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Volume 26, Issue 11
Displaying 1-20 of 20 articles from this issue
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Kajiro WATANABE, Yoshiro IEIRI, Kazuyuki KOBAYASHI1990 Volume 26 Issue 11 Pages 1223-1229
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a new idea to measure the absolute speed of moving objects such as vehicles with or without wheels. The proposed method is one that estimates the speed by the delay time between the spatial values (pattern) detected by front and rear sensors set separately on the moving direction.
It is known that the intensity of electric field of electromagnetic wave in the range of VHF/UHF has spatial change due to the multipass fading phenomena which lead to noise of automotive telecommunication. Here, we employ the spatial change in the intensity of electric field as the spatial pattern for the speed measurement. We investigate if or not the pattern can be used as the value to estimate the speed of the moving objects above from various viewpoints and we show it can. Further, we show a guideline of how to design the measurement system based on the idea.View full abstractDownload PDF (1964K) -
Shogo TANAKA, Yasuharu KUBO, Tsuyoshi OKITA1990 Volume 26 Issue 11 Pages 1230-1237
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSExact measurement of heaving and rolling for ship is important in exact searching for the seabed patterns by a sonar. From this point of view, the authors developed before an automatic measurement system which measures the heaving and rolling of ship by using two servo-type accelerometers appropriately located on the deck. In the development, pitching was assumed to be neglected because the measurement system is usually set up on a compar-atively large ship. But, practically, there is often the case where the system is used by not so large-sized ship. This case, pitching can not be neglected and thus the effect of the pitching must be taken into account in the development of the measurement system.
The paper proposes more general measurement system of heaving and rolling which uses three servo-type accelerometers in order to be able to reflect even on the effect of the pitching.View full abstractDownload PDF (1051K) -
Seiji ISHIKAWA, Shigeru HARADA, Hiroyuki YOSHINAGA, Kiyoshi KATO1990 Volume 26 Issue 11 Pages 1238-1243
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a technique for measuring the volume of powder in a visual way. Powder has long been an important object of scientific research, since it has close relation with human life in various aspects. Yet lots of problems still remain to be solved.
The volume of a pile of powder whose shape is easily destroyed by a slight touch of an observer must be measured without any contact with it. This can be achieved by applying a three-dimensional shape reconstruction technique often employed in computer vision. We have developed a measurement system that finds the volume of powder piled on a table by employing a slit ray projection technique, and performed an experiment of determining the volume of PVC powder. The experimental result was satisfactory.
The proposed technique will be able to be applied to the estimation of the volume of fragile objects in general which need non-contact measurement.View full abstractDownload PDF (1400K) -
Katsunobu KONISHI, Toshio YOSHIMURA, Masaki TANIGUCHI1990 Volume 26 Issue 11 Pages 1244-1250
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents an algorithm to calculate the controller parameters of indirect adaptive pole-placement control for SISO noise -free systems based on the common factor elimination techniques. The algorithm consists of three steps; (i) construction of the transfer matrix (W0) for the observable canonical state variable, (ii) detection and elimination of common factor by the triangulation of W0, and (iii) calculation of controller parameters by using the normalized transfer matrix given by (ii). This algorithm is applicable to the case that plant order is not exactly known, and it gives bounded and convergent parameters if persistently exciting input sequence is used. An numerical example is given to illustrate the effectiveness of the proposed method.View full abstractDownload PDF (852K) -
Katsunobu KONISHI, Toshio YOSHIMURA, Masaki TANIGUCHI1990 Volume 26 Issue 11 Pages 1251-1258
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents an indirect adaptive pole-placement algorithm for SISO noiseless systems under the assumptions that an upper bound on the plant order and a lower bound on the Sylvester resultant of plant polynominals are known. The algorithm consists of three parts; the identification of the plant, the calculation of controller parameters based on the triangulation of transfer matrix for the observable canonical state variable, and the generation of self-excitation signal. The global stability of the closed loop system is proved, and an numerical example is given to illustrate the effectiveness of the proposed algorithm.View full abstractDownload PDF (928K) -
Katsuji UOSAKI, Yoshihiro KOKETSU1990 Volume 26 Issue 11 Pages 1259-1266
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSState estimation procedures of stochastic approximation type are applicable to a considerably wide class of nonlinear systems and noise distributions. They assure the convergence of the estimate to the true state variable in some stochastic sense. We propose, in this paper, an estimation procedure of stochastic approximation type with a nonlinear transformation of residuals to improve the convergence property. The transformation is chosen to minimize the maximum bound of the asymptotic variance of estimation errors over the class of noise distribution, to which the true noise distribution belongs. Hence, the proposed estimation procedure is optimal in minimax sense and robust (insensitive) to the variations of noise distribution. And it is applicable without the knowledge of exact form of noise distribution. Numerical examples are presented to illustrate the usefulness of the proposed approach.View full abstractDownload PDF (799K) -
Sangdon JANG, Mituhiko ARAKI1990 Volume 26 Issue 11 Pages 1267-1274
