巻号一覧
32 巻, 4 号
選択された号の論文の21件中1～21を表示しています
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崔 龍雲, 高橋 豐, 前川 禎男1996 年 32 巻 4 号 p. 445-450
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーWe present a measuring method and experimental results for finding the distance and attitude of the plane surface to be measured.
We propose a triangular pyramid slit-ray projection method for finding the distance to the objective plane surface and attitude (orientation and tilt). We made an experimental system based proposed method.
In order to find the distance, the orientation and tilt of the objective plane surface, we used the inner center of a projected triangle on the image plane. First, the distance to the objective plane surface is computed by the length from the inner center to the side of a triangle formed by the three lines on the image plane. Then, the orientation and tilt of the objective plane surface is computed by the evaluated distance and the gradient of the three sides of a triangle on the image plane.
The accuracy of our measurements of the distance is in the order of 5mm for an objective plane surface from 0.4m to 2.2m. For the orientation and tilt of an objective plane surface the accuracy of measurement is in the order of 2° and 3°, respectively.抄録全体を表示PDF形式でダウンロード (1273K) -
後藤 英二, 野城 真理, 保坂 栄弘, 南谷 晴之1996 年 32 巻 4 号 p. 451-459
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーTidal volume measurement is widely used in both clinical practices and experimental researches. Although a flowmeter gives accurate tidal volume, it requires a facemask which makes a subject uncomfortable and even affects breathing pattern in the subject. Measurements using any methods other than the flowmeter must be calibrated by the flowmeter in each subject. To dispense with the facemask and the calibration, we developed a new method which measures the change in the body trunk volume, because it is established that the change in the body trunk volume is equal to that in the lung volume.
A curvature sensor using optical fibers was developed to yield a cross-sectional area of the body trunk. The shape of the cross section was reconstructed from 20 curvatures measured by the curvature sensors, to produce the area. Two cross-sectional areas were obtained as stated above, and two other areas were estimated from the two areas obtained already. The estimation was based on the relation between the area and the circumference length. The four cross-sectional area and three distances between them gave the body trunk volume related to respiration. The circumference lengths and the distances between the areas were measured by length sensors using optical fibers which we also developed. We named this method the curvature plethysmography (CP).
The change in the lung volume was measured by a flowmeter in six subjects, and the change in the body trunk volume was simultaneously measured by the CP without any calibration in each subject. The coefficient of the regression line between the two measured changes ranged from 0.8 to 1.2. The results obtained indicated that the CP can be used for tidal volume measurement without a facemask and a calibration.抄録全体を表示PDF形式でダウンロード (3148K) -
田中 正吾, 山根 健治1996 年 32 巻 4 号 p. 460-469
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーIn excavating tunnels for subways and power cables, shield tunneling machines, which have many cutters on their cutter planes, are used. One of the authors previously proposed, for the machines, an effective detection system using acoustic sensors which detected anomalous objects ahead, to prevent the machine from getting damages. Not many observation data being available in the detection, optimal observation policy is practically of a great importance. From this viewpoint, the authors next considered the optimal location of receiving transducers on the cutter plane of the shield tunneling machine and also the optimal observation policy, for the case where three receiving transducers were used. The optimal location of receiving transducers was shown to be given as arbitrary equally-spaced points on the cutter plane circle. In addition to it, the optimal rotating angles were also founded to be arbitrary.
However, in the application, it is often difficult to locate sensors at arbitrary positions and to use three sensors from the view point of machine structure and costs to be used. This paper considers the optimal observation policy for detecting anomlous plane objects for the case where two receiving transducers can be used and the case where three receiving transducers can be located only on a diameter on the cutter plane.抄録全体を表示PDF形式でダウンロード (2085K) -
黒川 賢, 稲垣 照美, 安久 正紘, 岡本 芳三1996 年 32 巻 4 号 p. 470-476
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーThe radiation energy, which enters a infrared radiometer as a signal, is composed of the emissive energy of an object and the reflective energy from surroundings. And these summation can not separate to be converted into temperature. The reflective energy is equivalent to the emissive energy under normal temperature condition. In order to obtain the true temperature from the incident energy, it is necessary to eliminate the influence of reflection energy. In general, the emissivity of the tested surface is previously estimated by the infrared radiometer. But, this method, however, has difficulty in obtaining an accurate value of the temperature from the measured energy.
