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Volume 28, Issue 8
Displaying 1-18 of 18 articles from this issue
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Wataru TATEBE, Hiroyuki OOHATA, Hiroyuki KUSHIBE, Tomoo FUJII1992 Volume 28 Issue 8 Pages 903-909
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSVelocity of water flow can be measured in a short time by “Repetitive Inverse Transit Time Difference Method(RITTD)” with ultrasonic pulses previously proposed.
This method was applied for 3-dimensional current meter with three pairs of sensor placed at 120° space and with the elevation angle 45° in order to measure extremely slow current in deeper layer of lake. In this instrument, it is easy to check irregular data from the sum of velocity in the three axes. Furthermore, it is possible to measure, at least, horizontal current even if missing of measurement in one axis occurs. Accuracies of 6° in direction and 5mm/s in velocity were obtained.
The practical measurement was carried out in Shiozu Bay of Lake Biwa from Oct. 12 to 17, 1990. The fluctuation velocity of tens mm/s with maximum velocity of 160mm/s were determined. They have good agreements with previous data obtained by Okamoto.
This instrument can be used for field applications.View full abstractDownload PDF (2063K) -
Mieko OHSUGA, Futomi SHIMONO, Chie AKASHI1992 Volume 28 Issue 8 Pages 910-915
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe present paper concerns the development of an apparatus for an Olympic player of archery to monitor his mental state during games.
Two physiological indices derived from electrocardiogram are used to evaluate the level of tension. The indices are RR interval and respiratory component of RR interval variance, which are differently influenced by the two branches of autonomic nervous system. Some field data and experimental data suggested the usefulness of the two dimensional evaluation.
A portable apparatus was developed which implements the method with the functions to check the reliability of the evaluation.View full abstractDownload PDF (2248K) -
Muneyuki YOSHIOKA, Tsutomu KISHIBATA1992 Volume 28 Issue 8 Pages 916-922
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with a design procedure of pneumatic pressure probes in frequency domain by using Brown's line model. The technique may be summarized as follows;
1. The frequency response of the probe can be presented by non-dimensional three parameters.
2. If the non-dimensional parameter Ω1(=a√ω1/ν) is constant (a: radius of line, ν: kinematic viscosity, ω1: fundamental natural angular frequency), the gain of pressure probe at ω=ω1, |Gc(jω1)|, also becomes constant.
3. When Ω1=2.44, the gain |Gc(jω1)| becomes 0.707. This is the most suitable condition for the pressure measurments in frequency and time domains.
The characteristics of the probe are evaluated by experiments, and excellent results are obtained.View full abstractDownload PDF (1506K) -
Kou YAMADA, Keiji WATANABE1992 Volume 28 Issue 8 Pages 923-930
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a new state space design method of filtered inverse system for linear time-invariant systems is proposed. Ordinary inverse systems are classified two types.
1) Inverse systems which make a indentity transfer function matrix of tandem union with original system.
2) Inverse systems which make a transfer function matrix integral value of identified matrix. But both types require differentiators to estimate unknown inputs.
This problem was solved by the idea of filtered inverse systems, in which the input is reproduced appoximately. But the filtered inverse was designed via transfer function matrix, and the computation was complex.
We present a new state space design method of filtered inverse system. This method is based on the fusion of observer and decoupling method. There are many advantages such as a simple structure and easy computation.View full abstractDownload PDF (1018K) -
Toshiharu SUGIE, Yoshihiro HATA1992 Volume 28 Issue 8 Pages 931-938
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with a design of SISO, linear time-invariant, discrete-time deadbeat control systems. Based on the l1-optimal control theory and the 2-DOF compensation scheme, we propose a design method for the deadbeat control systems which minimize the maximum error bound of outputs to a fixed reference input and persistent bounded disturbances. Using the proposed method, one can design compensators taking account of a trade-off between the maximum error bonud and the settling time. A numerical example is given to illustrate the validity of the method.View full abstractDownload PDF (1122K) -
Shigenori OKUBO1992 Volume 28 Issue 8 Pages 939-946
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe can design nonlinear model following control systems whose inner states are bounded based on the consideration to separate the object system into a linear part and a nonlinear part. In this method zeros of linear part must be stable. It is desirable to remove the condition which is a constraint of design. The stability of an inverse system is concerned with a linear part and a nonlinear part of the original system. From another view point, this fact has the possibility that a closed loop system becomes stable when nonlinear properties satisfy some conditions. By using the property of nonlinear part positively, the whole system can be stable based on stable zero assignment of a linear part. We take the method to set the linear system matrix stable compulsorily and to include an original linear part in a nonlinear part. As the result of this method, a closed loop becomes stable even though zeros of an object system are unstable. The boundedness of internal states can be shown by obtaining a whole dynamic system which includes state variable filters and examining a time derivative of a quadratic form of the whole system. In this proof the assumptions of norms for nonlinear functions, a positive real condition of a transfer function and an inner product of a nonlinear function and a state vector are used. These assumptions are imposed on an object system as the conditions for boundedness of internal states. The parameters of a control law can be selected independent of these assumptions. Especially, in case that the relation of input and output is collocation, a positive real condition is satisfied automatically. Finally we confirm that the design method of this paper is useful by simulating numerical examples.View full abstractDownload PDF (1374K) -
Junichi IMURA, Toshiharu SUGIE, Tsuneo YOSHIKAWA1992 Volume 28 Issue 8 Pages 947-955
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the past several years, various robust control methods have been developed for nonlinear systems with uncertainties. However, most of them treat the uncertainties with matching condition or the special case of mismatched uncertainties. Though it is fundamental to know when we can robustly stabilize the nonlinear systems in the presence of general mismatched uncertainties, this fundamental problem has not been solved yet.
