巻号一覧
26 巻, 12 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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西村 敏充1990 年 26 巻 12 号 p. 1341-1348
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーMeasurement of distance in space by means of optical telescopes has reached to its limit in recent years. However the radio astronomy, particularly the observations of milli-second pulsars and the VLBI technology will enable us to carry out such measurement inside or outside of our galaxy, by simply extending the technology of orbit determination for deep-space missions.
Particularly the polar coordinate representation of the trajectory of a celestial body will simplify the covariance analysis of measurement accuracy and provides us with more intuitive informations, when simplified models are used, and such analysis as well as measurements will contribute very much to the development of the future astrometry.抄録全体を表示PDF形式でダウンロード (946K) -
北川 洋一, 金谷 典武, 林 昭博, 南 茂夫1990 年 26 巻 12 号 p. 1349-1355
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーA laser-scattering particle size monitor for in situ measurements using optical fibers and two wavelength illuminations is presented. Using this monitor, we can obtain the signal that whether the measuring particle size is within the preset range or not, and whether it is larger or smaller than its range as being out of the range. The sensing head of this monitor is constructed to be compact and easy to handle because it can be set depart from the signal processing units and light sources.
The sensing head is composed of a light illumination probe and two pickup probes set at different angles to detect scattering lights. Two wavelength components of scattered light are detected simultaneously by each pickup probe and guided to a signal processing unit. In the signal processing unit, the value of the ratio of two scattered light intensities is obtained. Then, it is compared to the threshold value in order to get a binary output. The binary outputs obtained by two pickup probes form the binary code pattern, from which it can be determined that whether the particle size is within the desired range or not.
The characteristics of this monitor are discussed in terms of design parameters, such as a pickup probe setting angle and a wave-length difference of illumination lights. The operation of this monitor is confirmed by the experiments using polystylene latex spheres. As a result, it is shown that this particle size monitor is useful, for in situ particle size monitoring in industrial and medical fields.抄録全体を表示PDF形式でダウンロード (923K) -
石井 泰1990 年 26 巻 12 号 p. 1356-1361
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper describes a new type of acoustic rate gyros, which utilizes Coriolis force acting on air particles vibrated by sound. The sensing head of this gyro is an acoustically closed vessel, inside of which is separated into two chambers by a T-shaped separator. A thin and flat sensing channel connecting the two chambers is formed between the upper plate of the separator and an inside wall of the vessel. The two chambers and the sensing channel thus form an acoustic bridge. The sound source of the bridge, which is a small loud speaker mounted on the separator, gives differentially a sinusoidal volume change to the two chambers and vibrates the air in the sensing channel. Two electret condenser microphones are mounted on the top of the vessel to detect the sound pressures at both sides of the sensing channel. Rotation of the sensing head around a vertical axis produces the Coriolis force in the sensing channel and causes phase changes to these sound pressures. The output voltage proportional to the rate of the rotation is obtained by detecting the phase difference between the outputs of the two microphones. Experiments using a prototype gyro with a signal processing circuit showed the accuracy of 1°/s.抄録全体を表示PDF形式でダウンロード (1431K) -
山本 祥弘1990 年 26 巻 12 号 p. 1362-1367
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーA truncated least squares method (TLSM) is proposed for the on-line parameter estimation of linear regression models. The method depends on the truncated data which is a collection of the last M observations. Here, M is any number greater than N which is a number of unknown parameters in a regression model. With a suitable initial setting, the algorithm always satisfies the normal equation of the TLSM. Under the ideal circumstance where there is no uncertainty, the algorithm converges to its true value in a finite steps M. So, if M equals to N, the TLSM gives a minimum steps estimator. The case M=N coincides with the orthogonal projection adaptive algorithm proposed by the author.抄録全体を表示PDF形式でダウンロード (716K) -
須田 信英, 王 秋玲1990 年 26 巻 12 号 p. 1368-1375
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we study linear multivariable time-invariant decentralized control system. Firstly, we solve the stable problem of the two-degree-of-freedom decentralized control system. Secondly, we give a general solution of the robust servo problem in the decentralized control system and the two-degree-of-freedom decentralized control system.抄録全体を表示PDF形式でダウンロード (836K) -
児島 晃, 内田 健康, 示村 悦二郎1990 年 26 巻 12 号 p. 1376-1383
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーA robust stabilization problem is discussed for time delay systems. We propose a design method of robust stabilizing control law by introducing an indefinite Riccati type operator equation defined for time delay systems. The parameter perturbations are assumed to occur in all types of delay elements; in lumped parameter element, in distributed delay element and in point delay element.抄録全体を表示PDF形式でダウンロード (991K) -
小林 正人, 田村 捷利1990 年 26 巻 12 号 p. 1384-1391
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーA design of a nonlinear control for a class of single input and double outputs mechanical systems is discussed. The proposed nonlinear control system resolves some problems of oscillation or unstable phenomena, which arise when conventional linearization methods are applied to the mechanical systems. In the design the eigenvalues of the closed loop nonlinear system are assigned to desired locations and asymptotic stability of the system is guaranteed.
