巻号一覧
26 巻, 6 号
選択された号の論文の18件中1～18を表示しています
- |<
- <
- 1
- >
- >|
-
池田 裕二, 中島 健, 細川 茂雄, 松本 隆一1990 年 26 巻 6 号 p. 605-611
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーAlthough fiber LDVs have been developed for their flexibility and easy handling, the performance of the fiber LDVs developed and commercialized so far is inferior to that of conventional fixed-type LDVs. The smaller the diameter of the LDV probe is, the worse the quality of its measurement volume becomes. This is because that the diameter of the output beam from the fiber is so small that it requires a beam expander to improve the quality of the measurement volume; however, the use of a beam expander makes the adjustment complex and the probe diameter undesirably large. We have developed a small fiber LDV probe including a beam expander with a perforated lens, successfully improving the measurement volume quality. The SN ratio of the developed FLDV was ten times as much as that of the conventional fiber LDV. In order to achieve a high launching efficiency of the laser beam into a fiber, a single lens having a desirable focal length was adopted. The positioning of the beam spot into the fiber core was done by means of a tilting mechanism of high resolution of 0.3μm. The transmitting efficiency of 80% was performed. The porformance of the LDV probe was examined by measuring both the tangential velocity of the rotating disk and the longitudinal velocity profiles of water in a pipe. The results show an excellent performance of the fiber LDV. The use of the perforated lens as a space filter enables us to measure the velocity close to the wall (0.5mm), even in the condition that the half of the measurement volume is formed in the wall.抄録全体を表示PDF形式でダウンロード (1391K) -
岡田 徳次, Ulrich REMBOLD1990 年 26 巻 6 号 p. 612-619
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーA newly developped proximity sensor by using a spiral-light emitting mechanism is described, A light coming from a point source of light through a slit which is bored on a circular disk becomes spiral while the disk is rotated cyclically by a motor. The spirallight emitting mechanism makes it possible to measure a distance of an object continuously since the distance is determined by measuring a repetitive time when a reflected light comes from the object to an photodiode. Design of a slit profile is discussed to make the signal processing simple. The experimental results are shown to prove the usefulness of the profile.
This sensor is characterized by the fact that the distance measurement is not affected by the attributes of the object like a diffusibility or reflexibility.抄録全体を表示PDF形式でダウンロード (2255K) -
岡本 裕幸, 山田 勝紀, 米澤 洋1990 年 26 巻 6 号 p. 620-625
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーAn Image Processing System (IPS) for an automatic Surface Plate (SP) scraper system has been studied. First, the SP was took a red lead print, then the IPS made two images of the SP using a monochromatic ITV camera. One image was photographed through a blue filter glass, another was photographed through an orange filter glass. Secondly, values of densities of the image was subtracted from another. And the subtracted image was binalized at a threshold level which was determined by the new preprocess and OTSU method. Thus the red lead area was separated with a base area of the SP. Thirdly, the IPS calculated positions to be scrape in consideration of characteristics of a scrape unit and a robot control system.
Before introduction of the IPS, it took 3 days to determine the scrape positions, but now it takes only 20min (max). As the IPS automatically processes all jobs except photographing, a beginner can treat the IPS.抄録全体を表示PDF形式でダウンロード (1971K) -
水野 正志, 小島 勝洋, 加藤 哲男1990 年 26 巻 6 号 p. 626-633
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper reports the results of feasibility test on detection of inner defects of hot steel using electro-magnetic ultrasonic transducer.
Experimental electro-magnetic ultrasonic transducer has been manufactured and basic characteristics were investigated. The transmission ability of transmitter which consists of transmission coil, high voltage power supply and discharge gap, was about equal to piezoelectric transducer, and the receiving ability of receiver, which consists of magnetic circuit, receiving coil and receiving circuit, was 46dB less than piezo-electric transducer.
Artificial defect detection test in hot condition (1, 000°C) was done by this transducer and experimental furnace. Consequently, defect echo of flat bottom hole with 5.6mm diameter and 90mm depth was obtained in the case of SUS 304 steel, but even bottom echo was not obtained in the case of S 25 C steel.