In this paper, a sufficient condition of global robust stabilization via state feedback is derived for a class of nonlinear systems with general mismatched uncertainties, which generalizes the former results on asymptotically stabilization for cascade systems without uncertainties. Next, it is shown that this sufficient condition can be simplified for a certain class of nonlinear systems. Moreover, we show that the obtained condition is effective in the global robust stabilization of a class of input-output linearizable systems.View full abstractDownload PDF (1318K) -
Tadashi EGAMI, Takeshi TSUCHIYA, Kazuo AIDA, Toshiyuki KITAMORI1992 Volume 28 Issue 8 Pages 956-963
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSGeneralized Predictive Control (GPC) utilizing information on predicted future controlled variables of the controlled object has been proposed and has become of major interest. Some points are left unclear, for example, relation between the control system performance and the parameters of performance index employed has not been cleared in the GPC system and the GPC system is not always stable.
In this paper, preview servo system design method for the ARMAX by means of principle of optimality is proposed. This system is always guaranteed to be stable, and desirable number of preview steps and asymptotical properties of the control system are theoretically derived.
Using the result of this preview servo system, GPC system is constructed by means of principle of optimality.
Relation between the preview servo system and GPC system is examined to obtain properties of the preview servo system as compared with GPC system.View full abstractDownload PDF (1359K) -
Teruji SEKOZAWA, Makoto SHIOYA1992 Volume 28 Issue 8 Pages 964-971
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe purpose of this paper is to construct two control algorithms that adapt the acceleration response to the driver's preference. Chassis back and forth oscillation caused by sudden engine torque increase.
This oscillation is called an acceleration surge and gives a feeling of discomfort to a driver. Conventional control method delays the ignition timing and can suppress the acceleration surge. However, it is necessary to determine the amount of ignition timing delay beforhand and it is not easy to correspond to various acceleration levels.
Two control algorithms with ignition timing control as the manipulation variable are proposed. The first is an acceleration servo control algorithm that makes the measured acceleration closer to the objective acceleration preference of the driver. From the result of the simulation experiment, we find that it is possible to select the variance of the acceleration characteristic by using this servo control.
The second is a variable response characteristic control algorithm without an accelerometer. We structured the proposed algorithm by pole assignment method in which the zeros of the compensation system cancel the poles of the controlled object. From the result of the simulation experiment and the running tests, we find that the peak acceleration can be adjusted by changing the desired damping parameter.View full abstractDownload PDF (1607K) -
Hong GAO, Toshiro NORITSUGU, Tsutomu WADA1992 Volume 28 Issue 8 Pages 972-981
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes an algorithm for tracking and measuring a moving object based on multi-sensory information with eye-in-hand robot system. A CCD camera and two laser emittors are mounted on the end-effector of a robot. The tracking control objective is to maintain the end-effector in a desired distance and attitude with the top surface of moving object. This sensory structure and the desired state make possible to acquire simultaneously both gray scale image and range data of two laser spots generated on the top surface, which are used for tracking and measuring.
