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Volume 30, Issue 12
Displaying 1-20 of 20 articles from this issue
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Yoshito OHTA1994 Volume 30 Issue 12 Pages 1411-1417
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, an optimal solution of the continuous-time L1 control problem for 1-block MIMO systems is studied. Firstly, a characterization of an optimal solution is derived. A crucial idea of the approach is the duality of convex sets of finite dimensional vector spaces. This avoids a functional space argument. Secondly, it is shown that confining controllers to be finite dimensional does not hamper the ablitity to reduce the L∞ induced norm of the closed loop operator.View full abstractDownload PDF (1126K) -
Achmad JAZIDIE, Toshio TSUJI, Makoto KANEKO, Mitsuo NAGAMACHI1994 Volume 30 Issue 12 Pages 1418-1426
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe present paper proposes an impedance control method utilizing arm redundancy based on the Hierarchical Impedance Control (HIC) framework and the concept of virtual arms. The proposed method can control not only end-effector impedance using one of the conventional impedance control methods but also regulate the impedance of multiple points on the manipulator. The desired end-effector impedance is always realized under the proposed method, since controlling the end-effector impedance is considered as the highest priority task and regulating the multiple points impedance as a sub task.View full abstractDownload PDF (1673K) -
Junghyun HWANG, Yoshiteru OOI, Shinji OZAWA1994 Volume 30 Issue 12 Pages 1427-1435
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA robot system equipped with an overhead CCD camera which is able to recognize, track and zoom an arbitrary 3-D object traveling at unknown velocities has been built. The problem of on-line visual tracking is formulated as a problem of combining sensor control with computer vision. For image processing, a motion and shape derivation based on eigenvalue problem in object covariance matrices is proposed to estimate an unknown moving object with low computational cost as well as noise detection. The object size, a major shape information for zoom control, is evaluated from the optimized maximum eigenvalues. In the sensor control part, an organic path planning of a pipe-line process between image processing and camera motion control is designed by using the prediction of position error and the feedback of camera motion. The performance of the proposed algorithm has been tested on Sun SS2, a controllable zoom-lens and RV-M1 robot arm, and the experimental results show that the proposed system is valid for numerous kind of moving object with 1.60sec system sampling period.View full abstractDownload PDF (4218K) -
Hiroaki ISHIZAWA, Eiji TOBA, Masato YANAGIHARA1994 Volume 30 Issue 12 Pages 1436-1441
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe influences of Residual Pesticides for human health or environment have been a very important problem. Therefore, a method to measure the quantity of the residual pesticides in the agricultural products rapidly before shipping them off, is expected to be developed.
We developed a new non-destructive method to measure them by FT-IR of attenuated total reflection method (FT-IR-ATR).
In this study, we have applied FT-IR-ATR to the lettuces, that were practically produced in the fields.
The relationship was studied between FT-IR-ATR method values, which were caliculated by the multiterm linear calibration and Gaschromatography method values.
The canonical discriminant analysis and the quadratic discriminant analysis of the ATR spectra were studied as well.
The main results of this study are as follows.
(1) A group of samples of which pesticide residues were not detected (N. D. Group) could be adequately discriminated by a canonical analysis of ATR spectra.
(2) A group of samples that contained pesticide residues (Detected Group) could be adequately discriminated into two groups with a boader value of residual standard value by the quadratic discriminant function.
(3) Estimated residual values obtained by the multiterm linear calibration had too much error in such a finite range as 0 to 2ppm, where almost all the residual standards are regulated.
