計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
28 巻, 11 号
選択された号の論文の17件中1~17を表示しています
  • 新井 優, 櫻井 弘久
    1992 年 28 巻 11 号 p. 1267-1273
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The difference between the ITS-90 and the IPTS-68 in the temperature range from 630°C to 960°C is determined comparing an HTPRT and five Pt-Rh 10%/Pt thermocouples. The values of temperature based on the ITS-90 are obtained with an HTPRT calibrated at the freezing points of silver, aluminum, zinc and tin, and the triple point of water. Those of the IPTS-68 are obtained with thermocouples calibrated at the freezing points of gold, silver and aluminum. The HTPRT and the thermocouples are intercompared using a gas controlled sodium heat pipe, the temperature of which is stable within±10mK. The difference between the ITS-90 and the IPTS-68 is estimated from the intercomparison and is found to be 20mK±50mK near 800°C. The largest error in determination of the difference is attributed to the uncertainty of the thermocouples.
  • Sutham TEERAWATANACHAI, Kin-ichi KOMIYA, Hiromichi SASAMOTO, Nariaki O ...
    1992 年 28 巻 11 号 p. 1274-1281
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The technique of computed tomography (CT) is used to reconstruct velocity profile of air flow from its average velocities from ultrasonic velocimeter measuring over a specific set of paths. Although the scanning method for collecting data can be considered as a special case of diverged beam scan, this set of data can be rearranged into the form of interlaced parallel scan. A knowledge of zero velocity at circumference of the pipe is also introduced and the data are interpolated in each view to obtain uniformly spaced data. This is then applied in the convolution algorithm for parallel scan data. This method is tested with the data from the experiment and the result is reported.
  • 蘇 来平, 三輪 哲哉, 阿部 健一
    1992 年 28 巻 11 号 p. 1282-1288
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    In pole assignment of linear time invariant (LTI) continuous time systems by using output feedback, the control of using generalized sampled-data hold function (GSHF) is more advangeous in theoretical aspects comparing with the conventional sampled-data approaches of using e. g., ZOH. However GSHF, which is an analog continuous-time function in general, is impossible to be implemented as sampled-data output feedback gain in application by using digital computer.
    In this paper, we consider a new sampled-data output feedback of using piecewise constant sampled data hold function (PCSHF) in pole assignment of LTI systems. We show that the closed-loop poles can be arbitrarily assigned by using PCSHF, if the plant is controllable and observable. In general, such PCSHF control is not uniquely determined in pole assignment, and the difference between the PCSHFs appears in different intersample behavior. Therefore, it is necessary to choose the PCSHF in an optimal way with respect to the intersample behavior. In this paper, we investigate the optimal PCSHF in pole assignment, where the performance index is of LQR form related to the intersample behavior. The existence and uniqueness of the PCSHF are shown, under the assumption that the plant is contollable and observable. Finally, a numerical example is given to illustrate the PCSHF, comparing with the approaches of using ZOH and GSHF.
  • 鷹羽 浄嗣, 片山 徹
    1992 年 28 巻 11 号 p. 1289-1296
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper considers the discrete-time H filters derived by game theoretic approach. We obtain two different filters, namely one-step predictor and filter that yields the current state estimate, according to the available information for the linear-quadratic game. We show that the steady-state filters exist if an algebraic Riccati equation has a nonnegative solution and that both of the filters satisfy H-norm bound based on spectral factorization. The worst disturbance maximizing the energy ratio of the estimation error to the disturbance is also given by a linear feedback of the estimation error. Furthermore, we propose an H fixed-lag smoother based on the H filter derived here. Simulation results are included to show the difference between H2 and H filters.
  • 舩曳 繁之, 櫃本 充美, 山河 靖児, 伊藤 整
    1992 年 28 巻 11 号 p. 1297-1305
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The analog PID controller has been used for the automatic voltage regulator (AVR) of synchronous generator. However, it can not cope with the dynamic performance of the plant due to the change of reference and the disturbance in operation. Then, it is necessory to change the parameters of the controller corresponding to the dynamic performance.
    In this paper, the stability of the controller and the closed-loop system of the self-tuning control (STC) AVR of synchronous generator, which is the important problem in the application of the self-tuning control to the AVR of synchronous generator, is discussed for the realization of the automatic tuning of the parameters of controller. In the first step, the pole assignment for the stable response is discussed from a viewpoint of the root locus. Then, the input weighting polynomial is sellected for the stable closed-loop system and the stable controller. Then, the coefficients of the input weighting polynomial are decided. The least-square identification using the supremum trace gain method is introduced to enhance the flexibility of system. Secondly, the validity of the control system is discussed by the simulation of the step response. Furthermore, the control system is constructed with the micro-processor and the availability of the control system is verified by the experiment of the step response and the closing and breaking of load.