The design method is applied to an inverted pendulum system with moving weight. A simulation results show that the motion of the pendulum converges stably to its zero position when the crane is moved stepwisely.抄録全体を表示PDF形式でダウンロード (960K) -
牧野 俊昭, 松田 紀元, 入江 光弘, 沼田 成夫1990 年 26 巻 12 号 p. 1392-1398
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーIn the past few years, CIM and FA systems have progressed rapidly in industrial fields. Recently, rotary racks (RR) have been attracting attention as one of several material handling systems. Most notable is the remarkable increase in demand for multilevel RR systems which can store, transfer and extract light load parts. This type of RR provides a range of automatic warehouse equipment which reduce cycle-time for more systematic performance.
However, this results in an increase in cost. Also, the trend toward handling high densities and large capacities will make high speed (50m/min) inevitable as a result of the extended length of RR (30∼50m).
In response to these needs, pendulum mechanisms have been developed. Centrifugal action is reduced in the rotary area, preventing the bucket from sliding outward. These RR are capable of travelling at 50m/min.
Having experimentally determined the dynamic characteristics of RR at their sliding points, the authors established impact conditions between trays in the rotary area. They were thereby able to prevent the buckets from sliding outward, due to the high speed twinrotary rack mechanism, and to provide space saving qualities.
In this paper, problems with the conventional method, and the dynamic characteristics of a high speed twin-rotary mechanism, are reported.抄録全体を表示PDF形式でダウンロード (2428K) -
川田 誠一, 増淵 正美1990 年 26 巻 12 号 p. 1399-1405
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーThe mathematical model of a semi-batch polymerization reactor is derived by considering the basic equations of reaction rate, mass balances and energy balances. Experimental result confirmed the justification of this model. The model still has several unknown parameters. Then the sliding-mode control strategy based on the mixer model is used. It is shown that this control system has good dynamic response and robustness to parameter deviations. Then, it is confirmed in the production reactor that this control strategy shows the effective responses and robustness.抄録全体を表示PDF形式でダウンロード (897K) -
辻 敏夫, 高橋 利彰, 伊藤 宏司1990 年 26 巻 12 号 p. 1406-1413
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーCompliance control is one of the most effective control methods for manipulators in contact with their environments. In the present paper, we argue that kinematic redundancy of the manipulators should be positively utilized in terms of the compliance control. Although it is widely recognized that redundancy represents a key towards design, control and task planning of more versatile manipulators, no previous investigations of the compliance control have taken account of advantages of kinematic redundancy.
This paper proposes a new method called multi-point compliance control which is able to regulate the compliance of several points on the manipulator's links as well as the end-point compliance utilizing kinematic redundancy. First of all, we define those points on the manipulator's links as vitrual end-points, and formalize kinematic relationships between the joint compliance and the virtual end-point compliance. We then point out that the joint redundancy of the manipulator decreases as the number of the virtual end-points is increased, and the manipulator finally becomes over-constrained. The method presented here can give the optimal solution for both the redundant and over-constrained cases and can assign the order of priority to each end-point according to the given task. Finally, it is shown that the multi-point compliance control can regulate compliance of the virtual end-points for obstacle avoidance while controlling the actual end-point compliance for the given task.抄録全体を表示PDF形式でダウンロード (990K) -
則次 俊郎, 和田 力, 浅野間 俊朗1990 年 26 巻 12 号 p. 1414-1420
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーOne of typical features of a pneumatic servo is a relatively high compliance due to the air compressibility. This feature may be useful for constrained tasks such as deburring, polishing and human assisting, in which a relation between the position and the force is important. If this relation of a pneumatic servo becomes actively controllable, it can be effectively applied to these tasks.
Recently, to control this relation an impedance control concept has been suggested. The impedance of overall control system depends on not only the manipulator but also the manipulated object of which characteristic is usually unknown. Therefore, to attain the desired impedance over an extensive operating conditions an adaptive control strategy is required. This paper proposes an impedance control method of a pneumatic servo, using a position-based approach where an adaptive position control system is constructed inside the force feedback loop.
The proposed impedance control method is applied to the experimental pneumatic servo system comprising a pneumatic cylinder, electro-pneumatic proportional control valves and a spring object. From some experiments, the following is verified. Both static stiffness and dynamic impedance of the pneumatic servo system can be independently regulated by setting a desired reference model. The impedance can be held constant for changes in system parameter such as object stiffness. Further, the instability problem for the low stiffness setting can be overcome by setting the high damping in the reference model. The proposed impedance control method may be fairly effective both to improve a pneumatic servo and to develop its new applications.抄録全体を表示PDF形式でダウンロード (967K) -
吉田 和哉, Dragomir NENCHEV, 梅谷 陽二1990 年 26 巻 12 号 p. 1421-1426
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents kinematic redundancy control for a space free-flying manipulator, in order to prove that a redundant degree of freedom is useful for controlling base satellite attitude during hand operation. At first, as a general discussion, the redundancy in space manipulation is defined and the arrangement of redundant actuators is discussed. Then, the serial-link redundant manipulator is investigated for two control tasks: satellite attitude-velocity control and manipulator handvelocity control. Inverse kinematic solutions, which satisfy both attitude and hand control tasks only through manipulator joint operation, are derived analytically. Computer simulations show that manipulator and satellite motion can be successfully coordinated by means of the proposed redundancy control, without usage of external devices for attitude control or propellant consumption by jet thrusters.抄録全体を表示PDF形式でダウンロード (800K) -
安部 惠介, 築山 誠1990 年 26 巻 12 号 p. 1427-1434
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーRecently consumer needs become more and more various and they require fiexible transportation systems in physical distribution as well as flexible manufacturing systems in production.