(4) A food safety inspection system could be proposed by applying the discriminant analysis of ATR spectra.View full abstractDownload PDF (1325K) -
Ken OHTA, Kazutoshi KOBAYASHI1994 Volume 30 Issue 12 Pages 1442-1448
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a measurement system using accelerometers in sports, which accurately measures the rotation motion. The accelerometer detects centrifugal acceleration, angular acceleration, linear acceleration and gravitational acceleration. A pair of accelerometers that lie on the same line detects same linear acceleration and same gravitational acceleration. Therefore linear acceleration and gravitational acceleration cancel each other by subtracting the two accelerometer signals, and the remainder is angular velocity (centrifugal acceleration) and angular acceleration. This measurement system uses the Kalman filter which uses the angular velocity and angular acceleration as observation signal. The accuracy of this method was examined by simulation and experiments.View full abstractDownload PDF (3174K) -
Shogo TANAKA, Seiji NISHIFUJI1994 Volume 30 Issue 12 Pages 1449-1457
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSFor an accurate measurement of ship's attitude the paper develops an automatic on-line measurement system which uses four servo-type accelerometers and one servo-type inclinometer which are appropriately located on the ship. Through the location of the accelerometers, the heaving, rolling and pitching signals of the ship are separated from each other with adequate linear combinations of the four sensors' outputs. Furthermore, particularly to extract the bias signal of the pitching, one inclinometer is utilized.
By introducing linear dynamic models of the three signals and using Kalman filters, on-line measument of the heaving, rolling and pitching is realized. A bank of Kalman filters are used to overcome a change in some parameters in the dynamics.View full abstractDownload PDF (1703K) -
Masahiro YOKOMICHI, Masasuke SHIMA1994 Volume 30 Issue 12 Pages 1458-1465
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we study the invariance of Hamiltonian structure for control systems under the feedback and the time scale transformations. The control systems that have such structure are called “Hamiltonian control systems” and many practical control systems (e.g, Power systems and mechanical systems) can be regarded as Hamiltonian control systems under some assumptions.
In general, Hamiltonian structure is not preserved by the feedback and the time scale transformations. We give the classes of these transformations that preserve the Hamiltonian structure. By means of symplectic geometry, it is shown that the conditions are characterized as the exactness of cirtain one form.
Conversely, some of non-Hamiltonian control systems can be turned inso Hamiltonian systems by feedback. We specify the properties of such systems and call the problem “non-dissipative control”. For some simple cases, several conditions are given.View full abstractDownload PDF (1479K) -
Li XU, Osami SAITO, Kenichi ABE1994 Volume 30 Issue 12 Pages 1466-1473
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper investigates some fundamental properties of nD systems whose input and output signals are unbounded in, at most, one dimension. Based on the nD Roesser state-space model, first of all, the concept of practical internal stability is introduced and a necessary and sufficient condition is derived. Solutions are also shown for the problems of practical-stabilization by local state feedback and construction of asymptotic state observer in the practical sense. Based on these results, the relationship between practical-BIBO stability and practical internal stability is clarified under the concepts of practical-detectability and practically-stabilizability. Finally, a connection between state-space and doubly coprime matrix fractional description on the ring of practically-stable rational functions is given.
The obtained results make it clear that all the above-mentioned control problems in the practical sense can be transformed to the corresponding 1D problems, therefore can be essentially solved by using 1D methods.View full abstractDownload PDF (1459K) -
Noboru SEBE, Toshiyuki KITAMORI1994 Volume 30 Issue 12 Pages 1474-1483
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a method for designing decentralized compensators based on coprime factorizations.
The proposed method consists of two steps. The first step is to approximate the given plant to a block-diagonal system, which consists of decoupled subsystems. This paper clarifies the characteristic property of block-diagonal systems, that is, the partial transfer function matrix of the right coprime factorization, corresponding to each sub-system, is not full rank. The approximation of the plant can be obtained by reducing the rank of the transfer functions. In this paper, the gap metric is used to measure the approximation error. An iterative algorithm for the approximation is proposed here.
The second step is to find a decentralized compensator which stabilizes the plant, that is, its approximation with the coprime factor perturbation. Using the μ synthesis, robust stability condition for the local compensators can be derived.View full abstractDownload PDF (1757K) -
Yasuyuki FUNAHASHI, Satoko YAMAKAWA1994 Volume 30 Issue 12 Pages 1484-1491
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe two-delay input control proposed by Mita et al is attractive since it makes it possible to solve problems connected with unstable zeros. It is a digital control system in which control inputs are changed twice in a sampling period. The two-delay input control was shown to have no zeros.