The paper proposed the new method of measuring the temperature by means of the bicolored infrared radiometer using HgCdTe sensor of 8 to 13μm in wavelength and three narrow band filters. The method concerns to derive the true temperature by solving the exponential equation of radiation energy including reflection energy. The experiment was undertaken, eliminating multi-reflection, and the derived temperature by the bicolored method was compared with the true temperature.抄録全体を表示PDF形式でダウンロード (2156K) -
Hansheng WU1996 年 32 巻 4 号 p. 477-485
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーRobust stabilization for a class of uncertain nonlinear dynamical systems is investigated. Based on the stability of the nominal systems, a new approach to synthesizing a class of continuous state feedback controllers with simpler structures for uncertain nonlinear dynamical systems is proposed. The state feedback controllers developed by using our approach are computationally simpler and can guarantee uniform ultimate boundedness and uniform asymptotic stability of uncertain nonlinear dynamical systems by choosing different control gain functions. Furthermore, for dynamical system with a linear nominal part and uncertainties bounded by constants, the state feedback controller proposed in this paper will become linear in the state. Therefore, for some practical robust control problems, the control given here may more easily be implemented. Finally, several illustrative examples are given to demonstrate the utilization of the approach developed in this paper.抄録全体を表示PDF形式でダウンロード (1613K) -
山本 茂, 木村 英紀1996 年 32 巻 4 号 p. 486-494
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we consider a quadratic stabilization problem based on H∞ controller. From the standard H∞ control theory, the transfer function of the closed-loop system is parametrized in terms of the linear fractional transformation on contract time-invariant parameters. We show that the closed-loop system is still quadratically stable when the time-invariant parameter is replaced by a time-varying gain. This comes from the lossless property that the two-port nominal system has. Furthermore, we show that the closed-loop performance can be improved by this time-varing gain. We give an example that illustrates the improvement of the zero-input response.抄録全体を表示PDF形式でダウンロード (1048K) -
設計法と実験検証杉江 俊治, 澁川 裕久1996 年 32 巻 4 号 p. 495-501
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with robust controller design for coordinative control systems. First, we give a controller design method which consists of linearization by nonlinear state feedback and linear compensation based on the H∞ loop shaping method, where the choice of controlled variable plays an important role. Second, we evaluate the effectiveness of our controller by two kinds of basic experiments. The first one is concerning to the high speed manipulation of relatively heavy load and the second one corresponds to the coordinative stabilization of the unstable object.抄録全体を表示PDF形式でダウンロード (1626K) -
Shinji HARA, Hisaya FUJIOKA, Tsugumoto KOSUGIYAMA, Toru ASAI1996 年 32 巻 4 号 p. 502-509
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we consider a synthesis problem of a feedback compensator which achieves the following three design specifications: 1) closed-loop internal stability, 2) desired feedback characteristics such as robust stability, sensitivity reduction and disturbance attenuation, and 3) robust tracking. We show that the Glover-Doyle's solution on H∞ control problem can be directly applied to the case where the integrated error is evaluated if we modify the problem appropriately. The properties of the Riccati equations to be solved and the order reduction of the resultant controller are also investigated. The proposed method is applied to the position control of a linear AC servo motor.抄録全体を表示PDF形式でダウンロード (445K) -
徐 炳鴻, 辻 敏夫, 金子 真1996 年 32 巻 4 号 p. 510-516
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーFor a class of continuous time plant with uncertainties, a new control system that integrates plant identification and feedback control by using neural network is presented in this paper. In the proposed control system, an identification model based on a neural network (NN) is connected in parallel with a plant model. The NN can identify the plant uncertainties and can modify a control signal to the plant for overcoming effect of the uncertainties simultaneously. By the Lyapunov stability techniques, stability analysis of the proposed control system is shown and a sufficient condition of the asymptotical stability is derived in case of a linear plant. Computer simulations are performed to illustrate the effectiveness and applicability of the proposed control system to a variety of continuous time plants with linear and nonlinear uncertainties.抄録全体を表示PDF形式でダウンロード (1425K) -
土屋 和雄, 島 岳也1996 年 32 巻 4 号 p. 517-524
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with a robust vibration control of a flexible structure against parameter variations. In general, a mechanical system which satisfies the conditions of the principle of detailed balance becomes a non-gyroscopic dissipative system and each eigenvector becomes to be orthogonal approximately. As a result, the system becomes insensitive to parameter variations. In this paper, based on a covariance control theory with the principle of detailed balance, a robust vibration control method is proposed. The controlled system obtained is a non-gyroscopic dissipative system and robust against parameter variations. The robustness of the system is checked by the use of a perturbation method and numerical examples.抄録全体を表示PDF形式でダウンロード (1345K) -
計算むだ時間がある場合松下 昭彦, 土谷 武士1996 年 32 巻 4 号 p. 525-532