In this paper, we propose an efficient method for road transportation scheduling, which combines a knowledge base system with optimization algorithms.
We consider the problem to make a schedule for road transportation between cities. This is a large scale combinatorial problem and constraints are not fixed but flexibly changed.
The basic approaches to this problem are considered to be as follows.
1) Mathematical programming approach
2) Knowledge engineering approach
It is not guaranteed that a mathematical programming method can be applied when constraints are changed. In knowledge engineering approach, it is difficult to acquire useful knowledges. Considering these things, we construct a scheduling method which combines knowledge bases and optimization algorithms. Knowledge bases describe the constraints and produce candidates of solution by checking the feasibility of them. The solution space generated by the knowledge bases is efficiently searched by optimization algorithms. The proposed method makes it possible to get near optimal solutions for large scale problems in short time.
The schedule can be easily modified by a planner in the process of generating solution candidates. When constraints are changed, this method can be applied only by modifying the knowledge bases.抄録全体を表示PDF形式でダウンロード (1142K) -
登尾 啓史, 渡辺 元彦, 藤井 剛1990 年 26 巻 12 号 p. 1435-1442
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a feasible motionplanning algorithm of robotic manipulator without any pre-processing for the manipulator and its obstacles. The algorithm selects a feasible sequence of collision-free motions fast while expanding a graph adaptively in the implicit configuration joint-space. In the configuration graph, each arc represents an angle difference of the manipulator joint and therefore some arc sequence represents a continuous sequence of robot motions. Thus the algorithm can make a continuous sequence of collision-free motions surely. Furthermore the algorithm expands the configuration graph in only space which is to be cluttered in the implicit configuration joint-space and also is needed to select a collision-free sequence between the initial and target positions/orientations. Thus the algorithm keeps the configuration graph with small size, and in result it selects fast a collision-free sequence from the configuration graph, whose shape is to be simple enough to move the manipulator in practical.抄録全体を表示PDF形式でダウンロード (1146K) -
三浦 真樹, 亀山 充隆, 樋口 龍雄1990 年 26 巻 12 号 p. 1443-1448
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents highly parallel multiprocessing system for solution of simultaneous linear equations. The parallel processing system can be naturally discussed based on the concept of discrete-time neural network. Using an algorithm similar to the steepest descent method the system always gives optimal solution of simultaneous linear equations since the state space has no local minima.
The corresponding multiprocessor system is efficiently constructed using ring interconnection network. The practical performance is evaluated by the implementation to demonstrate its advantage.抄録全体を表示PDF形式でダウンロード (1295K) -
横瀬 宏, 横瀬 義雄1990 年 26 巻 12 号 p. 1449-1451
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーA method for estimating maximum value on the fundamental component of AC voltages in an instant by using an instantaneous value and a gradient value of the voltage is proposed.
An image point method used here indicats that the maximum value can be estimated with high accuracy.抄録全体を表示PDF形式でダウンロード (272K) -
中川 貴1990 年 26 巻 12 号 p. 1452-1454
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a method to obtain stable and wide-spread images of imprinted patterns; illuminating the imprinted surface with light which is equivalently a sum of rays each converging after mirror-reflection onto different points uniformly distributed around the camera lens.抄録全体を表示PDF形式でダウンロード (428K) -
須田 信英, 万 柏平1990 年 26 巻 12 号 p. 1455-1457
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper extends the graph approach for evaluating the orders of the infinite zeros of structured state space systems to structured descriptor systems. For the latter, not only infinite zeros but also infinite poles may exist. By introducing integration and differentiation nodes and defining a new index of pass in the system signal flow graph, it is found that the infinite poles and zeros are easily obtained from the graph, and that the nesting property is also applicable.抄録全体を表示PDF形式でダウンロード (428K) -
江上 正, 漆畑 真吾, 土谷 武士1990 年 26 巻 12 号 p. 1458-1460
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーSystematical design method of switching pattern of PWM inverter and induction motor system is proposed on the basis of system control theory. In this method, control system can be designed in consideration of mutual influence of these elements.抄録全体を表示PDF形式でダウンロード (394K) -
大明 準治, 足立 修一1990 年 26 巻 12 号 p. 1461-1463
発行日: 1990/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new method which can simultaneously identify the frequency response and physical parameters of a robot arm from the same input-output data using decimation technique. The efficiency of the proposed method is confirmed through some experiments.抄録全体を表示PDF形式でダウンロード (913K)
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