計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
25 巻, 4 号
選択された号の論文の18件中1~18を表示しています
  • 山 静民, 柏木 濶, 坂田 正登
    1989 年 25 巻 4 号 p. 389-395
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, a method for determining the position of an object in a 3-dimensional space is proposed. An M-array LED pattern is projected onto the object through a lens and the projected array is observed with a CCD camera. Each element of the M-array is time modulated with an M-sequence having different phase. The crosscorrelation function between the observed signal and the reference gives us the information about the phase, and thus the point-to-point correspondence. Then simple trigonometric relations are used to determine the exact 3-dimensional position of the object. The proposed method is robust to noise and highly efficient.
  • 二重位相差による測定範囲の改善
    中嶋 新一
    1989 年 25 巻 4 号 p. 396-400
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper deals with the method for measuring the 3D orientation of an objective surface using the ultrasonic proximity sensor.
    Two orientation angles of a surface normal can be measured by two phase differences of three received echoes. The method using the phase difference has many advantages as stability, high resolution and so on. However, the phase information cannot be distinguished over one period of reflected echoes. Then, the measuring range is restricted in a relatively small orientation.
    The paper discusses a method to correct the phase difference over one period of received echoes by referring the dual phase difference of two different frequencies. The correction algorithm is based on relations between the individual phase difference and the dual phase difference. The proper threshold levels among the relations can separate regions of the phase difference regardless of considerable errors of the dual phase difference. This correction method enable the 3D orientation measurement over a wide range without decreasing the accuracy.
    The experiment using the transducers having 23kHz center frequency shows that the sensing system can measure the 3D orientation over an angle of 30° or more.
  • 平中 幸雄, 吉田 勝彦, 山崎 弘郎
    1989 年 25 巻 4 号 p. 401-405
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    The mechanism of smell detection in animals has not fully been explained. Yet, we can create engineering equivalents. And then, we can open a new field of application such as for keeping environmental security from hazardous or toxic gases, for searching mineral resources by detecting very rare components in the air, and for identifying individuals by their smells. One of the most promising sensors of smell is semiconductor gas sensor. Animal's sense of smell shows high resolution and wide dynamic range. The key of having such features is to catch the changes of smell components. And if we recall the fact that animals do respiration through their noses, we may get an idea that the information about the smell might be encoded in the transient responses of the olfactory cells. Then the authors are focusing their attention on extracting time axis information using a single gas sensor. As the first step they investigated the possibility of gas identification from the transient sensor responses caused by ON-OFF operation of gas components. As the results, gas identification can be performed by extracting two parameters from the responses. One of them approximately corresponds to the diffusion coefficient, and the other represents the effectiveness of the gas to the sensor. Different gas species will be plotted on different place in the two dimensional space which have the two parameters as the axes. Once the gas species has been identified, the concentration of it also can be determined from the concentration-resistance curve for each gas species.
  • 古田 勝久, 末長 修
    1989 年 25 巻 4 号 p. 406-410
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    Recently, the linear quadratic optimization problem whitch is considered the frequency dependent weight of phase lead or lag characteristics in the criterion function has been studied. The motivation for introducing the frequency dependent weight is the possibility of enhancing the robustness of the control system in critical frequency bands. In practical problems, however, the control system design minimizing the quadratic criterion function considered the frequency dependent weight of more general frequency characteristics, and the tracking to the reference signal in the presence of disturbance should be considered.
    This paper considers to design a servo controller for the regulation of the frequency dependent error in the presence of disturbance. The limit of a way of choosing the frequency dependent weight considered is shown. The servo controller is designed by using the augumented system incorporating the derivations of the regulated frequency dependent error. The control law is determined by minimizing the quadratic criterion function consisted of the frequency dependent error and control input whitch is added another frequency dependent weight restricted to disturbance and reference signal.
    The proposed algorithms of the servo controller give satisfactory results in simulations.
  • 山浦 富雄, 小林 彬
    1989 年 25 巻 4 号 p. 411-418
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    As a practical application of optimal tracking control theory, the problem of sub-optimal control system locally utilizing the future values of the dynamic characteristics and the desired function is studied in the case of a linear time-variant system with a quadratic criterion.
    The optimality of the sub-optimal tracking control system is examined and is expressed in simple inequalities. These inequalities show that the sub-optimal values of feedback gain, control input and criterion settle down to their optimal ones in exponential order of the eigenvalues related to the closed-loop system.
    As the results, the sub-optimal control system which utilizes the local future values of the dynamic characteristcs and the desired function in the time interval related to the so-called time lag accompanied with the constructed feedback system at every moment gives almost the same control as the globally optimal control in a practical sense.
    The simple inequalities obtained in this paper are also used to determine the reasonable local interval of the dynamic characteristics and the desired function to be utilized and to estimate the optimality of the sub-optimal control system to be realized.
