巻号一覧
27 巻, 5 号
選択された号の論文の17件中1～17を表示しています
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木村 一郎, 河野 吉晴, 高森 年1991 年 27 巻 5 号 p. 497-502
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーA measurement system of three-dimensional velocity vectors is essential in analyzing a highly complex flow field.
This paper presents a new measurement method of three-dimensional velocity vectors in a flow field using a spatio-temporal correlation method. It is an advanced method for two-dimensional velocity vector measurement using correlation. The method needs two tracer particle images observed at a short distance in the flow direction. Each of the two images consists of frame time series. The two-dimensional information on velocity can be obtained using spatial correlation. In addition, the other one-dimensional information on velocity can be obtained using temporal correlation. Consequently, a three-dimensional velocity vector distribution is obtained by calculating spatio-temporal correlation between the two images. This system is actually applied to a steady flow field and the measurement uncertainty is evaluated.
In comparison with a conventional stereoscopic measurement method, in which each tracer is tracked in a three-dimensional space, there are the following advantages in this method.
1) The method has wide applications to flow visualization techniques because each tracer particle is not tracked but an image of tracer particles is observed as a spatial pattern.
2) A spatially high density vector distribution is obtained on a flow section.
3) The method fundamentally needs not any known information on the flow characteristics.抄録全体を表示PDF形式でダウンロード (1825K) -
竹歳 修, 小林 圭二, 小西 亮介, 笹倉 博1991 年 27 巻 5 号 p. 503-508
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーNumerous detecting systems equipped with gas sensors of sintered powders are commercially available, and they are considerably used in usual domestic affairs. But it is difficult to give them good selectivity of gas species. In order to improve the selectivity, recent studies seem to be directed towards intelligent sensors. For example many researchers used simultaneously several sensors of having different characteristics for identification of the gas species. Their method is to discriminate the gas species from response pattern of the many gas sensors of different characteristics by using pattern recognition.
Considering the recent direction towards the intelligent sensors, we have introduced the discrimination method of gases by using fuzzy theory.
Noisy data obtained from the sensors are corresponded to a membership function and thus the Fuzzy discrimination is achieved. Following three performance indices were used, namely (1) gas concentration (2) output ratio of sensors and (3) distance from a characteristic curve. The gas discrimination is done by selecting a gas species which totally most satisfy these performance indices.
In order to test the usefulness of our present method, we have discriminated these gases by both computer simulation and experimental results for four gas species (methane, propane, city gas, hydrogen). The obtained results are as follows.
(1) Methane and propane among four gas species can be discriminated from the other gases.
(2) City gas, whose main component is H2, can not be discriminated from hydrogen.
The gas, which has distinctly different characteristics, can be discriminated from other gases in the present study. However, the gases having similar characteristics can not.抄録全体を表示PDF形式でダウンロード (701K) -
計測時間の短縮平 卯太郎1991 年 27 巻 5 号 p. 509-515
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーWe'v already proposed Serial Multi-Point Method (SMPM) for surface profile measurement.
This method is very powerful because the influences of the sensors head's fluctuations can be canceled completely and the accuracy is improved with only increasing the number of sensors.
But, the amount of calculation, calculation to make a pseudo inverse matrix, increases in accordance with the increases of sensors and measuring points. And it resulted in a longer measuring time.
In order to overcome such a weak point of SMPM, we'v invented a supplemental method to reduce the amount of calculation.
In so doing, we'v checked and eliminated needless calculations, and found a special characteristics of the square matrix to be inverted, characteristics specific to SMPM.
So, we'v established a recursive method to make an inverse matrix without using sweeping-out method upon a matrix of large size.
This recursive method is very effective to reduce the amount of calculation and to shorten a measuring time.
As the result, with our method newly proposed in this report, the amount of calculation become less than one tenth or one hundredth.