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper shows that an optimal preview control system approaches to a decoupled preview control system with input delay time due to processing time where the weighting factors of the control input variables in the quadratic performance index tend toward zero. Therefore, the asymptotic characteristics of the optimal preview control system are clarified by examining the decoupled preview control system. The relations between the design parameters and the responses of the preview control system become clear approximately and the design of the optimal preview control can be simplified by utilizing the properties of the decoupled control system. Further, the proposed design method is applied to a vector control system for induction motor drive. It is impossible to ignore the input delay time in this system because vector control relatively needs quick response and complex calculation. By this application, a trade off between the conditions of the vector control and magnitude of input variables becomes easy. To demonstrate the significance of this proposed method, simulation results are carried out.抄録全体を表示PDF形式でダウンロード (1318K) -
高井 重昌1996 年 32 巻 4 号 p. 533-538
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper studies state feedback control of discrete event systems where the set of control patterns is closed under union as well as intersection. It has been shown that Γ-controllability of a given predicate is a necessary and sufficient condition for the existence of a state feedback controller. However, the given predicate is not necessarily Γ-controllable. In such a case, a state feedback controller is synthesized for its supremal Γ-controllable subpredicate. An algorithm for computing the supremal Γ-controllable subpredicate has been presented under the assumption that the set of states satisfying the given predicate is finite. In this paper, we obtain the supremal Γ-controllable subpredicate where the set of states satisfying the given predicate is possibly infinite. We first present the supremal solution of a class of systems of inequalities over complete lattices. This result is then applied to obtain the supremal Γ-controllable subpredicate.抄録全体を表示PDF形式でダウンロード (633K) -
黒江 祐希, 阿部 寛志, 藤井 隆雄1996 年 32 巻 4 号 p. 539-546
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーILQ (Inverse Linear Quadratic) method is a new design method for optimal control systems based on the result of inverse problem of optimal regulator. This method has been successfully applied to design an optimal servo system with step reference inputs called “ILQ optimal servo system”, which has a special structure with nominal feedback gains and tuning parameters, and has three attractive features from a practical viewpoint as described later. In this paper we extend the existing design method of ILQ optimal servo system with respect to reference inputs. First, we derive two important structures of an optimal servo system with generalized reference inputs, called “basic structure” and “asymptotic structure”, very easily by introducing a new parameter. Secondly, we utilize these structures to design the nominal state feedback gains in such a way that the closed loop transfer matrix of ILQ servo system can be decoupled, and also its poles can be specified as design parameters, asymptotically as the tuning parameters go to infinity. These decoupling and pole assignment are two of the above features. Furthermore the nominal feedback gains can be analytically expressed in terms of the design parameters and the system parameters, which is the remaining feature. Thirdly, we derive an optimality condition of ILQ servo system with respect to the tuning parameters. Finally, we show a design procedure of this method and illustrate a numerical example to verify the validity of the design method proposed here.抄録全体を表示PDF形式でダウンロード (1155K) -
松野 文俊, 畑山 満則1996 年 32 巻 4 号 p. 547-556
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a dynamic model and a control architecture are developed for the closed chain motion of two two-link flexible manipulators holding a rigid object in a horizontal workspace. Since the hands of the flexible manipulators hold a common rigid object, a constraint condition should be satisfied. By using the Lagrange multiplier method and Hamilton's principle, we derive the dynamic relations of joint angles, vibrations of the flexible links, and constraint force. By introducing some assumptions and considering quasi-static partial differential equations of elastic deformations, a quasi-static model for designing a cooperative controller is derived. Considering the link parameter uncertainty and the quasi-static approximation, a robust cooperative control law of two flexible manipulators is derived. Experiments for the cooperative control of two flexible manipulators using a force sensor have been carried out. Several experimental results are shown.抄録全体を表示PDF形式でダウンロード (1076K) -
鈴木 達也, 稲葉 昭夫, 太田 徹, 大熊 繁1996 年 32 巻 4 号 p. 557-566
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーA Ladder Diagram (LD) has been widely used in industrial world as a language for sequential control. LD, however, can not represent the sequential flow of control logic explicitly. This leads to the difficulty in understanding the control logic for a third party. To overcome this problem, Sequential Function Chart (SFC) has been proposed and used in many industrial applications. As SFC can represent the sequential flow exlicitly, it is expected to be used more widely in industrial world. To spread SFC in industrial world, it is necessary to develop the transformation algorithm from LD to SFC. This problem essencially means how to extract the information on the sequential flow of control logic from LD. In this paper, we propose a new technique to extract the information on the sequential flow of control logic from LD. The key ideas are firstly, to model the controlled machine with finite state automaton via synchronized composition technique and secondly to couple LD and the controlled machine so as to form the closed loop system. We show the concrete aigorithm to extract the information on the sequential flow of control logic based on this closed loop system.抄録全体を表示PDF形式でダウンロード (1756K) -
吉田 一雄, 田辺 文也, 川瀬 勝美1996 年 32 巻 4 号 p. 567-576
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーIt has been proposed to use the Multilevel Flow Modeling (MFM) by M. Lind as a framework for functional knowledge representation for qualitative reasoning in a complex process system such as nuclear power plant. To build a knowledge base with MFM framework makes it possible to represent functional characteristics in different levels of abstraction and aggregation.