In this paper, the assumption on the zero of the basic discrete-time system is relaxed. That is, the condition for the two-delay input control system has no zero is obtained for the systems in which geometric multiplicity of zeros of basic discrete-time system is greater than one.
We investigate how to design an inverse system as an application of two-delay input control. It is shown that an asymptotic inverse system always exists, if two-delay input control system has no zeros. For a stable system, an inverse system is of finite inverse response. For an unstable system, the system is also designed using state feedback and observer. In particular, by choosing the feedback gain and observer gain suitably, we can obtain an inverse system in a finite time.View full abstractDownload PDF (1063K) -
Tomoharu DOI, Ryoji KAWATANI1994 Volume 30 Issue 12 Pages 1492-1498
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe consider an electromagnetic suspension system and discuss the design procedure that can stabilize robustly when the mass of object is changed. In this case, model uncertainty can be treated in the so-called structured uncertainty and we will apply two quadratic stabilization design procedures. Especially, we will show that a distribution ratio of uncertainty has an important role corresponding to the wighting matrix in the LQ regulator problem in first design procedure, and propose the quadratic stabilizing mixed sensitive problem which can consider not only the quadratic stabilization but also lower sensitvly performance in second design procedure. We will confirm the validity of this proposed design procedures by nonlinear simulations and experiments.View full abstractDownload PDF (1828K) -
Hisashi SANO, Shuichi ADACHI, Hideki KASUYA1994 Volume 30 Issue 12 Pages 1499-1504
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe purpose of this paper is to propose an algorithm for the active noise control (ANC) using the least squares lattice algorithm (the LSL algorithm). In the case of the random noise application of ANC such as road noise in a car during driving on rough roads, the adaptive algorithm is necessary because the transfer function of the system varies with the speed and by deterioration. As an adaptive algorithm for ANC, the LMS algorithm whose structure is simple has been used for real time operation of sound. However, when the LMS algorithm is applied to road noise in a car, the LMS algorithm has problems of both estimation accuracy and convergence speed because the order of the FIR model is high for the control of wide band frequency and the suspension vibration acceleration used as the input signal is the colored signal. In order to solve these problems, the LSL algorithm for ANC is considered and the filtered-x LSL algorithm is proposed. By computer simulations, the LSL algorithm turns out to be more effective than the LMS algorithm in both estimation accuracy and convergence speed especially for the colored input signal used in ANC of road noise.View full abstractDownload PDF (2478K) -
Saori OGURA, Takumi EBINE, Koichi HASHIMOTO, Hidenori KIMURA1994 Volume 30 Issue 12 Pages 1505-1511
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a robust control scheme for the robotic visual feedback control. The visual feedback control system is regarded as the motion control system based on the image information obtained from the camera mounted on the robot end-point. Two ways of visual feedback control shame, namely position-based and feature-based have been proposed. The feature-based scheme uses the object image feature directly without computing the object 3D position and orientation. In this paper the plant is represented in state space with the state being the object features, which is linearized around the desired state to obtain a linear time-invariant system. The modeling error due to the linearization is regarded as a multiplicative plant perturbation. The robustly stabilizing controller is obtained by solving a mixed sensitibity H∞ problem. Real-time experimental results on PUMA560 are also presented to show the effectiveness of the proposed method.View full abstractDownload PDF (1033K) -
Shogo TANAKA, Michiyasu TANAKA, Kaoru KAMACHI, Susumu KOUNO1994 Volume 30 Issue 12 Pages 1512-1520
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSpreaders and lifters of cranes are usually controlled to stop when their trolleies are stopped. Despite the adequate control, however, the swing of the lifters does not vanish, and is considerably large due to the free suspension of the lifters from the ceilings through pullies with two wires. It is therefore important to measure the attitude of the lifters on-line in order to suppress the swing by another adequate control.