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSFuzzy control systems are analyzed from the control engineering viewpoint and possibility of their industrial applications is investigated. First, the mathematical model of a fuzzy controller which uses symmetric triangular membership functions and direct inference is derived. Then, the fuzzy control system of inverted pendulum which is often used in demonstration is analyzed, and it is shown that the pendulum falls down after a certain time. Based on the control theory, it is inferred that the pendulum will be balanced if PI element is inserted into the loop of the angle of the pendulum, and this inference is proved to be correct. The above phenomena are explained by applying linear stability theory. Lastly, possibility of industrial applications of fuzzy controllers is investigated.View full abstractDownload PDF (945K) -
Shuichi ADACHI, Takashi SHIGEMASA, Isao YAMAGUCHI, Takashi KIDA1990 Volume 26 Issue 11 Pages 1275-1282
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper considers the modal parameter identification problem for an LSS (Large Space Structure) from measured input-output data. The selection of setting parameters for identification, such as the sampling rate and identification model order, has great influence on the identification accuracy. This paper proposes a new identification method which uses decimated input-output data. The decimation consists of two parts, first the input-output data are filtered by low-pass filters, and then resampled by the lower sampling rate. The elastic modes can be identified accurately by proper choice of the cut-off frequency of the filter. In the proposed identification method, the model order is determined by the frequency domain criterion, that is, the flatness of the identification residual sequence. The effectiveness of the proposed identification method is shown by identification experiments which were carried out by using a ground-based test model.View full abstractDownload PDF (1060K) -
Kunihiko OKAMURA, Yukio NOGUCHI, Harutoshi OGAI1990 Volume 26 Issue 11 Pages 1283-1290
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with the multivariable control for wire rod rolling. The control objective in wire rod rolling is to maintain the interstand tension and output height and width of wire rod product as prescribed. In a conventional method, only the interstand tension is controlled by updating the roll speed. But the interstand tension and the output height and width are strongly connected, so we must handle the wire rod rolling system as a multivariable system to improve the accuracy of product.
In this paper, we take a modern control theory approach to cope with a wire rod rolling system. First, we derive a linear statespace model for wire rod rolling system from nonlinear rolling model and mill driving dynamics. We modify it applicable to control system design stage using a relation of interstand transmission delay. Based on the optimal regulator theory, we design an optimal control system of wire rod rolling.
Then two types of control system, i.e. (i) a simultaneous control system of tension control and AGC (Automatic Gauge Control), and (ii) block mill AGC, are introduced as a result of a characteristic of a objective mill. The control law is implemented by the statevector feedback and the disturbance vector feedforward, where No.1 stand entry temperature, height and width of the material are used as a feedforward signal.
To evaluate the control performance, step responses due to entry diameter change are computed and measured on a 4-stand tandem model mill. From the computed and experimental results, the validity of the present control system is confirmed.View full abstractDownload PDF (960K) -
Shigeo HIROSE, Shugen MA1990 Volume 26 Issue 11 Pages 1291-1298
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSMechanism and control of a newly developed coupled tendon-driven multi-joint manipulator, abbreviated as CT arm, are discussed. CT arm introduced here has the specific tendon traction force transmission mechanism, in which a pair of tendons to drive a joint are pulled from base actuators via pulleys mounted on the base-side joints. The mechanism makes the most of coupled drive function of the tendon traction forces and thus has the possibility to exhibit enormous payload capability. The manipulator also has the characteristics to be solidly structured and to be inexpensively manufactured because of its mechanical simplicity. Basic discussion is also made on the specific control of the CT arm. The control algorithm which minimizes the squared sum of the traction force of the tendons while satisfying given restrictions is introduced. The validity of the control method is shown by the computer simulations.View full abstractDownload PDF (1170K) -
Kei HARA, Ryuichi YOKOGAWA1990 Volume 26 Issue 11 Pages 1299-1304
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA method of the description and estimation of the task state of a robot by means of fuzzy sets is proposed. It is necessary to describe the operation state exactly in order to performed precision inserting operation by the robot. But in the case where the environment of the operation is uncertain, it is difficult to describe the contact state between the peg and the hole quantitatively. Therefore, we describe this contact state by means of fuzzy sets linguistically and recognize the transition of the state by using fuzzy pattern matching. The work object is the peg-in-hole operation of three dimensions. The experimental system is constructed of a robot, a force-torque sensor, RCC and a computer. From experimental results of the peg-in-hole, it is shown that the contact state can be recognized effectively by this method.View full abstractDownload PDF (755K) -
Tetsuya OKAMURA, Tohru MURAKAMI1990 Volume 26 Issue 11 Pages 1305-1312
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA computer aided operation system for start-up of cyclotron is being developed in order to support operators who, through their experiences and intuition, adjust dozens of components to maximize extracted beam current.
