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Volume 32, Issue 12
Displaying 1-12 of 12 articles from this issue
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Mitsuru FUJIMORI, Hiroe UESEKO, Mikiya KAWAMURA1996 Volume 32 Issue 12 Pages 1573-1580
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSNowadays, traffic accident in our country make rapid increase. The causes of an accident increase are vehicle increase and delay of a safe countermeasure. Attentiveness of a driver is important in order not to cause an accident. Therefore, it is important to investigate a visual performance at an automobile operation. A visual mentality of a driver at high-speed running becomes more unusual in comparison with a state of general road running. A purpose of this research is to analyze objectively visual phenomenon on high-speed running.
A eye movement of a driver on expressway running was measured by a record with eye-mark camera. A subject are ran with the next 3 kinds of a method. They are going straight with law speed, going straight with acceleration and lane change (passing). Considering a skill of a subject and safety the condition of an operation was set up. Therefore, a condition is comparatively simple. From an experimental result, an obvious difference was observed on a fixation point distribution pattern. By analyzing a measurement data, characteristics on each conditions were extracted. And, significance of fixation time was examined by a analysis of variance.
From an experimental result, we reviewed the relation between a fixation point and the narrowness of the visual field range. A result showed that 0.3s fixation points had a significant characteristic. Further, a result suggested a correlation of a distribution of an eye-movement velocity with a fixation point. A conclusion that an eye-movement velocity changed by driving condition was obtained.View full abstractDownload PDF (1720K) -
Akihiro SHIMADA, Hyunyong HAN, Sadao KAWAMURA1996 Volume 32 Issue 12 Pages 1581-1587
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn many cases of human hand tasks, grasping and manipulation of objects are most basic motions. However, the physical characteristics of human finger on grasping motions have not yet been sufficiently clarified. For example, the friction effect which is an important characteristic on grasping motions have been hardly investigated. In this study, we pay attention to friction between a finger and an object. At first, we develop a system to measure the friction of fingers. Next, basing on the experimental results obtained from the developed measurement system, we propose a new model of the maximum static friction force of human fingers. Also, we have found out that the friction forces are changed depending on the directions of tangential forces. Finally, we realize a finger tip which is made of silicone rubber and whose characteristics are similar to human fingers.View full abstractDownload PDF (1355K) -
Tetsuya MANABE, Tadashi KOTANI, Takenori MORIMITSU1996 Volume 32 Issue 12 Pages 1588-1595
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe propose a joint shape parameter estimation algorithm for an acoustic inspection of an under ground telecommunication conduit. A simple joint shape model with parameters of length and diameter is assumed because the most of the defects in the telecommunication conduit occur at joint. An acoustic reflection dynamics of the joint and appropriate inspection waveform are analyzed from assumed joint model. A joint parameter estimation algorithm is provided based on this joint dynamics. An acoustic waveform control algorithm is also proposed by taking account of learning control scheme that enables the arbitrary inspection waveform. Experimental results of the estimation are in good agreement with the real value of the joint shape parameters.View full abstractDownload PDF (1850K) -
Masami SAEKI, Koichi AOISHI1996 Volume 32 Issue 12 Pages 1596-1600
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRobust stability degree assignment is a method which assigns the poles of the system in a desired region on the complex plane by H∞ control theory. In this paper, the pole location of the nominal system controlled by the central solution is clarified. Namely, it is shown that when the perturbation is additive and the desired region is a half plane to the left of a vertical line s=-α on the complex plane, the poles of the plant and the zeros of the weight inside the desired region do not move, and other poles and zeros are turned over to their mirror images with respect to the vertical line if γ=∞ and some of the poles move if γ becomes smaller.
Since H∞ controller is not usually observer type, the poles cannot be separated into regulator poles and the observer poles. This makes it difficult to clarify the relation between the performance index and the pole location of the closed-loop system in general. The controller designed by the robust stability degree assignment is observer type and the constant terms of Riccati equations are zero. These special properties are used in the proof. The pole location is not clarified for multiplicative perturbation.View full abstractDownload PDF (908K) -
Hisao KATOH, Yasuyuki FUNAHASHI1996 Volume 32 Issue 12 Pages 1601-1605
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we consider the repetitive control problem for the single-input, single-output, linear time-invariant, continuous-time plants, using the different approach from the past studies for the stabilization of the closed-loop systems.
In our approch, we derive the parametrization of all stabilizing controllers by solving the Bezout identity. The Bezout identity include the time-delay element in the repetitive control problem. So, generally speaking, solving it is complicated and difficult, compared with the finite-dimensional case.
However, we will show in this paper that it can be relatively easy to solve the Bezout identity under some condition and that the response can be improved by our approach.View full abstractDownload PDF (804K) -
Akihiko MATSUSHITA, Takeshi TSUCHIYA1996 Volume 32 Issue 12 Pages 1606-1611
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSome approaches have been presented for integration of control system design and tuning of a controlled object. The integration is more effective than the general separate designs because parameters of the controlled object can influence the properties of the control system.
