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Volume 28, Issue 12
Displaying 1-19 of 19 articles from this issue
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Toshiaki MAKINO, Junichi OOIZUMI, Kazutoshi KAN, Hiroaki YABU, Kenji N ...1992 Volume 28 Issue 12 Pages 1387-1396
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, the communication control is intended to make a systematic efficiency of automatic guided vehicles operate effectively. Recently, we have studied on a spread spectrum communication system which enables radio communication at such a low level of energy as 1mW.
Herein suggestion is a spread spectrum code generator method and a communication signal or synchronized spread spectrum code detector method, respectively. As these methods made the synchronization of communication signals and synchronized spread spectrum codes possible with certainty, a comminication unit by using these methods was designed and manufactured for testing. As the result, an attempt of synchronization was confirmed successful in a time for one cycle of a spread spectrum code, and our studies in this attempt are described as follows.
Communication tests were then performed for the above unit which was mounted on an automatic guided vehicle with a 100kg load rating, and it was found that about 80m indoor and about 150m outdoor line-in-sight communication was practical.View full abstractDownload PDF (2950K) -
Tadashi ITO, Sadao FUJIMURA1992 Volume 28 Issue 12 Pages 1397-1402
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA three dimensional reconstruction method has been proposed for the distribution of radiation emitters by a simple method using a m-array coded aperture and an area sensor.
However, under certain condition of observation, the cross-sectional image reconstructed by the method shows fault image (ghost) which represents the radiation distribution in another distant cross-section.
An experiment and some computer simulations are made for confirming the existence of ghost, and the emergence mechanism of ghost is analyzed based on the property of alternately sampled m-array.View full abstractDownload PDF (1199K) -
Tokuji OKADA, Hiroshi TSUTSUI, Takahiro SAYAMA1992 Volume 28 Issue 12 Pages 1403-1410
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a method for measuring a short-range linear displacement of an object using a magnetic dipole and Hall-Effect devices. To determine a target of the object, a circular plain permanent magnetic dipole is installed on the surface of the object. In the direction of the magnetic field which is vertical to the object's surface, three Hall-Effect devices are placed so that the magnetic flux density is sensed. Supposing the points where magnitudes of the flux density of the magnet are equal exist on a surface of an ellipsoid, the position of the magnet is determined as a cross point of the three elliptical surfaces. Experimental results show the measurement error is within 0.03mm in a box of 1.6×1.6×2mm3 volume. Also, a mathematical form for expressing the area of equal magnetic flux is derived and depicted by the use of a computer. Measurement range of the displacement is clarified under such condition that the surface of the area in which the output of the Hall-Effect device is equal is approximated by the surface of a spheroid. The error caused by using the approximated surface is analysed quantitatively. The sensor is useful in measuring the linear displacement from 0.5mm to 2.5mm without the affect of light.View full abstractDownload PDF (3126K) -
Masahiro ISHIBASHI, Masaaki UEKI, Masaki TAKAMOTO, Noriyuki WATANABE, ...1992 Volume 28 Issue 12 Pages 1411-1418
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDischarge coefficients of 9 sonic Venturi nozzles, which have toroidal throats complying with ISO 9300, were measured at the atmospheric condition by a constant volume tank system developed as the primary gas flow standard in Japan. The paper describes the outline of the system, the measuring procedure, and the measured coefficients. The measuring Reynolds number based on their throat diameters ranged from 0.6×105 to 2.4×105, where the boundary layer at the throat is restricted to laminar one. The total uncertainty of the measured coefficients ranged from ±0.14 for the smallest nozzle to ±0.05% for the largest nozzles. The largest and the smallest deviation of the measured coefficients from ISO 9300 are -0.3% at the smallest Reynolds number of the standard and ±0.1% at the largest measuring Reynolds number, respectively. A new fitted curve for the discharge coefficient, which has a steeper gradient than the standard, are proposed within the measuring Reynolds number range.View full abstractDownload PDF (1531K) -
Hiromu INOUE1992 Volume 28 Issue 12 Pages 1419-1426
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIt is very important in a circuit design that a designer numerically can calculate an electric characteristic of ECD (Electrochromic Display). An equivalent circuit using resistor and condenser was proposed in the coloration process until now. But it did not effectively simulate V-I characteristic of ECD when applied voltage was changed.
An improved electric equivalent circuit of WO3 type ECD is suggested and for the application, optimum design of driving circuit is described.
