady state models of blast furnace systematically, “Basic Model of Blast Furnace operation (BM-BF)” was proposed in the author's first paper.
In the following paper, “Basic Model of Simplified Blast furnace (BM-SBF)” was also proposed in order to avoid mathematical complexity result from many variables of real blast furnace. From this BM-SBF, both Input/Output variables Basic Equation (I/O-BE) and Node Basic Equation (N-BE) were derived. These equations (I/O-BE and N-BE) were regarded as a starting equation to calculate reaction products and as a starting equation to calculate reaction rates, respectively. The equations to be solved, which consist of I/O-BE and N-BE, outnumbered the unknown variables to be obtained.
Therefore, the various calculating methods could be obtained depending on how to select the equations.
In author's third paper, it was shown how to select a good calculating method of reaction products among various ones mentioned previously. And also indication was made that reaction products were obtained from linearized equations with measurement values (raw materiales and reaction products analysis data).
In this paper, the number of independent calculating methods of reaction rate was made clear.
Although there were many BF operation indexes obtained from reaction rate, two indexes, this is Solution Loss Carbon (SLC) and author's own Shrink coefficient of Cohesive Volume (SCV), were picked out among many as most suitable.
These two indexes were calculated according to the definition equation. After regressional analysis, it was known that these operation indexes could be linearized with measurement values.
The linear coupling coefficient matrix obtained from analytical method was shown to be consist with the one statistical method.
In the course of analytical linearization, the structual difference between SLC and SCV become clear.抄録全体を表示PDF形式でダウンロード (1178K) -
田頭 成能, 小林 彬1989 年 25 巻 2 号 p. 229-235
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーA new method of multidimensional scaling (MDS) based on band function model is described, which is aimed to treat comparison data obtained by the method of triads, and is capable to apply when comparison data has some missing observations. Configurations determined by the method exist in a certain domain called the solution domain. An algorithm employing the method of steepest descent is proposed and a point located in the solution domain is found out by the algorithm.
First, the proposed method is evaluated by computer simulations. It becomes clear that the method can estimate configurations with higher accuracy than the conventional method does, and it is shown that data for this algorithm must be more than 1/3 of the complete data set of triads method.
Next, the proposed method is evaluated by an experiment. Experimental data on dissimilarities between eleven colors that differ in their value and chroma are processed. Configuration derived by the method fairly agrees to JIS color code of Munsell color system, and the configuration also points out that nonorthogonality may exist between value axis and chroma axis in JIS color code.抄録全体を表示PDF形式でダウンロード (937K) -
中村 豊, 小原 嘉昭, 山縣 敬一, 田村 坦之1989 年 25 巻 2 号 p. 236-242
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーProduction scheduling is one of important problems in flexible manufacturing systems. When we consider just-in-time as a scheduling objective, it is necessary not only to minimize tardiness time but to determine when the operation of each part starts. Thus it is not sufficient to resolve conflicts among parts by a rule base that dynamically generates priority rules.
This paper constructs a rule base to resolve conflicts among parts in flow-shop problems according to scheduling objectives to minimize tardiness time and earliness time and then proposes a scheduling method using the rule base to achieve just-in-time. The scheduling method applies three simple rules to renew recursively start time to process each part in a schedule generated by the rule base.抄録全体を表示PDF形式でダウンロード (883K) -
広瀬 武志1989 年 25 巻 2 号 p. 243-245
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper describes as a car registration number recognition system. The system was developed to automatically measure the OD-volumes in the automobile traffic flow. Since the system processes the TV image with hardware using wired logic, it can recognize the registration number in real time.抄録全体を表示PDF形式でダウンロード (1121K) -
三平 満司1989 年 25 巻 2 号 p. 246-248
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーIn this note, we will define the equivalence of nonlinear systems in the sense of trajectory and show its relation to the time scale transformation. Two systems are defined to be equivalent in the sense of trajectory if their trajectories (orbits) are the same.抄録全体を表示PDF形式でダウンロード (385K) -
塚越 律夫, 佐藤 恭三, 木全 孝之, 松本 繁1989 年 25 巻 2 号 p. 249-251
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーOn-line estimation method is proposed, which is based on the lumped parameter model reduced by use of Hankel transform technique. It is demonstrated that the temperature distribution can be estimated well with only a single sensor.抄録全体を表示PDF形式でダウンロード (339K) -
宮城 隼夫, 宮城 雅夫1989 年 25 巻 2 号 p. 252-254
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper presents Lyapunov functions for the stability analysis of dynamical systems with a product-type nonlinear feedback. Stability criteria are given, which introduce extended Lyapunov functions. The superiority of the function proposed is indicated by examples.抄録全体を表示PDF形式でダウンロード (300K) -
梅野 孝治, 堀 洋一1989 年 25 巻 2 号 p. 255-257
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーA class of induction machine flux observers with low sensitivity to machine parameter variations is proposed. They are designed by using a skew symmetric structure with variable poles parameterized by the rotational speed.抄録全体を表示PDF形式でダウンロード (395K) -
Hirokimi SHINGU1989 年 25 巻 2 号 p. 258-260
発行日: 1989/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper describes the configuration of a redundant attitude reference system using three Tuned Dry Gyros (TDG's), and presents the failure detection analysis required for failsafe operation of the system, and the quantitative evaluation of detection delay.抄録全体を表示PDF形式でダウンロード (342K)
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