巻号一覧
29 巻, 6 号
選択された号の論文の15件中1～15を表示しています
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Nobuharu AOSHIMA1993 年 29 巻 6 号 p. 617-622
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーNew method of short time spectrum analysis was developed using a complex first order system. This is based on a fact that a finite duration sinusoidal impulse response can be realized by the complex first order system and a delay element. Properties of this analyzing method are discussed and analyzed results are illustrated.抄録全体を表示PDF形式でダウンロード (895K) -
Takehiro MORI, Hideki KOKAME1993 年 29 巻 6 号 p. 623-627
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーIt is known that symmetric interval matrices are Hurwitz stable or positive definite if and only if all the vertex symmetric matrices are so. This paper generalizes this fact in two directions. Interval matrices dealt with here are such a class of matrices that have only real eigenvalues, thus including symmetric interval matrices. The other generalization is made by taking account of eigenvalue distribution in a more general manner. Namely, we consider the situation where, for some real k, a certain number of eigenvalues are located in the left of k while the remaining ones in the right of k. An imaginary axis couterpart of the obtained result is also provided.抄録全体を表示PDF形式でダウンロード (996K) -
Achmad JAZIDIE, Toshio TSUJI, Mitsuo NAGAMACHI, Koji ITO1993 年 29 巻 6 号 p. 628-636
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーA method for the dynamic simulation of multiarm robots by taking the mechanism of various contact types into consideration is proposed. The system of multi-arm robots grasping a common object forms a multiple closed-chain mechanisms. Each arm and the object can be modeled to be an open-chain with kinematic constraints on its end-effector motion. The dynamics of each arm is expressed using the Appel's method, where the end-effector's constraints of each arm are derived from the object motion. As a result, a parallel computation of joint acceleration for each arm can be performed, and various contact types between the end-effectors and the object can be expressed by constraint equations. Numerical examples are carried out to evaluate the validity of the proposed method.抄録全体を表示PDF形式でダウンロード (3020K) -
Achmad JAZIDIE, Toshio TSUJI, Mitsuo NAGAMACHI, Koji ITO1993 年 29 巻 6 号 p. 637-646
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーThe present paper proposes a compliance control method utilizing kinematic redundancy of the dual-arm robot. When the dual-arm robot is performing a given task which requires not only the object compliant motion but also the compliant motion of several points on the links of the dual-arm robot, it is needed to control the object compliance and the compliance of those points simultaneously. The method presented here can regulate the compliance of several points on the dual-arm robot as well as the object compliance through regulation of the joint stiffness. The rigid object manipulated by the dual-arm robot can be modeled as a virtual link depending on the size of the object and the contact type between the object and the end-effectors. As a result, the points on the links of the dual-arm robot can be regarded as the virtual point objects grasped by the virtual dual-arm robots, and the compliance control for the virtual objects can be developed as well as the object compliance control. The forward relationship from the joint compliance matrix to the multi-object compliance matrix is formalized, and then the general solution of the inverse problem, that is to specify the joint servo gain of the dual-arm robot to achieve, as close as possible, the desired multi-object compliance is presented. To demonstrate the effectiveness of the proposed method, the simulation experiments are performed.抄録全体を表示PDF形式でダウンロード (1178K) -
杉山 尚樹, 山崎 大輔, 植田 敏嗣1993 年 29 巻 6 号 p. 647-652
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーNowadays most laser printers use polygonal mirrors for its optical scanning systems. However if galvanometer was used, it would be of great use in making more compact scanning system. This paper describes a new type of galvanometer for scanning system of a laser printer.
This device is a compact galvanometer produced from quartz wafer, using micro-machining techniques. The merits of this device are a compact size (25mm×25mm×15mm), large scan angle (a 110 deg. peak to peak max), high speed scanning (a speed of 840 scans per second), and a structure suitable for mass production. The features of the device were evaluated and it was found that the jitter was less than 0.03%, the wobble was less than 100 urad, and the stability of the scan angle over a temperature range of 5 to 50°C was less than a 0.5% change. These values satisfy the specifications which are required to get good prints.抄録全体を表示PDF形式でダウンロード (2110K) -
武冨 喜八郎, 宮崎 保光1993 年 29 巻 6 号 p. 653-658
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーThe underground cavity detection within invisible medium analytically using the subsurface radar is extremely difficult because of inhomogeneous property of the surrounding medium. However, when the statistical characteristics of the radar signal is known, the method of the cavity detection is able to construct using the proper signal processing. The cavity detection is made possible by using the statistical variance of radar signal for reasons of it implies the wave scattering degree. So we make easily to evaluate the position of the underground cavity.