So, SMPM became more applicable to the time-strict purposes even if the number of measuring points varies diversely and we can't prepare the pseudo inverse matrix in advance.抄録全体を表示PDF形式でダウンロード (673K) -
杉本 隆夫, 川口 忠雄, 藤懸 洋一1991 年 27 巻 5 号 p. 516-523
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーThe steel making industries have been requiring for high speed and continuous making processes, and improving quality assurance for the products. Although rolling process have developed automated system, after rolling-treatment have not automated satisfactory in steel making processes. Because of difficulty to automate for detecting of the surface defects, measuring the size, measuring strengh of the products. But in recent progress, they have developed for automated procedure. But almost inspection of surface defects are assured by human visual inspection. This paper described about an inspection of surface defects for large section products (ie, wide flange beam, I shaped beam, sheet pile etc.) after rolling hot products. This system applied detecting temperature deviation produced by defect. The wavelength of detector is maximized to obtain the signal to noise ratio. The special designed optical attenuators, which composed simple shaped slits, have developed to compensate the peculiar temperature pattern due to the shape of cross section. The attenuators are located in the optical pathes between speciemen and the lens of ITV camera. The image processor takes only 66 milli seconds per frame to pick up the defect information in the obtained image.抄録全体を表示PDF形式でダウンロード (3240K) -
広瀬 武志1991 年 27 巻 5 号 p. 524-531
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーAn onboard measuring system of the location and orientation of an autonomous vehicle is presented in this paper. This system estimates the location and orientation of the vehicle on the real time basis, and by using this system, the accumulated error of the dead reckoning can be corrected.
The system consists of an onboard TV camera, signposts, a signpost detector and a microcomputer. The signpost are vertical cylinders and are put along the routes of the vehicle. Bar code patterns are printed on them. The signpost detector is composed of hard-wired logic circuits, and it can detect two signpost patterns in the field of view. The distances between the vehicle and two signposts are evaluated from their pattern widths in the image, and the microcomputer calculates the location of the vehicle on the fixed reference frame by the triangulation. The signpost detector also evaluates the relative angle between the signpost and the vehicle from the lateral position of the pattern in the image, and from this angle, the orientation of the vehicle is calculated.
Through the experiment, it was shown that the accurate location and orientation of the vehicle are obtained by this system. The processing time is 50ms and is enough for navigation of autonomous vehicles.抄録全体を表示PDF形式でダウンロード (2293K) -
円板条件の拡張北村 新三1991 年 27 巻 5 号 p. 532-537
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーFor fuzzy-rule based feedback control systems, a stability condition in the form of an extension of the circle criterion was presented. Nonlinear characteristic of a fuzzy controller with two inputs and one output variables may be restricted in an extended form of the sector condition. This leads to an absolute stability condition (or input-output stability condition) in the frequency domain with a multiplier depending on the form of transfer functions before the fuzzy controller. The condition covers stability problems for many classes of practical fuzzy control systems. Two numerical examples are given.抄録全体を表示PDF形式でダウンロード (1270K) -
舟橋 康行, 劉 賀平1991 年 27 巻 5 号 p. 538-545
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーIn this paper we propose a design method for the weighted minimum variance self-tuning controller with reduced output variance. This is achieved by introduction of a polynomial that gives freedom to controller parameters.
However, calculation of the controller parameters is complex and requires excessive time. To simplify the calculation, two methods are proposed in this paper.
The first method is to choose a certain polynomial as a closed-loop characteristic one. In this case the output error becomes moving average of white noise. Calculation is simplified and the effect of reducing output variance is found.
Another method is an approximation of the optimal solution. It is achieved by disregarding the effect of closed-loop characteristic polynomial on output variance.
The two methods reduce effectively the output variance and simplify the calculation.
Finally, the result of computer simulation of the adaptive control is shown. A linear time-in-variant unstable nonminimum phase plant and a linear time-varying plant are used to illustrate the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (922K) -
井沢 義明, 箱守 京次郎1991 年 27 巻 5 号 p. 546-553
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーIn the temperature control of lumped parameter heat exchangers, it is well known that the system behaves as a bilinear system when the flow rates are manipulated. This paper presents a design method of the controller for the bilinear plant by an approach using Riemainnian geometry. When the suitable curvilinear axes are selected as the state space axes instead of the orthogonal straight ones, the integral manifold of the bilinear system may also be regarded as that of an imaginary linear system. Through the construction of a linear optimal regulator for this linear system, a controller for the bilinear plants can be designed. A partial differential equation which determines the homeomorphism between two integral manifolds of the bilinear system and the linear system is derived. And a convenient calculation method of this partial defferential equation is presented.