  • 愛田 一雄, 北森 俊行
    1989 年 25 巻 4 号 p. 419-426
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper, first, presents that the optimal preview control system (named OPCS) with preview actions over a fixed control inteval is equivalent to the least-squares smoother (named LSS) in the limit where x(0) and X0 tend to zeros, where x(0) and X0 respectively denote the initial state in the OPCS and the covariance matrix for the initial state in the LSS.
    Next, it is shown that we can design an approximate inverse system (named smoothed inverse system) having a meaning of the least-squares smoothing for systems with the same input-output dimensions. This design is done using a designing method for a sub-optimal preview control system (named SPCS) with finite preview actions in the infinite control interval and is useful for non-minimum phase systems.
    We also show that the smoothed inverse system approaches the inverse system in the limit where R tends to zero, where R denotes a weighting matrix for the quadratic form of manipulated variables used in the LQ design technique.
  • adj(sI-A(z))b=P(s)v(z)法とM(z)v(s)法の融合
    渡部 慶二
    1989 年 25 巻 4 号 p. 427-432
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper is concerned with finite spectrum assignment of systems with commensurate delays. An design algorithm of spectrum assignment control law is presented. This is a fusion of the method by Manitius and Olbrot and the one by Watanabe and Itoh.
  • 足立 紀彦, 西岡 勝博, 竹内 敬治
    1989 年 25 巻 4 号 p. 433-439
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    A numerical algorithm to obtain root-loci of linear time-invariant control systems is proposed. The algorithm is based on the homotopy method to solve general nonlinear equations. The complex plane is divided into small triangles. Each vertex of the triangles is obtained sequentially. The sequence of specially labelled triangles gives an approximation of the root-loci. The procedure to find triangles with a special set of labels is called pivoting. Two propositions are given to validate the algorithm. The first one guarantees that the algorithm never fails in the vicnity of branching points of root-loci if the size of the triangulation of the complex plane is taken sufficiently small. The second proposition gives the precision of the approximation. The precision depends mainly on the size of triangles. Finally, the efficiency of the method is shown by several examples.
  • 馬 正東, 浅田 春比古, 得丸 英勝
    1989 年 25 巻 4 号 p. 440-447
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    Inverse dynamics of n-joint planar flexible arms are investigated through the modeling, linearization and characterization of dynamic behavior. The inverse dynamic problem of the flexible arm is analyzed based on the simplified model. An efficient algorithm for computing the actuator torques that satisfy the simplified model exactly is then presented and applied to a two-link arm problem.
  • 木田 隆, 池田 雅夫, 山口 功
    1989 年 25 巻 4 号 p. 448-454
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    The standard LQ regulator is known to have the excellent robustness. However, it is insufficient especially for the large-scale complex system, where the high-frequency unmodelled uncertainty exists. This paper proposes an optimal regulator with low-pass property, which has the stability robustness against such a class of uncertainties, The controller is designed based on the formulation as a frequency-shaped regulator problem. Its realization method and characteristics are also studied. The algorithm is applied to LSS (Large Space Structures) control to clarify its capability to suppress the spillover instability caused by the residual modes which are neglected at the controller design phase.
  • 広瀬 茂男, 国枝 紀
    1989 年 25 巻 4 号 p. 455-461
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper discusses a generalized method to produce standard foot-trajectories for a quadruped walking vehicle having arbitrary reachable ranges and walking on uneven and inclined surfaces in random posture. The standard supporting foot-trajectories are one of the most basic parameters for the gait control, because the legs have to follow the trajectories as long as the terrain and posture conditions are maintained. The introduced method goes through the processes: 1) projection of the gait scheme on horizontal plane, 2) definition of the effective searching areas, 3) selection of crab-walking pattern between x & y types, 4) generation of the stroke contour maps, 5) selection of the longest stroke and their existing areas. The validity of the proposed method is verified by several computer simulations.
  • 角 修吉, 川野 政史
    1989 年 25 巻 4 号 p. 462-467
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper proposes signal phase shifters using operations of pulse width modulation (PWM), that a sinusoidal wave and a triangular wave can be arbitrary shifted. From the use of D.C. source, their characteristics are available for generating high power signals of which the phase is varied continuously. In principles, they especially have effectiveness in Ultra Low Frequency regions. Frequency spectrum of this PWM wave can be analysized theoretically by multiple Fourier series expansion and experimental values agree well with their theoretical ones. We examine methods to improve their frequency spectrum distribution and propose a improved method that switches the modulation. Experimental results verify it. We can get precise output signal wave forms by making use of a microprocessor for the PWM modulation. Circuit compositions to realize it are easy because of logic circuits. It may be able to integrate. The PWM sinusoidal phase shifter can be utilized as a PWM sinusoidal inverter with a function of phase shifting and the PWM triangular phase shifter may be applied to a wave form generator using triangular polynomial expression.