The equivalent circuit connects diode and condenser in series and diode in parallel. The former diode and condenser correspond to coloration current. The latter diode corresponds to leakage current. It can simulate V-I characteristic and optical density even if applied voltage is changed. Calculation results of coloration current and density are in good agreement with the experiments. Finally, optimum capacity of the driving circuit of the grounding fault indicator is calculated.View full abstractDownload PDF (1456K) -
Nobuaki KOBAYASHI, Takayoshi NAKAMIZO1992 Volume 28 Issue 12 Pages 1427-1435
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with a structure of dynamic compensators for decoupling systems. Some designing methods for decoupling have been investigated by many authors, but all these procedures depend on only system parameters. It is shown that the structure of the dynamic compensator can be decided with the aid of a graph-representation of system structure.
First we show that the minimal order of the dynamic compensator for decoupling is determined by the system structure. Based on this fact, the new algorithm of designing is proposed, which depends on the structure of the system. The procedure is sensible and intutive, since it depends on the graph-representation of the structural information. Some examples are included in order to illustrate the proposed algorithm.View full abstractDownload PDF (1389K) -
Koichi SUYAMA, Noboru SEBE1992 Volume 28 Issue 12 Pages 1436-1443
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper brings up a new problem on reliable stabilization with passive redundancy.
This paper considers the situations where a stable feedback control system is operational, and aims at supplementing this system with a new compensator to obtain a total system which is reliably stable with passive redundancy.
A type of supplementary compensators is presented, which corresponds to a new type of resulting total control systems. The reliable stabilizability condition by such a supplementary compensator is equivalent to the strong stabilizability condition of the operational compensator.View full abstractDownload PDF (1272K) -
Haruhisa KAWASAKI, Yoshikatsu BENIYA, Kazuo KANZAKI1992 Volume 28 Issue 12 Pages 1444-1450
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis article presents a method to determine minimum dynamics parameters of tree structure robots. The minimum dynamics parameters were defined as a minimum set of constant parameters, not containing the zero element, and which are sufficient to calculate the dynamic model of the robot. The determination of the minimum dynamics parameters contributes to reducing the computational requirements of the robot dynamic models, and it also increases the robustness of the parameter identification process. The presented method is based on the use of recursive Newton-Euler formulations and a concept, ‘τi(i-th joint torque)-identifiability’ which was used recently for the determination of the minimum dynamics parameters of general serial robots by the authors. We introduced a branch which is defined as a serial link structure for the systematic analysis of tree structure robots. As the result, we can assume that the tree structure robot consists of the branches which are serial links. The motion equation of branchs is the same to that of the serial robots except for the initial and terminal conditions. Therefore, the minimum dynamics parameters of the tree structure robot can be obtained by regrouping the original dynamics parameters of the links recurrently from the tip side branch to the base side branch. The regrouping method allows us to determine all the minimum dynamics parameters of the tree structure robots completely regardless of the values of geometric parameters. To illustrate the application of the method, a robot with two fingers is examined.View full abstractDownload PDF (1475K) -
Koichi YOSHIDA, Tetsuro YABUTA1992 Volume 28 Issue 12 Pages 1451-1460
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSome bilateral controls of master-slave system have been designed, which can realize high-fidelity telemanipulation as if the operator were manipulating the object directly. While usual robot systems are controlled by software-servo system using digital computer, little work has been published on design and analysis for digital control of these systems, which must consider time-delay of sensor signals and zero order hold effect of command signals on actuators. This paper presents a digital control analysis for single degree of freedom master-slave system including impedance models of both the human operator and the task object, which clarifies some index for the stability. The stability result shows a virtual master-slave system concepts, which improve the digital control stability.
We first analyze a dynamic control method of master-slave system in discrete-time system for the stability problem, which can realize high-fidelity telemanipulation in the continuous-time. Secondly, using the results of the stability analysis, the robust control scheme for master-slave system is proposed, and the validity of this scheme is finally confirmed by the simulation. Consequently, it would be considered that any combination of master and slave modules with dynamic model of these manipulators is possible to construct the stable master-slave system.View full abstractDownload PDF (2535K) -
Toshio TSUJI, Masataka NISHIDA, Koji ITO1992 Volume 28 Issue 12 Pages 1461-1468
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSImpedance Control is one of the most effective control methods for the manipulators in contact with their environments. The characteristics of force and motion control, however, are determined by the desired impedance of end-effectors which must be designed according to the given tasks. In the present paper, we propose a method to regulate impedance parameters of the manipulator's end-effector using neural networks. Three kinds of the Back Propagation typed neural networks are prepared corresponding to position, velocity and force control of the end-effector. Firstly, the neural networks for position and velocity control are trained using iterative learning of the manipulator during free movements. Then, the neural network for force control is trained for contact movements. During the contact movement, the virtual trajectory of the end-effector is modified to reduce the force control error. Computer simulations shows that the method can regulate not only stiffness and viscosity but also inertia of the end-effector, and can realize smooth transition from free to contact movements by regulating impedance parameters before contact.View full abstractDownload PDF (1376K) -
Shigetaka HOSAKA, Kiyoshi ISHII1992 Volume 28 Issue 12 Pages 1469-1477
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe have developed a fault diagnostic method using a series of multi-matrix which have the knowledge of diagnostic objects. These knowledge are acquired by designers and well trained maintenance-crews coresponding with checking work of the diagnostic objects.