The proposed algorithm utilizes gray scale image for global image processing and range data for local image processing. Gray scale image is used to determine the position of the moving object during the tracking control. Range data provide the information about the relative distance and attitude between the end-effector and the top surface of moving object. Additionally, gray scale image and range data are utilized to measure real geometric dimension of the moving object. In this study, a bootstrap stage is introduced before the succeeding image-based visual feedback control to improve the tracking performance. The experiment results show the effectiveness of the proposed algorithm for tracking and measuring in eye-in-hand robot system.View full abstractDownload PDF (1759K) -
Algorithm in the Time Domain for a Rectangular InputIsao YAMAGUCHI, Takashi KIDA1992 Volume 28 Issue 8 Pages 982-990
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes the theory and applications of a method of system Identification using Hankel matrices in the time domain. ERA (Eigen-system Realization Algorithm) is a typical system realization method utilizing Hankel matrices. This method, however, assumes ideal impulse response. In this paper, new iterative algorithm by least square method is developed for practical applications in the space environment. Ground-based experiments on air-bearing table attached by the flexible isogrid pannel are carried out to demonstrate the validity of the new method.View full abstractDownload PDF (1456K) -
Tohru MURAKAMI, Tetsuya OKAMURA1992 Volume 28 Issue 8 Pages 991-998
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA beam pattern evaluation method using neural network has been developed to assist non-expert cyclotron operators.
While an expert operator can easily tell beam accelerating conditions by the beam pattern measured by a scanned beam probe, it is not easy for non-expert operators to evaluate the pattern.
The followings are the summarized procedure of the proposed method.
First, the features of the beam patterns, which correspond to the view points of the experts, are extracted using Gabor expansion. A neural network algorithm is applied to calculate the Gabor expansion.
Next, the number of the extracted features is reduced by averaging the features of high frequency ranges in five partial zones. The idea of this process is based on the fact that the operators do not pay attention to the details of the high frequency components of the patterns.
Finally, the pattern evaluation process by the expert operators is learned by the back-propagation algorithm on a multi-layered feed forward neural network.
Parallel processing architecture of the feature extraction network, and the learning capability of the non-linear clustering network are very useful for the evaluation model of beam patterns.View full abstractDownload PDF (1372K) -
Eitaro AIYOSHI, Noriaki MIMURO1992 Volume 28 Issue 8 Pages 999-1006
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes the application of the Genetic Algorithm for finding the best initial starting point in order to search the global solution by means of a local optimization algorithm.
The optimization by means of currently used algorithms such gradient methods presents two phases of task. The first task is to select an optimization method that is suitable for application to the problem. The second is to choose the parameters initializing the selected algorithm, e.g., the intial starting points and/or parameters in termination rules, in order to obtain the best computational performance. Often the choice of these parameters can have impact on the computational results. The problem of optimizing the parameter of an optimization algorithm represents metalevel optimization.
In this paper, the problems requiring the starting point which can lead a local optimization routine to the global optimum are considered as metalevel optimization problems, and the Genetic Algorithm as a meta-algorithm is applied to the meta-problems. The several experimental results indicate that the Genetic Algorithm has effectiveness as a meta-algorithm for global optimization.View full abstractDownload PDF (1619K) -
Liang-An ZHENG, Tadashi ISHIHARA, Hikaru INOOKA1992 Volume 28 Issue 8 Pages 1007-1009
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn parallel with full order observers, minimal-order observers for discrete-time systems are classified into filtering type and prediction type observers. The simple and significant relation that guarantees the equivalence of the minimal and full order observers of each type in the steady state is derived.View full abstractDownload PDF (385K) -
Fujio OHKAWA, Masayoshi TOMIZUKA1992 Volume 28 Issue 8 Pages 1010-1012
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, the discrete time MRAC is considered for systems with input saturation. We propose a method which modifies the reference input so that the control input stay inside the saturation limit and assures the convergence.View full abstractDownload PDF (358K) -
Fujio OHKAWA, Shinichi SAGARA1992 Volume 28 Issue 8 Pages 1013-1015
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe discrete time MRACS is designed for system which is cascade combination of unknown deadzone part and linear dynamic part. It is shown that the deadzone is compensated by introducing another adjustable gain and applying the input matching method.View full abstractDownload PDF (328K) -
Junichi IMURA, Toshiharu SUGIE, Tsuneo YOSHIKAWA1992 Volume 28 Issue 8 Pages 1016-1018
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the previous work, we proposed an adaptive robust control scheme for robot manipulators. In this paper, our scheme is applied to a two d. o. f. DD-arm, and the validity of our scheme is shown from the experimental viewpointView full abstractDownload PDF (920K) -
Akira KOJIMA, Shintaro ISHIJIMA1992 Volume 28 Issue 8 Pages 1019-1021
Published: August 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn H∞ state feedback problem, so-called 1-block problem, is discussed for a system with delays in state and control. We characterize the necessary and sufficient condition of the solvability of the problem based on a finite dimensional Riccati equation. Then, employing the stabilizing solution to the Riccati equation, we provide an admissible control law for the time delay systems.View full abstractDownload PDF (403K)
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