  • 島 孝司
    1989 年 25 巻 4 号 p. 468-475
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    Decision support for the large scale systems, especially focusing on the societal systems, via the concept of Hierarchical Holographic Modeling is considered in this paper. Implementation of the proposed methodology in DSS (Decision Support Systems) networks is also considered.
    There likely exist multiple organizations which are concerned with the planning and operational problems in such large scale systems. Those organizations have the hierarchical structures. In each organization, there may exist central decision maker (DM) and sub-decision maker (subDM) [in the center and in each subsystem, respectively. The problems in such systems, are well understood and solved by the coordination among the organizations and in the hierarchy of each organization.
    The concept of Hierarchical Holographic Modeling proposed by Haimes is very suitable for modeling and conflict resolution of such large scale systems. Here, the coordination relationships for such problems are derived and one of the coordination methodologies using those relationships is proposed and its prototypical implementation in the DSS networks is considered.
  • 斎藤 一晶, 太田 淳, 久村 富持
    1989 年 25 巻 4 号 p. 476-481
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, we investigate a time optimal job shop type scheduling problem including jobs with uncertain processing times. Modeling the problem by the stochastic time Petri net (STPN) in which some transitions have statistically varying firing times, we derived the stochastically suboptimal (non-delayed) schedule. The approach is illustrated by two examples and the results are compared with those of Monte Carlo simulations.
  • 山田 伸, 相吉 英太郎
    1989 年 25 巻 4 号 p. 482-489
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, a quasi-Newton method with parallel computing capabilities is proposed to unconstrained optimization problems. The parallel quasi-Newton method is characterized by simultaneous perturbations of a trial point in a dimensional number of mutual independent directions, and by approximation to the inverse of Hessian of the objective function 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 objective function at the perturbed points. Furthermore, it is remarkable that the perturbation process in the neighborhood of a trial point corresponds to a dimensional number of iterations in the currently used quasi-Newton method.
    In the poposed algorithm, a set of the plural perturbation directions is divided into several groups in order to make more efficiency in approximation process to the inverse of Hessian, and a parallel extension of the BFGS updating formula is introduced together with use of the group conjugacy for the purpose of more stable convergence.
    The mentioned parallel algorithm is tested on some numerical examples. The experiments indicate that the algorithm effects much faster convergence than the widely used quasi-Newton method, even when the computation is done in a serial fashion, and more stable covergence than Straeter's parallel algorithm in which the rank-one updating formula is used.
  • 雛元 孝夫, 濱中 貴, 前川 禎男
    1989 年 25 巻 4 号 p. 490-495
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    Based on the Fornasini-Marchesini local state-space (LSS) model which can imbed the Roesser LSS model in it, a technique is developed for the design of two-dimensional (2-D) recursive digital filters. This is by incorporating a 2-D Lyapunov stability condition for the Fornasini-Marchesini LSS model into the 2-D filter design. The 2-D filter is designed by solving an unconstrained optimization problem. The resulting filter is more advantageous in the synthesis of the optimal filter structure with minimum roundoff noise or minimum sensitivity since the 2-D equivalent transformation matrix is not block-diagonal, but general. In addition, the resulting filter always guarantees the absence of overflow oscillation as well as the stability. An example is given to illustrate the utility of the proposed technique.
  • 安藤 繁
    1989 年 25 巻 4 号 p. 496-503
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, nonlinear spatiotemporal image operators for extracting motion-like brightness changes and emergence-like brightness changes are proposed. First, we show that a null determinant of a 3-D gradient covariance matrix indicates the image brightness variations are caused purely by motion. Then, in order to decide its nullity independently on spatiotemporal contrast and resolution, we derive a dimensionless normalized equation from the determinant based on an inequality between a geometrical and an algebraic average. After adding noise suppressing features to the equation, we obtain three feature extraction operators which respond locally to 1) motion-like variations, 2) emergence-like variations, and 3) total variations. Basicly, they function as region operators to discriminate stationary, moving, and emerging segments in an image. By a theoretical analysis, however, the emergence operator is shown to act as a motion edge operator which respond in selective and shape/orientation-invariant manners to velocity discontinuities at e.g. occluding boundaries. The above mentioned unique characteristics of the operators are tested by several computer simulations and an application to a dynamical 3-D scene.
  • 板倉 安正, 諏訪 浩, 竹内 雅浩
    1989 年 25 巻 4 号 p. 504-506
    発行日: 1989/04/30
    公開日: 2009/03/27
    ジャーナル フリー
    The spatial filtering velocimetry is a useful non-contact method to measure the surface velocity of debris flow which has a terribly destructive power. The maximum entropy method one of spectrum analysis, was available for extracting the central frequency of the output electrical signal of the sensor and was able to make clear the trends and the fluctuations of the surface velocity of debris flows.
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