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Volume 29, Issue 9
Displaying 1-14 of 14 articles from this issue
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Manabu YAMADA, Yasuyuki FUNAHASHI1993 Volume 29 Issue 9 Pages 1015-1022
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIt is well-known that, for multivariable system, state feedback controllers which assign all the closed-loop eigenvalues to zeros are generally non-unique.
This paper presents a new synthesis for obtaining such controllers in the parametric form. The parametrization consists of only the free parameters, to which arbitrary value can be assigned, and is convenient to use for the other purpose. This design procedure is straightforward and can provide more extensive class of parametrization than previous results.View full abstractDownload PDF (1147K) -
Koichiro DEGUCHI, Iwao MORISHITA1993 Volume 29 Issue 9 Pages 1023-1032
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we examine the two plane camera calibration model in terms of perspective mapping, and present a new effective camera calibration method by taking the advantage of the conventional method and modifying it based on the exact perspective imaging. It also takes the advantage that each of intrinsic and extrinsic camera parameters can be obtained by solving linear equations only. So that the solutions will be provided uniquely and stably under some conditions, and which can be definitely specified.
In our method a priori knowledge on camera intrinsic parameters is only physical pixel sizes. Exact focal length of the lens, the position of image center or optical center, and the camera pose are unknown and to be calibrated. This is a practical assumption for common commercial TV camera systems.
For the cases where non-linear lens distortions must be taken into account, our method can be extended and their parameters are calibrated also using only linear solutions.
It is shown that higher performance and accurate calibration can be achieved by this method theoretically and experimentally.View full abstractDownload PDF (1736K) -
Seiichi NAKAMORI1993 Volume 29 Issue 9 Pages 1033-1035
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the estimation problem using covariance information, the semi-degenerate kernel is suitable for expressing the autocovariance function of the stationary stochastic signal process. This paper proposes a simple technique which represents the autocovariance function approximately in the semi-degenerate kernel form.View full abstractDownload PDF (315K) -
Masahiro ISHIBASHI, Masaki TAKAMOTO, Noriyuki WATANABE1993 Volume 29 Issue 9 Pages 1036-1042
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDischarge coefficients and inner contour of 24 sonic Venturi nozzles, which had various shapes at their throats, were measured by a constant volume tank system developed as the primary standard in Japan and a coordinate measuring machine, respectively. The nozzles, diameters of which ranged from 6.7 to 18.9mm, had been made by a super-precise machine tool and the deviation of the inner contour from the designed dimensions complying with ISO 9300 were less than ±2μm between the inlet plane and the throat. The measured discharge coefficients of the nozzles, which had the toroidal throats complying with the ISO, coincided with the ISO within the specified uncertainty at the Reynolds number from 0.6 to 2.4×105, but their fitted curve had steeper gradient than that of the ISO. Those of the nozzles, which had lower projections than the boundary layer thickness at their throats and depressions of similar dimension of the thickness right after the projections, were larger by 0.2∼0.3% and had smaller dependency on the Reynolds number than the ordinary ISO nozzles.View full abstractDownload PDF (822K) -
Hideo SAITO, Hideaki HATANAKA, Kunio YUASA, Youji YUGE, Masato NAKAJIM ...1993 Volume 29 Issue 9 Pages 1043-1049
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method for imaging a temporally varying distribution of the luminous intensity radiated by the plasma in a discharge tube is proposed. In this method, the projection, that is the set of line integrals, of the temporally varying luminous intensity's distribution is measured using a photo detector with a collimator. Measurement of the temporal variation of each projection is synchronized with the period of the temporal variation of the discharge phenomenon. From the projections at an arbitrary time of the temporal variation, the luminous intensity distribution at the time can be reconstructed using the CT algorithm. For demonstrating the efficacy of the proposed method, the reconstructed images of the time varying luminous intensity's distribution inside a mercury discharge tube are shown.View full abstractDownload PDF (4070K) -
Osamu NAKAMURA, Norichika SAKANO1993 Volume 29 Issue 9 Pages 1050-1054
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA numerical method to remove the measurement error which is originated in the finitely extended tip of the probe used in scanning probe microscopy is proposed. The tip-effect is removed with a nonlinear iterative inversion algorithm in the proposed method. The method is applied to a contact instrument for surface profile measurement. The center line average height of the roughness curve of a steel specimen is recovered by the ratio of 0.02∼0.03 (2∼3%) by the proposed method. The regularization of the inverse system and the accuracy in the proposed method are discussed.View full abstractDownload PDF (1589K) -