By these results and study of relation between grain size of steel and ultrasonic attenuation, the conclusion was drawn out that even in hot condition, the defects corresponding to horizontal hole with 2mm diameter can be detected, if the tested steel is rolled and has average grain size less than about 0.12mm.抄録全体を表示PDF形式でダウンロード (2889K) -
山田 範秀, 藤村 貞夫, 濱本 哲1990 年 26 巻 6 号 p. 634-640
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーWe have previously proposed a multiple-reflection method to determine the true temperature and emissivity simultaneously, employing a half-mirror to induce the multiple-reflection.
In this paper, a multi-color type of the method is proposed.
This type reduces the error caused by an incomplete multiple-reflection when the distance between half-mirror and the surface is unnegligibly large in comparison with the sizes of them.
The effect of this type is empirically confirmed for the samples with emissivities ranged from 0.06 to 0.91 and temperatures ranged from 300°C to 400°C. The error in the estimation is reduced to smaller than 10°C.
The condition related to the number of solutions are analyzed for two-color type. The stability in the estimation is also analyzed and we clarify that it becomes better when the ratio of (wavelength×reflectance⁄emissivity)'s between two colors is more different from unit.抄録全体を表示PDF形式でダウンロード (876K) -
佐伯 正美1990 年 26 巻 6 号 p. 641-647
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a new LTR method which recovers a robustness property at plant inputs to a specified degree by a minimal order observer. The result of this paper is an ex tension of the previous result for full order observers reported by the author. In LQG/LTR procedure a design problem of controllers for which the sequence of the open loop transfer functions of an LQG regulator converges to that of the corresponding LQ regulator is examined, but for non-minimum phase plant this asymptotic property does not hold and the effectiveness of the procedure is not clear. In this paper a difference of those transfer functions is estimated quantitatively by H∞ norm and a design problem of an observer which makes the norm less than a specified value is proposed. This problem can be reduced to an H∞ optimal control problem by state feedback. This H∞ optimal control has been solved, but a different proof is given.抄録全体を表示PDF形式でダウンロード (864K) -
岩井 善太, 石飛 光章, 水本 郁朗1990 年 26 巻 6 号 p. 648-655
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper proves the stability of an adaptive pole placement control system with a continuous-time weighted least squares algorithm as a parameter identification scheme.
Pole placement control using an adaptive observer is a natural extention of the usual state feedback control technique and the design concept of this controller seems to be simple. However, the principal difficulty is the complexity of the proof of the stability.
Because the separation theorem cannot be applied and the global stability of the closedloop system closely depends on the structure of the parameter adjustment law.
In this paper, the normalizing factor and the perturbation term into the parameter identification algorithm are introduced in order to ensure stability.
The boundedness of the input and output is proved without assuming the persistently exciting condition. It is also proved that the desired adaptive pole placement can be achieved under the persistently exciting condition.抄録全体を表示PDF形式でダウンロード (825K) -
山本 透, 石原 弘一, 大松 繁1990 年 26 巻 6 号 p. 656-661
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーA design of generalized minimum variance controller with a quadratic cost function by Clarke, et al. is a useful method for non-minimum-phase systems. In this method, it is important to consider how to select the parameters in the cost function from viewpoints of stability of the closed-loop system and the steady state offset.
In this paper, first, we note that this system contains a partial feedback compensator of controller in the closed-loop and a precompensator. In this case, both of these compensators have the same design polynomial in these denominator polynomials. Therefore, if we introduce the transfer function of the partial feedback compensator so as to stabilize the closed-loop, it is impossible to increase the freedom of the precompensator. Thus, we construct a generalized minimum variance controller to design these compensators independently. Based on Allidina, et al. 's method, the poles of the closed-loop system have been placed and then the transfer function of the pre-Compensator is determined such that the overshoot becomes small and settling-time is short as much as possible. Finally, we illustrate the numerical simulation results to show the effectiveness.抄録全体を表示PDF形式でダウンロード (738K) -
宮里 義彦1990 年 26 巻 6 号 p. 662-668
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーThe model reference adaptive control problems for lumped parameter systems have been actively investigated by many researchers. In those studies, the degrees of adaptive controllers are closely related to the degrees of controlled processes, so their results are restricted to the cases where the processes are finite dimensional systems. However many processes (such as chemical processes and heat processes, etc.) are modelled as distributed parameter systems, whose degrees are infinite. Then the usual model reference adaptive control methods for lumped parameter systems cannot be directly applied to those distributed parameter systems.