As one approach there is an image processing method which measures the attitude by tracking a mark on the lifter with a camera. This, however, requiring much cost in the equipment and maintenance, the paper proposes a maintenance free automatic measurement system, which enables an accurate on-line measurement of the attitude of the lifters. For realizing the system, the lifter system is modeled by a linear dynamic one of a double pendulum and a Kalman filter is used. To extract the information on the swing of the lifter, one servo-type accelerometer is mounted on the lifter.View full abstractDownload PDF (1398K) -
Fumitoshi MATSUNO, Noriaki SAKABE, Masao IKEDA1994 Volume 30 Issue 12 Pages 1521-1528
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we consider optimal handling strategies of flexible beams by using N-link manipulators. We derive the equations of the motion of an N-link manipulator with a flexible beam are derived. On the basis of the dynamic equations, the optimal input torques, which accomplish the desired end-position of the manipulator and the deminution of the vibration of the flexible beam, are calculated by using a numerical algorithm for the optimal control of the nonlinear equations. As the equation of the vibration of the flexible beam implies that the acceleration of the end-point of the manipulator excite the vibration, we consider an optimal trajectory planning so as to minimize the end-point acceleration. The validity of the optimal input torques and the optimal trajectory are demonstrated by computer simulations and experiments, respectively.View full abstractDownload PDF (1492K) -
Hiroshi KAWAKAMI, Osamu KATAI, Testuo SAWARAGI, Tadataka KONISHI, Sosu ...1994 Volume 30 Issue 12 Pages 1529-1537
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes methods of knowledge representation and acquisition for conceptual design of physical systems by introducing the notion of determination rules. From Value Engineering perspectives, physical systems are interpreted by their functions, structural attributes, and the means-ends relations relating with them, i.e., functional compositions, physical causal laws, and structural compositions. These knowledge are used as the initial domain theories of EBG (Explanation-Based Generalization), then they are refined through compilation. Through examining the fundamental structures of determination rules they are then introduced to the domain theory of EBG. They reflect relations among functions structures and their causes/effects by which various types of empirical design knowledge can be reprsented. Using determination rules as the domain theory of EBG, they are once instantiated for an exampler object, and then generalized by identity elimination. Through these processes, they are reformed into efficient and rationalized design knowledge utilizable for systematic design processes. This method is implemented to a system in a logic programming environment.View full abstractDownload PDF (3456K) -
Zhongshu JI, Shinzo KITAMURA1994 Volume 30 Issue 12 Pages 1538-1546
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSPermutation coding is a new coding concept proposed by the authors. It has been applied using the discrete cosine transform (DCT) to image compression, achieving high compression ratios at 25:1 and above on grey-tone source images. In this paper, this concept is applied to configure a line (waveform) permutation coder (LPC), using the combination of two methods called the correlation mapping and the permutation innovation as a tool for decorrelating the line-based image data. The LPC is featured in: 1) for being defined in the spatial domain it is implemented about 10 times faster than the conventional DCT-based schemes, while being capable of comparable compression ratios in the range of 6∼10:1; and 2) depending on a sort-based processing manner the LPC, differing from the most of coding schemes which tend to sacrifice image high frequency components in attaining the compression, preserves image edges and contours very well.View full abstractDownload PDF (2422K) -
Muneyuki YOSHIOKA1994 Volume 30 Issue 12 Pages 1547-1549
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe approximate model of the pressure-measuring diaphragm is obtained. The model is the second-order system which consists of an effective mass and a spring. The system parameters are decided by using the frequency response of a clamped-edge diaphragm.View full abstractDownload PDF (393K) -
Kazue NISHIHARA, Isao MATSUZAWA, Kazuyuki MIZUTA1994 Volume 30 Issue 12 Pages 1550-1552
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSUsing a straight plastic optical fiber, a liquid level sensor was formed by shaving off the clad part and narrowing the light path in a certain length. Then a test about detection of inclination of the water surface was done for a pair of the sensors dipping in water perpendicularly.View full abstractDownload PDF (433K) -
Izumi MASUBUCHI, Atsumi OHARA, Nobuhide SUDA1994 Volume 30 Issue 12 Pages 1553-1555
Published: December 31, 1994
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a new design method of robust stabilizing state feedback gains for uncertain descriptor systems. The method involves solving certain linear matrix inequalities, which guarantee that closed loop systems have neither impulsive modes nor unstable exponential modes subject to the uncertainties.View full abstractDownload PDF (428K)
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