Manabu KOTANI, Koji FUJIMOTO, Haruya MATSUMOTO1993 Volume 29 Issue 9 Pages 1055-1063
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe diagnosis with an acoustic impulse signal like hammering sound has been used to detect defects in mechanical structures. Since the acoustic impulse signal is of transient nature, it is generally difficult to process the signal and to detect the defects automatically. In this paper, the preliminary study of the signal processing technology for the acoustic impulse signal is described. Here the application of the pattern recognition technique used in the speech recognition is examined for the evaluation of the defect depth. The applied neural model is the multi-layered neural network which intends to imitate the superior processing performance in human brain and also has a good performance for pattern recognition. Experiments are performed to get the acoustic impulse signal for the various defect depths. The network architecture, the input feature to the network and the signal processing method appropriate for the evaluation of the defect depth with the acoustic impulse signal are examined. The result shows 99.4% discrimination accuracy in this experiment. Furthermore, the forgetting learning rule applied to the neural network is examined to remove the unnecessary weights to discriminate the defect depth. The discrimination accuracy is 99.4% and weights are removed over 90%. These results suggest that the neural network is effective for the evaluation of the defect depth with the acoustic impulse signal and the forgetting learning rule is able to remove the unnecessary weights to keep the high discrimination accuracy.View full abstractDownload PDF (1378K) -
Akira TORIGE, Tetsuya KONO1993 Volume 29 Issue 9 Pages 1064-1069
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we developed a human-interface system to specify the moving direction by recognition of beckon motion. In this system, the recognition of gesture is performed by using a color image processing system.
The communication between persons are performed by using not only voice but also the gesture. In noisy environment, if machines can recognize the human gesture as a command, one operates the machine easily like making command to another person by his gesture. Then, we propose the communication method from human to machines by recognition of human gesture with a image processing system. This system make communication with machines as likely communication with another person. This system need no special environment, for example a data grove, data suit or a black background for monochrome image processing. This system requires operator only the to put on color grove which color is not included by his background.View full abstractDownload PDF (2527K) -
Yasumichi HASEGAWA, Tsuyoshi MATSUO1993 Volume 29 Issue 9 Pages 1070-1078
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn reference (*), we have proposed pseudo-linear systems as a special system of affine dynamocal systems which are general non-linear systems. And we have established the realization theory of discrete-time pseudo-linear systems. The main theorem is the following. [For any time-invariant input response map (that is equivalent to any input/output map with causality and time-invariance), there exist at least two canonical (quasi-reachable & observable) pseudo-linear systems which realize it. And let σ1, σ2 be canonical pseudo-linear systems with same behavior, then there exists an unique isomorphic system morphism T: σ1→σ2.]
In this paper, we investigate details of finite dimensional pseudo-linear systems. In order to obtain practical results, we assume that the set U of input values is finite and show that this assumption is not so special. A necessary and sufficient condition for a finite dimensional pseudo-linear system to be canonical is given. In an isomorphic class of canonical pseudo-linear systems, there exist two standard systems. One is the quasi-reachable standard system, the other is the observable standard system.
A condition for a time-invariant input response to be the behavior of a finite dimensional pseudo-linear system is equivalent to a condition that the rank of an infinite Hankel matrix is finite.
A procedure to obtain the quasi-reachable standard system from a time-invariant input response map is given.
These theories signify an extension of systematizationin linear system theory established by R. E. Kalman et al.
*) Realization Theory of Discrete-Time Pseudo-Linear Systems, Trasns, of SICE, 28-2, 199/207 (1992)View full abstractDownload PDF (1617K) -
Fumihiro SUZUMURA, Koichi MIZUKAMI1993 Volume 29 Issue 9 Pages 1079-1085
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe purpose of this paper is to solve two-level closed-loop Stackelberg game problem for a linear time-invariant system described by the following state equation and output equation.
{x=Ax+B1u1+B2u2 y=Cx
The Stackelberg strategy for each decision maker ui is generated via output feedback with constant feedback gain, that is,
ui=-Fiy
The Stackelberg strategy via output feedback is effective for the problem with incomplete information with respect to state value. The cost functional associated with ui is
Ji=E{(1/2)∫∞0[xTQix+uT1Ri1u1+uT2Ri2u2]dt}
that is, Ji is trace criteria which is interpreted as expected value of quadratic criteria. Assume the initial state of system is uniformly distributed over the unit sphere. We show that there exist optimal Stackelberg strategies to this problem.