This paper also finds a solution for the saturation problem in the manipulated variables by imbedding the saturation characteristics in the connection coefficients of the Riemannian geometric model.
Finally, it is confirmed that the proposed design method is realizable and effective by experiments of a 2-step lumped parameter heat exchanger system.抄録全体を表示PDF形式でダウンロード (968K) -
1/4モデルに対する状態フィードバック制御川谷 亮治, 山下 勝司, 藤森 一雄, 木村 英紀1991 年 27 巻 5 号 p. 554-561
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we consider a quater-car model with a hydraulic active suspension system which has been constructed as a test bed with real size, and propose a new design method of this model based on H∞ control theory. Our main objective is to realize better ride comfort, in other words, to attenuate the gain of the closed-loop transfer function from the vertical road displacement to the vertical acceleration of the body over the frequency range of human body resonance (3-8Hz) without reducing the wheel-to-road contact which is important for safety and drivability. This design object is handled easily as a loop shaping in the frequency domain, and H∞ control gives an appropriate framework for carrying out the systematic loop shaping.
As all states in our equipment can be observable directly, we can design a state feedback regulator as one of H∞ controllers which satisfy the H∞ norm condition of the closed-loop transfer function from the disturbance to the loop-shaped output.
As the results in some experiments and simulations, we have confirmed the loop-shaping effect such that the body accelaration gain performance of the closed-loop system is significantly attenuated over the range of human resonance compared with that of the open-loop system. And we have also confirmed that the loop shaping is effective for the improvement of the robustness against the change of the body mass and the valve coefficient.抄録全体を表示PDF形式でダウンロード (1004K) -
岡本 清和, 水谷 隆, 張 玉武, 山極 高1991 年 27 巻 5 号 p. 562-568
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーTo meet the increasing demands for the more refined semiconductor design rules and the more enhanced optical disk memory density, a very fine motion control based upon numerical control technology such as under submicron meter encoder feedback is required. The first major subject is how to keep a desired motion clear of elasticity of feeding mechanism. The second one is how to keep a load insensitive motion free from change of load and influence of disturbance. In this paper, a new damping compensator is derived from adopting both input side and output side detecting signals of the elastic feeding mechanism, which are processed through an each element being its relative degree equal to zero and are combined to generate a feedback information. Then, by using the compensator dominating the motion characteristics of the elastic member, a servomechansim with a position, a velocity and a acceleration control loop is organized and comes to show load insensitivity. The paper describes design methods of the proposed compensator and the servomechanism, and also shows the effectiveness by computer simulations.抄録全体を表示PDF形式でダウンロード (748K) -
Somboon SANGWONGWANICH, Shinji DOKI, Tsuyoshi YONEMOTO, Takeshi FURUHA ...1991 年 27 巻 5 号 p. 569-576
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents design methods of adaptive sliding observers for induction motor control, which include both the rotor speed and the rotor resistance identification together with the rotor flux estimation. The proposed adaptive observers have the advantage of their global stability over the conventional identification algorithms which are developed on restrictive assumptions. The primary reason for the simplicity of the analysis is the separation of the identifier from the controller, which is not realizable in the conventional algorithms.抄録全体を表示PDF形式でダウンロード (1021K) -
井村 順一, 杉江 俊治, 吉川 恒夫1991 年 27 巻 5 号 p. 577-584
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーRecently various trajectory tracking control methods using acceleration feedback, such as disturbance observer or time delay control, have been proposed for robot manipulators with unknown parameters or disturbances. However, it is not clear why these control methods are robust or what is the essential role of acceleration feedback. In addition, it is important to know what are the problems in these methods.