In this paper, we propose an application of optimal control system design using the asymptotic characteristics to the simultaneous design of a control system and a controlled object.
The optimal control system approaches to the decoupled control system as the weighting factors for the control input variables in quadratic performance index tend to zero. In the decoupled control system, the responses between the reference signal and the output signal of the controlled object aren't influenced by parameters of the controlled object. We propose the following simultaneous design method using these properties.
(1) In the design of the decoupled control system, the parameters of the controlled object are decided in order to minimize the magnitude of the control input.
(2) In the design of the optimal control system, the weighting factors are adjusted for trade off between the response speed of the controlled output and the magnitude of the control input.
By tuning of the controlled object in the decoupled control system, the design procedure becomes simpler than one in the optimal control system because the response speed of the controlled output is fixed by the selection of the weighting factors and is not changed with the parameters of the controlled object.View full abstractDownload PDF (1280K) -
Masami SAEKI, Daii HIRAYAMA1996 Volume 32 Issue 12 Pages 1612-1619
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a parameter space design method of three term controller for a robust sensitivity minimization problem is proposed. Three term controller is a controller which contains two design parameters affinely, and PI controller or PID controller with one of the three gains fixed belong to this class. This method can be applied to a single-input single-output linear time-invariant system which may include time-delay elements. For this class of controllers, the solution of the robust sensitivity problem is given as a set on a parameter plane.
Since the design problem consists of an internal stability condition and a frequency domain condition on the jω axis, methods of computing the permissible sets for the two conditions are examined, independently. As for the computation of the latter set, first, permissible sets are obtained for a finite number of frequencies, and, next, they are drawn on a parameter plane. Then, the intersection includes the solution set. Namely, the set is obtained approximately as a necessary condition. The proposed method is applied to a first order system with a time delay element, and this result is compared with that of two disk type mixed sensitivity problem.View full abstractDownload PDF (1062K) -
Yuichi CHIDA, Yoshitake YAMAGUCHI, Hiroshi SOGA, Takashi KIDA, Isao YA ...1996 Volume 32 Issue 12 Pages 1620-1628
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSEngineering Test Satellite VI (ETS-VI) is a three-axis-stabilized satellite launched by NASDA in 1994. The FLEX experiments which consist of identification and attitude control experiments on orbit were planned as one of the ETS-VI on-board experimental programs and carried out in 1995. The purpose of the FLEX experiments was to establish fundamental attitude controller design methods for a flexible-structure satellite. In this paper, some results of the attitude control experiments are presented. The attitude controllers were designed using H∞ control method and two-degree-of-freedom control method. At that time, as the program memory area for the FLEX experiments was limited to about 2.6 Kbytes, the feedforward control design methods which never increase the order of the controller were adopted in this paper. Experimental results showed high control performance which was expected by simulation results on the ground. Noting that the on-orbit experiments presented have never been carried out, we believe these results will be utilized for attitude controller design in the future.View full abstractDownload PDF (1627K) -
Yuji YAMADA, Kanya TANAKA, Akira SHIMIZU, Toru YAMAMOTO1996 Volume 32 Issue 12 Pages 1629-1636
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn a pneumatic servo system, since the change in load mass and air compressibility cause parameter variation of the plant, it is difficult to achieve high control performance by using PID or optimal control methods. So an adaptive control has been introduced to improve the control performance. In almost works, a pneumatic servo system has been considered as a deterministic one. However, in existent pneumatic servo systems, not only deterministic disturbances but also static disturbances such as observation noises exist. In this paper, we propose a new design scheme of a minimum variance type adaptive pole-placement control for the existent pneumatic servo system. This design scheme works well even in the presence of constant disturbances caused by the additive external forces. The effectiveness of this design scheme is confirmed by the experiment.View full abstractDownload PDF (1233K) -
Noboru SAKAMOTO, Masayuki SUZUKI1996 Volume 32 Issue 12 Pages 1637-1639
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this note, a design of high gain feedback for uncertain nonlinear systems is proposed using the multiparameter high gain feedback method. It is shown that control laws by the multiple time scale high gain feedback and those by the so-called backstepping design method have essentially the same structure for this problem. Design objectives are robust asymptotic stabilization for a given domain of initial conditions and a construction of a high gain regulator. The design is practical, compared with the backstepping method, in the sense that it consists of choosing linear gains, and therefore, the exponential stability is guaranteed.View full abstractDownload PDF (326K) -
Takeshi MIURA, Toshiyuki TANIGUCHI1996 Volume 32 Issue 12 Pages 1640-1642
Published: December 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method to estimate the optimal exciting profile for microstepping of a stepping motor is developed. In this method, a formulated condition concerned with performance of the motor is set and the profile is tuned automatically to satisfy this condition. The effectiveness of it is demonstrated by the experiment for a practical stepping motor.View full abstractDownload PDF (377K) -
1996 Volume 32 Issue 12 Pages e1
Published: 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (215K)
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