In this paper, it is described that the amplitude distribution of the subsurface radar signal obeys to the Weibull distribution and the statistical variance is calculated by Log/CFAR processing.
The suitable choice of data cell size at the sampled radar signal is experimentally considered. Finally, We showed the variance of field test and the relations between the variance and the cavity presence were discussed.抄録全体を表示PDF形式でダウンロード (1268K) -
有界実条件の導出井村 順一, 杉江 俊治, 吉川 恒夫1993 年 29 巻 6 号 p. 659-667
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we give some necessary and sufficient conditions for nonlinear systems to be internally stable and to have L2 gain less than a specified number γ. Our results completely include the bounded real lemma of linear time-invariant systems which are controllable. We also clarify the relations between internal stability of a nonlinear system and a stabilizing solution of Hamilton-Jacobi equation, which are peculiar to nonlinear systems.抄録全体を表示PDF形式でダウンロード (1698K) -
田所 諭, 高森 年1993 年 29 巻 6 号 p. 668-676
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーDexterity is an important issue for design, installation planning, trajectory planning, etc. of manipulators.
Many evaluating methods have been proposed such as Yoshikawa's manipulability. They have, however, some problems, one of which is that they cannot consider characteristics of manipulator motion. It has been impossible to evaluate how efficient a manipulator mechanism is from a viewpoint of characteristics of a required task. A manipulator should be evaluated to be dexterous when it can efficiently perform its required task even if it cannot accomplish other kind of tasks very well.
In this paper, a new dexterity measure stochastic manipulability measure is presented. It can evaluate kinematic dexterity considering deviation of direction of required manipulator motion, which is one of the characteristics of a task. Stochastic manipulability is based on expected value of mean of necessary joint velocity under a stochastic interpretation of required motion. The deviation is specified using a probability density function.
Applications to 2-, 3- and 6-DOF manipulators revealed the following:
1. stochastic manipulability can evaluate dexterity considering deviation of motion,
2. it can be used for comparison of manipulators with different DOFs,
3. it is important to consider the deviation of motion in evaluation,
4. singular points can substantially lose their singularity, and
5. optimal trajectory of redundant manipulators can be obtained using maps in null space of Jacobian matrix.抄録全体を表示PDF形式でダウンロード (1189K) -
松野 文俊, 山本 一雄1993 年 29 巻 6 号 p. 677-684
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a method is proposed whereby both contact force exerted by a flexible manipulator, and position of end-effector while in contact with a surface are controlled. We approximate elastic deformations by means of B-spline functions and derive dynamic equations of joint angles, vibration of the flexible link, and constraint force. A controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the singular perturbation method. Simulation results are shown.抄録全体を表示PDF形式でダウンロード (1341K) -
項 東輝, 土谷 武士1993 年 29 巻 6 号 p. 685-693
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーRecently, vibration control of a wheeled vehicle running over an irregular terrain, which is applied to an aspect of forest farmland and a stricken district etc. has been studied. In order to increase the mobility of the vehicle and the stability of circumstance sensor, it is very important to decrease the rolling and pitching vibration, which is caused by irregular terrain. This paper proposes a model to control the rolling and pitching vibration by using the relative displacement and then controlling the position of vehicle for a four-wheeled vehicle. On the other hand, about constitution of position system, the following four control methods are considered according to the extent of terrain information.
(1) Whole preview control method that uses present and future terrain information.
(2) Partial preview control method that uses present (all wheels') and future (only hind wheels') terrain information.
(3) Feedforward compensation control method that only uses present terrain information.
(4) Feedback control method that doesn't use any terrain information.
