巻号一覧
26 巻, 5 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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粟 春晨, 内山 勝, 箱守 京次郎1990 年 26 巻 5 号 p. 487-493
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーRecently, the study on the model-based method of the measurement of unsteady pipe flow has developed rapidly and a lot of fruitful applications have been reported. These applications, however, are all limited to the measurement of unsteady laminar flow, although the application to unsteady turbulent flow is strongly needed in practice. For this reason, not only is it necessary to make the model-based measurement method applicable for unsteady turbulent pipe flow, but also is it more needed to build up a unified model-based measurement method which is applicable for both laminar and turbulent flows without any special distinctions.The aim of this paper is to present a unified model-based method to estimate velocity profiles as well as flow rates for both the turbulent and the laminar flows in a pipe.In this paper, a dynamic model of fluid in the pipe including a time-varying unknown parameter is derived by, first, considering a distributed parameter system governing the flow with suitable expression for eddy viscosity, and then lumping it by using the finite element method. The extended Kalman filtering technique is applied to the model to yield a nonlinear estimator for simultaneous estimation of the unknown parameter and the velocity profile. Experiments using a beam scanning laser-Doppler velocimeter (LDV) ara done to verify the proposed estimator. Successful results show that the method is effective not only for turbulent flow but also for laminar flow.抄録全体を表示PDF形式でダウンロード (898K) -
粟 春晨, 内山 勝, 箱守 京次郎1990 年 26 巻 5 号 p. 494-499
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーIt is well known that turbulence models based on the eddy viscosity hypothesis are those to formulate the eddy viscosity and each model involves one or more undetermined coefficients. In general, the undetermined coefficients take different values if the conditions of the flow are different, and have to be prescribed with the aid of empirical information. However, the turbulence models derived from the eddy viscosity hypothesis are subject to specified steady flows. Therefore, it is hard to say that whether or not the prediction of unsteady turbulent flow by those models describe the real flow. For this reason, it is important to develop a dynamic measurement method of the eddy viscosity of turbulent flow.
In this paper, we present a model-based method for measurement of the eddy viscosity of unsteady turbulent flow in a pipe. First, we lump a modified Navier-Stokes' equation which includes the eddy viscosity as an unknown time-and space-varying parameter by using the finite element method and derive a finite-dimensional dynamic model. Then, we set up an algorithm for estimating the eddy viscosity by applying the extended Kalman filtering techniques Finally, we verify the validity of the algorithm by carrying out many numerical simulations and experiments for sinusoidally changing turbulent flow. The results show that the proposed method is effective.抄録全体を表示PDF形式でダウンロード (735K) -
清水 勲1990 年 26 巻 5 号 p. 500-504
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーA new technique has been developed to measure the shape, size, number density and position of objects simultaneously and instantaneously, by a single exposure hologram. This new technique was investigated theoretically and experimentally to search the possibility and conditions for recognizing shapes independent of the size and the inclination of objects. The permitted limits of size and inclination of objects recognized as the same shape and the same size as the master objects are clarified experimentally. The shapes and those positions of objects were simultaneously and instantaneously identified by a new Multiplexed Matched Spatial Filter.抄録全体を表示PDF形式でダウンロード (1527K) -
陶山 貢市, 玄 英澤, 北森 俊行1990 年 26 巻 5 号 p. 505-512
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new framework for analyzing the robust stability against errors in time-delays of linear feedback control systems for scalar plants with non-commensurate time-delays.
This paper studies the robust stability in the frequency domain with H∞ norm through the following three steps.
(1) To define a function, whose norm can be used as a scale for an error in a time-delay.
(2) To obtain a sufficient stability condition using the scale.