In the present paper, we consider the problems of contsructing model reference adaptive control systems for distributed parameter systems of parabolic type. Although the controlled processes are infinite dimensional systems, the proposed control systems can be realized by using finite dimensional controllers instead of infinite dimensional ones. It is shown that the resulting control systems are uniformly bounded for any bounded reference signals which the output of the process must follow, and that the tracking error converges to a small residual set whose magnitude can be determined freely.
Finally, some simulation results show the effectiveness and simplicity of the proposed methods.抄録全体を表示PDF形式でダウンロード (783K) -
談 湘陵, 池田 雅夫1990 年 26 巻 6 号 p. 669-676
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーA decentralized servomechanism problem is considered, which is suitable to expanding construction of large-scale systems. It is assumed that a large-scale system is constructed by adding new subsystems one after another. When we connect a new subsystem to an already interconnected portion, we design a local controller for the new subsystem so that both the subsystem and the resultant expanded system behave as servosystems. We present sufficient conditions on subsystems for the existence of such controllers. The conditions are obtained by applying the proper stable factorization approach, and are expressed in terms of solvability of linear matrix equations over the ring of stable rational matrices.抄録全体を表示PDF形式でダウンロード (940K) -
玄 英澤, 北森 俊行1990 年 26 巻 6 号 p. 677-684
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with the repetitive control system which can deal with more than one periodic signals. To obtain such system we adopt a sequence of periodic signal generators as an internal model and stabilize the augmented system consisting of the generators and the plant. As a result, a design method is obtained for the repetitive control system with multiple periodic signal generators. The stabilizing method is based upon the finite spectrum assignment method in time-delay systems. The proposed repetitive control system can be applied, for example, to achieve both tracking to a periodic reference signal and elimination of a periodic disturbance When their periods are different.抄録全体を表示PDF形式でダウンロード (957K) -
佐々木 忍1990 年 26 巻 6 号 p. 685-691
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper is presented a useful algorithm for solving the inverse kinematics of six-link manipulators, for which an expression related to the hand position is replaced with a set of equations for a simple optimization problem with an objective function composed of position deviations. The key point in this procedure is to depart from a custamary practice of treating entire articulated variables at a time. That is, six variables are formally divided into three independent and three dependent variables. The introduction of performance index including the first three variables and its minimization technique are considered as an alternative course for obtaining desired solutions.
The results of computer simulation show that numerical solutions are sufficiently reliable under the assumption of linearization. Furthermore, for practical purposes, attempts are made to apply it effectively to the nonlinear domain paying major attention to appropriate corrections and improvements of angular displacements. Thereby, the convergence of solutions were confirmed even for considerably large initial displacements, admitting that correction itself for the unknown nonlinear characteristics must depend on the rule of thumb exclusively at the current state-of-the art. In principle, the present approach is applicable to all types of six link manipulator with rotational and revolute joints.抄録全体を表示PDF形式でダウンロード (889K) -
水野 毅, 荒木 獻次1990 年 26 巻 6 号 p. 692-697
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーThe theory of output regulation with internal stability is applied in designing the control system of an active dynamic vibration absorber system. In the designed control system the vibration of a main mass is not only attenuated well over a whole range of frequencies by state feedback control but also reduced to zero at specified frequencies. In order to realize the latter function the disturbance force acting on the main mass is estimated by an observer and the control input is constructed based upon the estimation. The number of the specified frequencies and their values are able to be set in desired ways. Effectiveness of the control method is confirmed by several numerical simulations on transient responses. Moreover, in order to evaluate frequency characteristics, the transfer function of the designed control system is determined in a fully analytical form from the state variable model which was used in the process of designing. Studies on the frequency characteristics show that an active dynamic vibration absorber can realize various high-performance vibration control by using the proposed control method.抄録全体を表示PDF形式でダウンロード (720K) -
基本概念岩城 敏1990 年 26 巻 6 号 p. 698-705
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーIn a compliance control of a serial link manipulator, the independent joint control approach is quite important because its features include: (1) simple SISO controllers, (2) asymptotical stability for arbitrary PD control gain in an arbitrary arm configuration, (3) colocated sensors and actuators. However this approach inherently has the fatal problem that end-point compliance can not arbitrarily be set according to the arm configuration. This paper describes a new method called “Stable Negative Compliance Control (SNCC)”, based on the independent joint control approach, whereby arbitrary end-point compliance can be achieved in an arbitrary arm configuration. First, the conventional idea is reviewed and then the fatal problem mentioned above is clarified by comparing the other methods, such as Active Stiffness Control (J.K. Salisbury) or Direct Compliance Control (DCC). Then a new compliance concept called “stable negative compliance (SNC)”, based on the characteristics of a nonminimum phase shift system, is introduced. This is the key technology involved in this new method. Next, employing a normal 2nd order actuator, the necessary and sufficient condition for a dynamic compensator realizing SNC is given in a frequency domain, and some practical control system examples for a normal robot actuator are shown. Finally, the proposed method is applied to a planar 3-link arm and the successful simulation results are also presented.抄録全体を表示PDF形式でダウンロード (1041K) -
動的フレーム表現とその上での推論石田 好輝, 得丸 英勝1990 年 26 巻 6 号 p. 706-713
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーDynamic memory organization has been proposed by R.C. Schank which allows content addressing in a case base. Case-based reasoning on the dynamic memory proceeds in the following two steps: (1) For the problem solving of the given case, find the nearest cases in the case-base, (2) transform the cases so that the information in the case is applicable to the current case.