  • 井上 正夫, 中川 潤, 有馬 尚美
    1992 年 28 巻 11 号 p. 1306-1313
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    To evaluate the performances of the autonomous Rendezvous and Docking system, a hybrid docking dynamics simulator was developed. The relative motion of the spacecraft after collision was realized in a real time by a computer-controlled moving table on which real docking hardwares were exposed to the target. The mechanical configuration, computer architecture and the simulation algorithms are described. To make the system faithful, the stability of the oscillation casued by the mechanical connection between the spacecraft is analyzed. Then the stability augmenting compensation whose validity is proved by the experiments is introduced. Several docking tests prove the simulator to be a powerful tool for developing docking systems.
  • 辻 敏夫, 中山 聖也, 伊藤 宏司
    1992 年 28 巻 11 号 p. 1314-1320
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The present paper proposes a distributed feedback control for redundant manipulators based on virtual arms. The virtual arm has the same kinematic structure as the manipulator except that its end-point is located on the joint or link of the manipulator. Therefore, the redundant manipulator can be represented as a set of virtual arms. First of all, each subsystem which constitutes the distributed control system is designed corresponding to the virtual arm. Dynamic behavior of each subsystem is basically an end-point position feedback control of virtual arm on the operation space. Then, it is shown that the position control of the manipulator utilizing kinematic redundancy can be realized through the cooperative and competitive interactions between subsystems, and that the dynamic behavior of the whole system is always stable. The advantages of the method are summarized as follows:
    1) each subsystem can work fully autonomously and the joint control torque of the redundant manipulator can be calculated in a parallel and distributed way,
    2) the kinematic redundancy of the manipulator can be utilized positively using virtual arms,
    3) some subtasks can be executed by introducing a potential function on the joint space of the manipulator.
  • 田中 敏幸, 川口 洋史, 佐藤 力
    1992 年 28 巻 11 号 p. 1321-1326
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    When we plan a trajectory of robot arm, we often use a method drawing smooth curve between given points. In this computation of the trajectory, spline method is used such as parametric spline. By using spline method we easily guess the approximate trajectory from given data points and function characterizing each coordinate. However since piecewise power series are mainly used as spline function, we need much capacity for memorizing the obtained curve. This is unsuitable for robot arm path planning.
    Fourier series are sometimes used as one of curve drawing method. Fourier series method has two advantages: one is that Fourier series are differentiable arbitrary times, another is ease of memorizing curves. It has been pointed out as demerit that notable oscillation exists according to harmonics and data points. By appointing regions instead of points, freedom of trajectory increases and optimal trajectory is obtained under the given conditions.
    When we plan a path, in some cases it suffice to give arbitrary regions instead of passing points without starting point and destination. Spline method with concept of passing region appointment is useful in robot path planning of this type.
    This paper deals with a new spline method for planning robot arm trajectory. We appoint starting point and destination point exactly. We appoint some regions which the robot arm goes through, instead of appointing obstacles. The trajectory is assumed by a straight line and odd functions of Fourier series. The coefficients of Fourier series are decided so that the cost function is minimal by using nonlinear programming. The cost functions are given by sum of square of Fourier coefficients. Some examples are shown by using this method.
  • 長谷川 修, 李 七雨, ウォンワラウィパット ウィワット, 石塚 満
    1992 年 28 巻 11 号 p. 1327-1336
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    To realize a human-like software-robot for better human interface system, we must integrate the technologies of computer graphics, computer vision, speech recognition, voice synthesis and others. We have named this type of the software robot to be served in an advanced human interface system as “Visual Software Agent (VSA)”, and begun our research project for its realization. In the VSA, it is very important to realize real-time processing of several tasks to achieve the real-time response of the software robot. In this paper, we describe a real-time image recognition and image synthesis system, “TN-VIT (Transputer Network with Visual Interface for Transputers)”, as a first step to build the “VSA”. In this prototype system, a human face (agent) is shown on the CRT, and he/she gazes at operators and changes his/her facial expressions in response to operator's hand shape in real-time. Therefore, the system recognizes hand shape of an operator, then synthesizes huaman facial expressions in real-time. The VIT is our original Transputer board with functional 32-bit parallel visual data bus. The maximum visual data transfer speed of our VIT is 100 Mbyte per second. The TN-VIT system consists of 16 VITs, 16 normal Tranputers, 1 personal computer, 1 CCD camera, 1 A/D board and 1 D/A board. The 16 VITs are connected as a ring-type bus, and 2 of them are used for image recognition and the rest of them are used for image synthesis. Experiments show that the TN-VIT system can synthesize natural moving human face images and his/her emotional expressions at 8 frames per second in response to the hand shape of an operator. Details of the hardware and software are described in this paper along with experimental results including some samples of original image and synthesized images.
  • 飯間 等, 三宮 信夫
    1992 年 28 巻 11 号 p. 1337-1344
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, we consider a production ordering problem for an assembly process with several constraints. One constraint is that the capacity of the buffers at thee input and output sides of the process is limited. The other constraint is that the cycle time of the worker is constant.