This paper describes a guidance method using real-time display of feasible setting regions of adjustment parameters. It is a function of the beam adjustment support system. The followings are the key points of this paper.
(1) It is proposed that a cyclotron can be modeled as a series of mapping of beam condition. In this model, the adjustment is consider to be a searching process for a mapping which maps the beam condition into the acceptance of cyclotron.
(2) The searching process is formulated as a nonlinear minimization problem. In order to solve this problem, a fast search algorithm composed of a line search method (golden section search) and an image processing method (border following) is developed. The solutions are the feasible setting regions.
(3) A human interface which displays feasible setting regions and a search history is realized for the beam adjustment support system. It enables that the operators and the computers cooperate the operation of beam adjustment.View full abstractDownload PDF (1879K) -
Xiongying YE, Sadao FUJIMURA, Norihide YAMADA1990 Volume 26 Issue 11 Pages 1313-1315
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a method is proposed for measuring 3D-shape of an object with glossy curved surfaces. The method uses a diffuse plane light source of grating pattern encoded by an M-sequence. A surface to be measured is placed closely to a reference plane which is far from the light source so that a point on the surface can be considered as a point on the reference plane. Then the surface normal vectors are obtained by corresponding points on the image plane to those on the source plane. In order to attain the correspondence, we use two images obtained in the case that the source lines for one image are perpendicular to those for another, and utilize a characteristic regularity of M-sequence. The determination of surface normal vectors allows us to reconstruct the surface. Experimental results to confirm the validity of the method are shown. The method is very simple both in obtaining image data and in processing the data: it requires only two images.View full abstractDownload PDF (950K) -
Shujiro DOHTA, Kazumasa OHSAKA1990 Volume 26 Issue 11 Pages 1316-1318
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe effect of wall roughness of a vortex chamber on the charateristics of a vortex diode was investigated experimentally. It was made clear that the rough wall made a swirl weaker and reduced the diode ratio.View full abstractDownload PDF (403K) -
SHUMING Chen, Yoh YONEZAWA, Yukio NISHIMURA1990 Volume 26 Issue 11 Pages 1319-1321
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn industrial robot controls, the conventional linear control technique which ignors the effects of nonlinear couplings, is wildly applied. In this paper, for the purpose of improving the conventional control qualities, a torque equation is introduced. By using optimal control theories, a trajectory-planing method is proposed, which makes the nonlinear couplings minimum.View full abstractDownload PDF (381K) -
Atsushi OHHASHI, Naohisa OTSUKA, Hiroshi INABA1990 Volume 26 Issue 11 Pages 1322-1324
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe simultaneous decoupling and disturbance rejection problem for linear time-invariant multivariable systems is investigated, and a numerically suitable algorithm for checking the solvability of the problem is presented. Further, a numerical example is given to illustrate the results.View full abstractDownload PDF (359K) -
Yasuhiko MUTOH, Kunihiko ICHIKAWA1990 Volume 26 Issue 11 Pages 1325-1327
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a simple method is presented to estimate the structure of an interactor matrix using a prior knowledge about unknown plant parameters.View full abstractDownload PDF (350K) -
Koichi SUYAMA, Toshiyuki KITAMORI1990 Volume 26 Issue 11 Pages 1328-1330
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents (1) a new algorithm for solving the Bezout equation for time-delay systems and (2) a pole assignment procedure using the solution similar to that for finitedimensional systems.View full abstractDownload PDF (357K) -
Hideki KOKAME, Takehiro MORI1990 Volume 26 Issue 11 Pages 1331-1333
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSome classes of matrix polytopes are discussed for which the stability of vertex matrices ensures the stability of the entire family of the polytope. One of the classes is such that all the vertices are normal matrices. This class is shown to be a special case of more general classes.View full abstractDownload PDF (320K) -
Tie Long SHEN, Katsutoshi TAMURA1990 Volume 26 Issue 11 Pages 1334-1336
Published: November 30, 1990
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this note we give some remarks on the relations between the H∞ norm of a given transfer matrix and the positive solutions of the algebraic Riccati equations with a small constants ε. The result obtained is that there exists the maximum ε* for which the positive solution exists and ε* is a monotonic increasing function of γ (>||G||∞).View full abstractDownload PDF (327K)
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