(3) To derive stability regions for actual time-delays from the condition obtained in the (2).抄録全体を表示PDF形式でダウンロード (944K) -
橋本 洋志, 秋月 影雄1990 年 26 巻 5 号 p. 513-520
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper establishes a.s. global convergence of the implicit self-tuning controller (STC) based on the least squares method for a SISO discrete linear stochastic system with colored disturbance and containing the general time-delay. The most extensive treatment of the problem of global convergence appears in the work of Ljung, but a question which concerns the boundedness of the system variables remains unanswered. To overcome this, the equivalent stochastic feedback system associated with the error equations of the STC is shown, and using a martingale convergence theorem and a strictly positive realness, its conditions for a.s. convergence are revealed. From the result, it is found for the STC that, with probability one, the STC scheme ensures under suitable conditions the system input and output are sample mean square bounded and the conditional mean square of a posteriori error achieves its minimum possible value. The results of this paper develop that studied by Ljung in respect to the general time-delay, weighting identification and a.s. global convergence. Fur thermore, it is shown that there is no necessity for monitoring the boundedness of the system variables in this analysis.抄録全体を表示PDF形式でダウンロード (992K) -
橋本 洋志, 大貫 秀明, 秋月 影雄1990 年 26 巻 5 号 p. 521-527
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーUp to now several implicit self-tuning control (STC) schemes for a SISO ARMAX system have been proposed. The analysis for the STC scheme based on the least squares method appears in the works of Ljung, and it depends upon an ordinary differential equation. In the analysis, however, a problem which concerns with the boundedness of the system variables remains unsolved. The analyses for the other STC schemes overcome the problem by using the martingale approach, but they have been individually established. All the schemes are in the same form in respect to how to generate the control input, not only to estimate a set of control law parameters. From this point of view, taking into account of error equations of the schemes, it is found that they can be equivalently represented by a stochastic feedback system with a linear time-invariant feedforward block and a linear time-varying feedback block.
This paper gives a unified approach to establish a.s. global convergence for a class of the implicit STC schemes for the minimum variance control. To work this, the equivalent stochastic feedback representation (ESFR) corresponding to the implicit STC is shown and its global convergence is established by using the martingale approach and a positive real condition. From this result of the ESFR, it is found that an STC which belongs to a class presented here is guaranteed in a.s. convergence under suitable conditions. Furthermore, a new STC scheme based on the stochastic approximation method which belongs to the class is proposed, and it is different from that studied by Goodwin. Comparing two schemes, it is pointed out that the proposed STC is more effective method for a system containg long time delay than that studied by Goodwin.抄録全体を表示PDF形式でダウンロード (879K) -
Ryohei TANUMA, Kosei SASAKI, Iwao MATSUNAGA1990 年 26 巻 5 号 p. 528-535
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper describes the study of a dissolved oxygen (DO) concentration control in an activated sludge process. The DO concentration at a specific point is controlled around the time-varying set point, which is so manipulated that the gain of the DO concentration with respect to the aeration air flow rate becomes maximum. A new discrete-time algorithm is developed for this control. This algorithm is based on high-pass filters characterized by the parallel configuration of a time lag and a moving average, a difference-form broken line fitting for the gain maximization, and an adaptive PI control, with which the DO concentration is controlled around the time-varying set point. Experiments in a pilot-scale plant show that this control algorithm performs satisfactorily to be applied in actual plants.抄録全体を表示PDF形式でダウンロード (875K) -
南田 勝宏, 山田 隆司, 利光 徹, 川本 隆治1990 年 26 巻 5 号 p. 536-543
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーWe developed a new system for dulling work roll for cold rolled steel sheets used for outer panels for automobiles, decorative outer plates for electric appliances and so on.
In this process, several pulsed laser beams generated by several Q-switched Nd-YAG lasers produce each small crater with rim around it. And the roughness on the surface of the dull roll consists of countless small craters, because this process has a longitudinal scanning system of the laser processing head and a roll rotation system.
The main features of the system are: (1) special way of controlling RF power to Qswitch to change the peak power, pulse duration and low level CW power fit the dull condition, (2) to combined two or more pulse beams to control the profile of dull craters, (3) automatic focusing processing head by means of measuring laser plasma due to the interaction between the laser beam, the metal vapor and the assist gas.