    For obtaining a good suboptimal feasible solution, the genetic algorithm is applied to this problem. A procedure for carrying out the operations of reproduction, crossover and mutation is shown.
    The effectiveness of the algorithm is compared from the viewpoints of accuracy and computation time among other methods, such as the heuristic method and the simulated annealing method. It is observed from numerical results that the genetic algorithm takes much computation time, but finds a better solution than other methods. Further, the genetic algorithm is found to be effective in spite of narrow feasible region.
  • 谷崎 直昭, 岡村 哲也, 村上 亨
    1992 年 28 巻 11 号 p. 1345-1354
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The inspection systems with image processing equipments have increased in number in recent years. But, it takes not only a lot of time and money but also the assistance of experts to design a new inspection algorithm. So, generalization, which means applying the same inspection system to the other products or defects, is one of the most difficult problem exept the mechanical problems.
    In order to solve this problem, we have developed a support system to build up inspection systems. This system generates some candidates of the inspection algorithm through the interaction with the operator and displays the result to the display.
    The followings are the key points of this paper.
    (1) We have developed the new algorithm generation system which needs only the simple operation of the operator. So, it is not necesary for the operator to know enough image processing.
    (2) The evaluation method of the inspection algorithm is proposed. It is calculated from the statistical deviation of the products' quality and the operator's inspection strategy.
    (3) The algorithm generation method based on the evaluation value and the processing time is proposed.
  • 田中 一男, 佐野 学, 鈴木 一如
    1992 年 28 巻 11 号 p. 1355-1363
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper proposes a simplified method on fuzzy identification algorithm. The main purpose of this method is to reduce computational quantity for identifying a fuzzy model. In particular, the procedure for finding an optimal structure of fuzzy partition is simplified. This algorithm consists of four stages which realize structure identification and parameter identification of a fuzzy model. The Widrow-Hoff learning algorithm, which is a learning method of neural networks, is used for parameter identification of a fuzzy model.
    The aim of the first stage is to identify a linear model. The second stage finds an optimal structure of fuzzy partition which is defined by fuzzy sets in premise parts. The third stage realizes structure identification in consequent parts of a fuzzy model which has an optimal structure of fuzzy partition determined in the second stage. The last stage achieves parameter identification of a final fuzzy model.
    The procedure of this algorithm is concretely demonstrated by a simple example, which has been used in some modeling exercises. Finally, this algorithm is applied to modeling of a municipal refuse incinerator. Identification results show that this algorithm is very useful for modeling of complex systems such as the municipal refuse incinerator.
  • 増市 博, 片井 修, 椹木 哲夫, 西山 高史, 岩井 壮介
    1992 年 28 巻 11 号 p. 1364-1373
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper introduces a novel approach of problem solving based on Autonomous Decentralized System framework, where an Autonomous Decentralized System consists of autonomous subsystems whose cooperation yields the structuredness (order) of the entire system without any control by supervisor. Thus the system is expected to have high efficiency, reliability and flexibility. We propose a general framework for Autonomous Decentralized Systems. By the use of“slaving principle”, the central concept in Synergetics introduced by Haken, the proposed system forms its order without central control by supervisor. Moreover, the concepts of layered structure, “the dual control”and“the pinciple of marginal control”make it possible for the proposed system to realize the compatibility between“autonomy”and “cooperation”, that is the most difficult point to be attained in Autonomous Decentralized Systems. Also, we implement concrete systems for solving several different kinds of problems on Transputers using the parallel processing language OCCAM, which show the effectiveness of our approach.
  • 増田 士朗, 井上 昭, クルモフ バレリ
    1992 年 28 巻 11 号 p. 1374-1376
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The robust staility of MRACS with bounded disturbances is considered. By relating the characteristics of the state variable filters with the degree of their persistent excitation, the effects on the robust stability in the state variable filters are evaluated. According to the evaluation, the robust stability becomes worse as the poles of state variables filters shift toward left in the complex plain.
  • 西村 行雄, 木村 純壮, 米澤 洋
    1992 年 28 巻 11 号 p. 1377-1379
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The predictive control is effective for a plant with time delay. In this paper a new constructing method of state predictor is proposed, the convergence property of predicted state error is investigated and advantages over conventional methods are discussed.
  • 清水 久記, 林 叡
    1992 年 28 巻 11 号 p. 1380-1382
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The authors propose a sensing system consisting of a proximity sensor and laminar proportional amplifiers which can be operated by low pressure input signal. As the result, the supply pressure and a large amount of air consumption can be reduced. It is possible to detect light weight objects with the sensing system.
  • 田中 雅博, 服部 孝, 谷野 哲三
    1992 年 28 巻 11 号 p. 1383-1385
    発行日: 1992/11/30
    公開日: 2009/03/27
    ジャーナル フリー
    The parameter estimation problem of linear systems with jumps is considered. Reducing the problem to a combinatorial optimization problem, we can readily apply the genetic algorithm. It showed very good performance in simulation studies.
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