In this paper, necessary conditions for a optimal Stackelberg strategy via output feedback are given in the infinite time problem. The necessary conditions are described by a set of coupled Riccati and Lyapunov algebraic matrix equations. In the special case that C-1 exists, the necessary conditions are identical to ones derived by Medanic.View full abstractDownload PDF (1060K) -
Noriyasu HONMA, Mitsuo SATO, Hiroshi TAKEDA1993 Volume 29 Issue 9 Pages 1086-1093
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe consider a problem of searching optimal control inputs of a system in which the input-output relation is prescribed by a nonlinear function with unknown characteristics. In such a system, if output values corresponding to all input values are observed, the input-output relation can be completely known and so optimal input values can be found. But it may be impossible in practice when the number of input values is indefinitely, many. In this case a random search method is considered to be a useful method for searching approximate optimal values.
For this problem, in this paper, a learning algorithm of the random search is presented. Each time, under this scheme, an input is chosen probabilistically and its response from the system is observed. The probability of choosing an input is changed according to its response by a learning manner of trial and error. It is shown that under this scheme the probability of choosing an optimal input converges to unity within arbitrary accuracy as search time evolves. Furthermore, practical availability of this algorithm is revealed by applying it to problems of equation solving and traverser control.View full abstractDownload PDF (1624K) -
Akihiro MAEKAWA, Chiaki YASUDA, Toshio YAMASHITA1993 Volume 29 Issue 9 Pages 1094-1103
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRecently, the requirements of sophisticated anti-seismic testing system are increasing year by year, especially for tests of non-linear and non-reversible phenomena, e. g. the plastic deformation of structures. In these tests, iterative equlization based on characteristics found through trial exitation cannot be applied. So we have adopted H∞ control to 3-D shaking table for the improvement of response. That is why we can design controller that perturbations of a plant is taken into account in advance. The points of this paper is as follows; 1) In MIMO system whose units of input variables or output variables are different, we have made a scaling of units that the difference of the maximum singular value plot of the plant and the minimum singular value plot of it becomes as small as possible. 2) We have adapted 4 block problem taking “state disturbance” into account in H∞ controller design.
As a result of experiments with 3-D shaking table, H∞ controller has extended its frequency response from 4.7Hz to 8.3Hz compared with conventional analog control, while harmonic distortion on acceleration stays at the same level.View full abstractDownload PDF (1462K) -
Takashi KIMURA, Morio TAKAHAMA, Ei TOKUDA, Masahiro OHNO1993 Volume 29 Issue 9 Pages 1104-1113
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a new design method is proposed to design a robust flight control system which is low-sensitive and robust stable.
This method can realize pole-zero assignment by exact model matching method, moreover achieved disturbance zeroing by solving Output Estimation (OE) problem which is one of H∞ control problems.
We apply this method to design a control augmentation system (CAS) for the longitudinal flight control system (single input single output system) of a typical small aircraft.
Our new design method can satisfy simultaneously 4 design requirments as follows.
(1) Desired closed loop transfer function between reference and controlled variable.
(2) Low sensitivity characteristics.
(3) Low complementary sensitivity characteristics.
(4) Robust stability.View full abstractDownload PDF (1849K) -
Takushi NISHIYA1993 Volume 29 Issue 9 Pages 1114-1123
Published: September 30, 1993
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a symbolization method for detecting process state change from the time series data. The proposed method comprises three processing steps as follows: (a) Peculiarity extracting of process data: the time series process data is expanded into polynomials by a peculiarity extraction filter, and peculiar points are extracted as peak points of the 2nd order polynomial coefficient. (b) Approximating by a series of vectors: the time series data is approximated by a series of vectors (line segments) which connect peculiar points in turn. (c) Comparing with dictionary: the vector series is compared with event patterns which are contained in the dictionary as the vector serieses.
The proposed method has good features as follows: (a) Calculation efficiency: the time series data is processed as a series of vectors, therefore the calculation time in the comparing step is much reduced. (b) Simplicity: the similarity measure is defined as the correlation factor between vector serieses, therefore the patterns which have similar shape but different in size are detected using an event pattern at a time.
The proposed method has been applied to an operation support system for plant and process control. The results prove that the method is practical and able to reduce the operator's work load.View full abstractDownload PDF (1485K)
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