Immediate advantages of this process are: (1) time-saving (very high repetition rate of pulses by Q-switch), (2) stable operation (by auto-focusing head with out mechanical chopper to make pulse beam) and (3) costsaving.
This newly developed system is effectively applied to the production of cold rolled steel sheets.抄録全体を表示PDF形式でダウンロード (2382K) -
渡辺 嘉二郎, 家入 義郎, 岡田 雄二郎, 倉持 昭彦1990 年 26 巻 5 号 p. 544-549
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーKnowledge of the absolute speed of running direction of an automobile yields simple control rule of the anti-skid breaking system (ABS). The speed of the automobile calculated by the wheel speed includes the abrupt non-stational error due to slip and skid of wheels and the biased error due to the steady state slip. These errors lead to difficulty to develop the ABS. This paper describes how to accurately estimate the absolute speed of the mobiles from the acceleration in running direction of mobiles corrupted by high frequency noise and the erroneous wheel speed measurements.
Here, we employ the extended Kalman filter to reduce the high frequency noises in the acceleration measurement and the biased error in the wheel speed measurement. Further we employ a strategy to switch the values of the Kalman filter coefficient by simple rules to compensate abrupt non-stational errors in the wheel speed measurement. The rules are constructed by a simple knowledge such that when the skid or slip occurs, the wight of the acceleration measurement is set heavier and that of wheel speed measurement is set lighter.
Simulations and model experiment carried out to verify the proposed strategy demonstrated that the strategy could estimate accurate absolute speed even when the wheel had slip or skid.抄録全体を表示PDF形式でダウンロード (821K) -
小俣 透1990 年 26 巻 5 号 p. 550-556
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーA multifingered hand is more capable of manipulating an object than a typical one degree of freedom gripper. The latter requires parallel faces of an object, while the former dose not. Each finger of a multifingered hand can change its fingertip positions as far as geometry allows.
This also implies much sophisticated planning is required to determine fingertip positions appropriate to a given task. Most studies related to a grasp so far, however, pay little attention to this problem.
This paper proposes an algorithm that computes fingertip positions from a statics point of view in two dimensions. Since a moment equilibrium equation contains the product of position and force, taking fingertip positions as a variable together with fingertip forces involves nonlinear constraints which are hard to solve. We show that the effect of changing a fingertip position on an edge is statically equivalent to the effect of changing fingertip forces of two fingers fixed at both ends. This equivalency reduces the problem to a nonlinear programming problem that can be solved the same way as linear programming. The mutal dependency of two or more fingers is also examined.抄録全体を表示PDF形式でダウンロード (908K) -
辻 敏夫, 高橋 利彰, 伊藤 宏司1990 年 26 巻 5 号 p. 557-563
発行日: 1990/05/31
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 force control of manipulators. Servo gains associated with the joints contribute to end-point compliance of the manipulator. This presents an inverse problem: adjusting the servo gains at the joints so as to achieve a desired end-point compliance.
The present paper proposes a regulation method of the joint compliance (or stiffness) utilizing redundant joint degrees of freedom. First of all, the general solution of the joint compliance satisfying the desired end-point compliance is derived, and it is shown that the transformation of the end-point compliance to the joint compliance becomes an under-constrained problem. Then, a criterion which places the joint compliance close to the desired one is considered. The solution gives the optimal joint compliance in the least squared sense while satisfying the required end-point compliance. In order to confirm the validity of our method, computer simulations are performed for several arms and it is shown that the compliance about the specified joint can be regulated by the weighting matrix. The joint compliance regulation method presented in this paper will be useful in terms of compliance control of arms with large redundancy such as active cord manipulators, robotic hands and human arms.抄録全体を表示PDF形式でダウンロード (855K) -
奥田 徹示, 古殿 幸雄, 浅居 喜代治1990 年 26 巻 5 号 p. 564-571
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーIn practice, there are cases that observations of objects in a population are fuzzy. It is not desirable for the statistical inference to discard the fuzzy data from fuzzy observations or to ignore the effect of fuzziness by reason of the complexity of the treatment of fuzziness.