According to theoretical computation for performance index and numerical simulation, the effect of position control can be further improved by utilization of terrain information actively.抄録全体を表示PDF形式でダウンロード (1125K) -
高橋 信補, 瀬古沢 照治, 塩谷 真, 大成 幹彦1993 年 29 巻 6 号 p. 694-702
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーRecently, the emission regulation tends to be intensified and it becomes important to improve air-fuel ratio control performance in car engines. To realize this, it is necessary to compensate fuel transport delay precisely.
In the single-point fuel injection system, new strategy for fuel delay compensation using dynamic model has been proposed and air-fuel ratio control performance has been improved. However, in the multi-point fuel injection system which is the main system in car engines currently, controlled factors improving air-fuel ratio control performance and fuel transition characteristic are only analyzed and new strategy for improving control performance is not developed.
In this paper, to cope with emission regulation intensity, the new strategy for the multi-point fuel injection system is proposed and evaluated by experiments.
First, the dynamic model for fuel transport delay compensation of this system is derived by extending the model of the single-point fuel injection system and air-fuel ratio control scheme is structured based on the derived model. Next, approximate values of the model parameters which dominate control performance are determined by comparing the measured air-fuel ratio response to step fuel change with the calculated air-fuel ratio response to that. Next, parameter characteristics which realize target air-fuel ratio accurately are determined by parameter tuning in an acceleration test. Lastly, proposed method is evaluated by exhaust emission test and it is shown that this method is superior to the conventional method in air-fuel ratio control performance and exhaust emission reduction performance.抄録全体を表示PDF形式でダウンロード (1856K) -
志水 清孝, 呂 敏1993 年 29 巻 6 号 p. 703-709
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーThe Stackelberg problem can be formulated as a bilevel optimization problem. In general, such a problem is not a convex program even if all objective and constraint functions are convex. So it is difficult to obtain the global optimal solution.
In this paper, the Stackelberg problem is equivalently transformed into an optimization problem with an equality and several inequality constraints by introducing the minimal-value function of the lower-level program. Under appropriate assumptions, this problem is again transformed into a program in which the objective and constraints are convex functions. Then, by using the concept of exterior penalty method, we obtain an auxiliary problem having only inequality constraints for the transformed problem. It is proved that the global optimal solution to the transformed problem can be calculated as an accumulation point of a sequence of solutions to the auxiliary problems. After that, we show that the auxiliary problem can be equivalently transformed into a concave program for which we can easily find a global optimal solution.
The proposed method can be applied to a wide class of the Stackelberg problems, in which each function in the upper-level program is convex or defference of two convex functions, and one in the lower-level is convex.抄録全体を表示PDF形式でダウンロード (1299K) -
近藤 正1993 年 29 巻 6 号 p. 710-718
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーA short-term prediction of air pollution concentration by a neural network is described. The neural network used in this paper can identify a nonlinear system whose structure is very large and complex. By using the time series data of the SO2 concentration in Tokushima, Japan, we intend to find a suitable model for predicting SO2 concentration a few hours in advance. Eight different prediction models obtained by the neural network are compared to find a suitable neural network structure and suitable input variables in the prediction model. The predicted results obtained by the neural network are compared with the results obtained by linear and nonlinear statistical models, such as a linear regression model, a linear auto-regressive model and a nonlinear GMDH model. It is shown that the neural network developed in this paper gives a better prediction result as compared with the statistical models.抄録全体を表示PDF形式でダウンロード (1556K) -
久保 智裕, 示村 悦二郎1993 年 29 巻 6 号 p. 719-720
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーThe vibration control of a cantilever beam with a lumped actuator is considered. The plant is modeled as a hybrid parameter system. The lumped-parameter-part control is applied, and a stability condition of the whole system is given.抄録全体を表示PDF形式でダウンロード (196K) -
山口 功, 佐々 修一, 木田 隆1993 年 29 巻 6 号 p. 721-723
発行日: 1993/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes the application of system identification method in the time domain using accelerometer outputs that are typical measurement devices for satellite and space strucures. ERA (Eigen-system Realization Algorithm) modified by the iterative least square method is applied in the analysis. Results of numerical simulations for ETS-VI which will be launched by H-II rocket in 1994 show the validity of the method.抄録全体を表示PDF形式でダウンロード (390K)
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