Our purpose of this paper is to clarify the merit of acceleration information in the case that the signal is available. In the first part of this paper, we make the essential feature of these methods clear, and show what their problems are. In the second part, a robust control scheme using acceleration information is proposed for robot manipulators, which overcomes the above problems. In the end, we discuss the advantage of acceleration information for the proposed scheme.抄録全体を表示PDF形式でダウンロード (1092K) -
山田 克彦, 土屋 和雄1991 年 27 巻 5 号 p. 585-592
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper deals with a simulation method and a control method of a space robot which consists of spacecraft and a manipulator. First we propose a simulation method which can solve the equations of motion of the space robot with the number of computations proportional to the degrees of freedom of the manipulator. The method is derived by the Appell's equation and is applicable to the case where the manipulator hand is constrained with an object or the space robot has plural manipulators. Then we apply the simulation method to the computed-torque control of the manipulator. The relation between the hand acceleration and the joint control torques of the manipulator is directly derived by the simulation method. Using the relation, we compose a simple and efficient method for the computed-torque control. The amount of computations of the simulation method and that of the control method are examined. The result shows that the proposed methods are more efficient than conventional methods.抄録全体を表示PDF形式でダウンロード (1072K) -
西川 〓一, 玉置 久1991 年 27 巻 5 号 p. 593-599
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーThe genetic algorithm (GA) is a method for approximate optimization simulating the process of natural evolution, and it has been successfully applied to several optimization problems, such as traveling salesman problems and pattern recognition problems, which are difficult to solve exactly by conventional methods of the mathematical programming. However, few researches have been reported on application of GA to scheduling problems.
This paper proposes a GA for jobshop scheduling problems. The Keynote points of our algorithm are how to represent individuals and how to calculate the fitness of each individual. The genetic operators are standard ones, e.g., a pure selection, a 2-point crossover and a mutation.
In the paper, we confirm effectiveness of our GA through several computational experiments where its ability in computational time and quality of obtained solutions are compared with those of a branch-and-bound method and some typical heuristics.抄録全体を表示PDF形式でダウンロード (894K) -
Yoshiteru ISHIDA1991 年 27 巻 5 号 p. 600-606
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーWe discuss qualitative reasoning on flow behavior of complex flow networks. Although most of qualitative reasoning methods use qualitative equations, it is difficult to build such equations for complex flow networks, which often appear in the processing plants. We use the flow network itself as a qualitative model, and consider flow behavior based on the topology of the network without using qualitative equations. It is shown that the flow changes can be determined qualitatively when resistance or voltage of a network with a certain topological structure is disturbed at a point. Flows are modeled generally enough to cover from the most ideal of electric current to gas flows and liquid flows.抄録全体を表示PDF形式でダウンロード (764K) -
西川 〓一, 玉置 久, 牧 淳人1991 年 27 巻 5 号 p. 607-613
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーIn recent years, as the diversification of consumers' demand and the progress of production technology result in a wider variety of products, the necessity of effective scheduling is increasing. This paper is concerned with a jobshop scheduling problem (JSP), which has a wide area of practical applications. First, the degree of difficulty (DOD) of JSP is defined, and then quantified according to several characteristics of the problem: number of machines, number of operations, processing times of operations, precedence relations among operations, and their mutual relations. Second, an algorithm, of decomposition referring to DOD is proposed for dealing with large-scale problems. In our algorithm, the original JSP is decomposed into several partial problems which are arranged in a time-sequence and are almost even in DOD. These partial problems are then solved sequentially by the branch-and-bound method. Finally, the effectiveness of the proposed method is affirmed by means of several computational experiments.抄録全体を表示PDF形式でダウンロード (936K) -
奥村 康昭1991 年 27 巻 5 号 p. 614-616
発行日: 1991/05/31
公開日: 2009/03/27
ジャーナル フリーThe thermistor-chain is an instrument that is able simultaneously to measure lake temperatures at 8 different depths. Thermistor sensors are inserted into a copper wire insulated by vinyl with 24 leadwires. Observations using the moored instrument were carried out at several locations in Lake Biwa.抄録全体を表示PDF形式でダウンロード (308K)
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