In this paper, the fuzzy observation with human vagueness on a probability space is considered. The correction formulae eliminating the effect of fuzziness in orderto estimate actual moments and actual cumulants of a population are given, when the moments and cumulants are calculated from fuzzy data obtained by fuzzy observations. Furthermore, the validity of the corrections is investigated by the simulation and the experiment on fuzzy observations.抄録全体を表示PDF形式でダウンロード (969K) -
横小路 泰義, 吉川 恒夫1990 年 26 巻 5 号 p. 572-579
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーManeuverability of master-slave telemanipulation systems is difficult to evaluate exactly, since it seems an intuitive sense for human operators. However, if we could not evaluate the system performance quantitatively, it would be impossible to decide what kind of master-slave system is desirable and also impossible to compare the performance among the several control schemes. In this paper, we propose a way to evaluate the maneuverability of master-slave telemanipulation systems. We first analyze an one degree-of-freedom system considering the operator and object dynamics. Secondly, we define some ideal responses of master-slave system and derive the conditions to achieve these responses. Lastly, a quantitative performance index is given in order to evaluate the maneuverability of the system. This index examines how close the actual response is to the ideal one. A numerical example is shown where three conventional control schemes are evaluated by the proposed performance index.抄録全体を表示PDF形式でダウンロード (1004K) -
山下 恭司, 平野 亮一, 石橋 頼幸, 内田 憲男1990 年 26 巻 5 号 p. 580-582
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーA method of setting a gap between two platelike objects is presented by using dual diffraction gratings. A formula is obtained by analytic calculation to prevent multiple reflections between those objects and improve the accuracy of positioning at the gap.抄録全体を表示PDF形式でダウンロード (245K) -
大塚 正男, 井出 英人1990 年 26 巻 5 号 p. 583-585
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーWe have designed an electronic correlation operator using the ULM (Ultrasonic Light Modulator). Three procedures; signal shifting, multiplications, and integration, are performed optically. The developed system was successfully used to measure plasma viscosity.抄録全体を表示PDF形式でダウンロード (1562K) -
伊藤 俊治, 伊藤 正美1990 年 26 巻 5 号 p. 586-588
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーAs one of method measuring straightness shape, we've proposed an application of identification technique and Kalman filter. The system of this method consists of a computer and three distance sensors arranged in a row at regular intervals on the sensors head.
As the head shifts one sensor's span, the distance values to the surface are aquired simultaneously by three sensors.
By using identification technique and Kalman filter, we've compensated data errors which are mixed to these distance values.抄録全体を表示PDF形式でダウンロード (342K) -
太田 快人, 前田 肇, 児玉 慎三1990 年 26 巻 5 号 p. 589-591
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper considers the problem of realization of multi-input multi-output transfer functions with nonnegative constraints on system states. It is shown that the result for singleinput single-output systems can be extended to the present framework.抄録全体を表示PDF形式でダウンロード (334K) -
萩原 朋道, 荒木 光彦1990 年 26 巻 5 号 p. 592-594
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper certifies validity of the use of discretized quadratic performance index from the viewpoint of detectability with respect to discretized state transition matrix and the square root of discretized weighting matrix. It is shown that the pair of these two discretized matrices is detectable for any sampling period if the pair of the original, continuous-time counterparts is detectable and if a zero-order hold is employed.抄録全体を表示PDF形式でダウンロード (336K) -
堂田 周治郎, 高森 年1990 年 26 巻 5 号 p. 595-597
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーThe switching of an attached jet by light was tested to develop a photofluidic interface. By applying an optical power to the supply nozzle edge of the device with aspect ratio of 2∼3, an attached jet can be switched.抄録全体を表示PDF形式でダウンロード (433K) -
青島 伸一, 辻村 健, 藪田 哲郎1990 年 26 巻 5 号 p. 598-600
発行日: 1990/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper first described a method of a design for a miniature mobile robot in a thin tube. Next, optimal position for elastic fins of this robot was investigated to design easily.抄録全体を表示PDF形式でダウンロード (398K)
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