In this paper, we propose and evaluate the following items: the calculation method with the certain factors of the causes that uses the expanded Bayesian approach, the handling method of unknown relations of causes and results, the calculation method of certain factors in a series of multi-matrix, the order control method of answering the questions, and the hypothesis diagnosis for unidenified cause.
At the results, it is easily to acquire the knowledge and to reduce errors of the knowledge on relatively smaller size of matrix. Also, it is clarified that the restriction of the knowledge representation can be reduced by handling of the unknown relations, the unidentified observations, and “not yet known observations”. The calculation method with of certain factors of the causes is easy to use.
In the diagnosis system of using these method, when a malfunction happens, the system selects the matrix according to the malfunction, and the operator input answers for the system's questions. The system searches and shows the causes with certain factors and relations of causes and results. Also, the diagnostic objects diagram is shown on CRT, and then the parts of diagram twinkles, and colors to show the causes and the observative points.View full abstractDownload PDF (1879K) -
Tohru AOKI, Ryousuke KONISHI, Hisanari KIMURA, Daisuke SUETSUGU1992 Volume 28 Issue 12 Pages 1478-1483
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe tried gas discrimination by using one semiconductive gas sensor.
As a method of gas discrimination, we used the fuzzy reasoning with fuzzy set of slope of gas pattern which is divided into arbitatry interval.
As a result, we got a good successful rate for hydrogen 66.6%, propane 79.1%, butane 100%, methan 100%, city gas 79.1%, and alcohol 91.6%.View full abstractDownload PDF (1079K) -
Hisao ISHIBUCHI, Hidehiko OKADA, Hideo TANAKA1992 Volume 28 Issue 12 Pages 1484-1491
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a new architecture of neural networks and derives its learning algorithms. The neural network with the proposed architecture has interval weights and interval biases. A cost function is defined using the interval output from the neural network and the corresponding target interval. A learning algorithm is derived from the cost function in a similar manner as the back-propagation algorithm. Two variations of the learning algorithm are also derived based on the inclusion relation between the interval output and the target interval. A method of fuzzification is shown to apply the neural network to the fuzzy regression analysis.View full abstractDownload PDF (1525K) -
Zi-jiang YANG, Setsuo SAGARA, Kiyoshi WADA1992 Volume 28 Issue 12 Pages 1492-1494
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a simple method for parameter identification of discrete-time models in the presence of white input-output measurement noises. Using delayed filtered outputs as instrumental variables, an instrumental variable (IV) approach combined with the Steiglitz-McBride method is proposed to obtain consistent estimates.View full abstractDownload PDF (376K) -
Shuichi SASA1992 Volume 28 Issue 12 Pages 1495-1497
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSFor SISO systems, the problem of input estimation is considered.
The problem is formulated in the ordinary Kalman Filter problem, and estimation accuracy is analysed in conjunction with the measurements' accuracy for an integrator system. Numerical simulation results are presented.View full abstractDownload PDF (292K) -
Tohru KATAYAMA, Yoshikazu ONUKI1992 Volume 28 Issue 12 Pages 1498-1500
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSFor discrete-time descriptor systems represented by an SVD coordinate system, we derive a numerical method for computing an optimal gain matrix and the optimal performance for the LQ regulator problem based on a generalized eigenvalue problem associated with the Hamiltonian equation. We also correct some errors in Theorem 3 in the earlier paper1).View full abstractDownload PDF (364K) -
Yasutaroh TANAKA1992 Volume 28 Issue 12 Pages 1501-1503
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSα parameter which corresponds to the stability and pole allocation of the characteristic equation of a control system is introduced. The α parameter is useful for robust control by the partial model matching. Using this parameter, a remedy of robustness for I-PDD2… control is mentioned.View full abstractDownload PDF (352K) -
Nariya TOE, Tadashi EGAMI, Takeshi TSUCHIYA1992 Volume 28 Issue 12 Pages 1504-1506
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA design of optimal pulse pattern for single phase PWM inverter by means of optimal preview servo system is discussed in this paper. It is confirmed that output voltage tracks the desired signal without error in experimental studies.View full abstractDownload PDF (1281K) -
Tadashi YAMASHITA, Sukhbir SINGH, Ryozo KATOH1992 Volume 28 Issue 12 Pages 1507-1509
Published: December 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA simple method is proposed using complementary grade doing away with the complexity involved in deriving output of controller based on indirect reasoning. As an example, a PID controller is analyzed.View full abstractDownload PDF (361K)
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