In this paper, we first introduce the mechanism to drive the dynamic organization of the memory. In the memory, knowledge is represented by the frame which is structured to maintain the number of slots small by sharing the common attribute-values among cases. An architecture for case-based diagnosis is presented, using the memory organization where diagnostic cases are indexed both by the symptoms and by the causal relation among symptoms. The program CAOS (CAse Operation System) is implemented for the process diagnosis domain.抄録全体を表示PDF形式でダウンロード (1130K) -
出口 光一郎, 秋場 育子1990 年 26 巻 6 号 p. 714-720
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーFrom two time-sequential images of a moving object obtained by fixed monocular camera, three dimensional shape of the object can be reconstructed based on the same basic principle as of stereo-scopies. And a linear algorithm for this problem has been presented. But, the algorithm is known not to give solutions for some cases, and their conditions have not been clarified.
This paper presents the condition, which tells that all corresponding points used in the linear algorithm and camera points must not lie on any quadratic surface in the three dimensional space. This fact also tells that, by selecting and using some other points off the surface for the corresponding points, such a incapable case can be avoided. It will promise the usefulness of the monocular stereo-scopy method and its linear algorithm.抄録全体を表示PDF形式でダウンロード (1361K) -
金原 昭臣, 黒須 茂, 宮坂 房千加, 神村 一幸1990 年 26 巻 6 号 p. 721-728
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーConventional commercial building air conditioning systems typically employ heat storage systems that have sufficient heat source capacity to achieve the utilization of recovered waste heat and night electric power, and to meet peak instantaneous loads. In light of the increasing popularity of these systems, a need exists for the prediction of the hourly load profiles of air conditioning system took place in a systematic fashion.
This work is concerned with a prediction problem for the hourly loads by taking account the Autoregressive Integrated Moving Average (ARIMA) model using the past load data. This is a modified form of the ARMA model. Some of technical considerations are examined.
At the end of each day (at 22:00), the modelling is first done for a set of observed data by taking into account the ARIMA model. In this modelling procedure, the historical load profile data are directly used but the ambient temperature profile data are not used. Next, this ARIMA model obtained above is used to predict the hourly load for the next day. The load profiles are updated every hour on the basis of the newly obtained load data for a given clock hour.
The differences between predicted and actual load are examined for days 100 (2544 observations) from February to July in 1987. There is generally good agreement between predicted and actual loads. The strategy algorithms are now executed to update the nominal operation of the heat storage system to meet the updated load profile for the subsequent hours.抄録全体を表示PDF形式でダウンロード (933K) -
戸恒 明, 松波 道夫, 坂本 正文1990 年 26 巻 6 号 p. 729-731
発行日: 1990/06/30
公開日: 2009/03/27
ジャーナル フリーA method of damping by back phasing is attemped for improving the transient response of step motors with two-phase-on excitation.
The effects of the timing of the back-phase pulsing on the transient response of step motors are investigated.抄録全体を表示PDF形式でダウンロード (334K)
- |<
- <
- 1
- >
- >|