A pilot inference system based on the qualitative reasoning with MFM has been developed to diagnose a cause of abnormal events in a typical PWR power plant. Some single failure events has been diagnosed with this system to verify the proposed method. In the verification study, some investigation has been also performed to clarify the effects of this knowledge representation in efficiency of reasoning and ambiguity of qualitative reasoning.抄録全体を表示PDF形式でダウンロード (2185K) -
立野 繁之, 柴田 望洋, 柘植 義文, 松山 久義1996 年 32 巻 4 号 p. 577-586
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーA method of formulation and solution is presented for an optimal design problem of the measuring subsystem in a class of fault diagnosis systems where the signal-processing and information-processing subsystems are specified and the relationship among a measuring, signal-processing and information-processing subsystems are connected in series. The optimal measuring subsystem is so defined that minimizes its cost satisfying the conditions for the diagnostic reliability and the diagnostic accuracy.
The usefulness of this method is demonstrated by applying it to a fault diagnosis system for a test plant, where the signals from the plant are classified into “too high”, “normal” and “too low” and the fault diagnosis is performed using the signed digraph.抄録全体を表示PDF形式でダウンロード (1870K) -
佐藤 泰司, 沖田 豪, 伊藤 雅1996 年 32 巻 4 号 p. 587-595
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーQuadratic Programming (QP) problem is a natural generalization of well-known Linear Programming (LP) problem. QP problem is formulated as a problem to minimize a linear objective function subject to a system of linear equalities and inequalities.
The continuation method is a powerful tool for solving a system of nonlinear equations. In the continuation method, the continuation parameter β is introduced into the original problem P and a parameterized problem P(β) is constructed. Assuming that the optimal solution to P(β), for β=0, can be trivially or easily found, and that the optimal solution to P(β), for β=1, will be the desired solution to the original problem P, a trajectory of the solution to P(β) is followed by increasing the value of β from 0 to 1.
In this paper, based on the continuation method, a path following method called the capacity method is constructed for solving QP problem. The basic idea of the capacity method is to follow a trajectory of Kuhn-Tucker point when the value of β is increased from 0 to 1. It is shown that the trajectory is expressed as a piecewise-linear function of β. Therefore the optimal solution can be found very efficiently by following the piecewise-linear trajectory.
In this paper, firstly, the assumption that the right-hand-side vector of the constraint equations must be positive, which restricts the applicability of the capacity method, is dropped and a method for transforming any QP problem to the standard form of the capacity method is presented. Secondly, the basis matrix of QP is factorized by using an LDLT factorization, and the factorization is efficiently updated by using matrix modification techniques. Then the proposed method is applied to some test problems, and numerical results indicate the effectiveness of the method.抄録全体を表示PDF形式でダウンロード (1268K) -
呉 偉国, 赤塚 孝雄, 山内 宏, 久保 武士1996 年 32 巻 4 号 p. 596-603
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーThe analysis of human sperm motion is useful for the diagnosis of the fertility and sterility in daily clinical practice. In this paper, an analyzing method for the human spermatozoal motility is proposed using the real-time detection of sperm motion trajectories from image sequence.
Image sequence of sperm is obtained from the video camera on the microscope with about 400 magnification. The sperm motion distance in successive two frames is less than the sperm size. So, the algorithm of trajectory extraction consists of temporal image difference and the maximum gray-level holding of each position for the observed image sequence. To connect the interrupted trajectories caused by 3D motion of sperm in the observation chamber, we designed morphological filters and obtained reliable trajectories. The detection and separation algorithms for sperm trajectory crossing are also designed.
Validity of this method is discussed on the experiment with an actual clinical image data sequence.抄録全体を表示PDF形式でダウンロード (3020K) -
村岡 茂信, 西村 博之1996 年 32 巻 4 号 p. 604-606
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーCharacteristics of a quartz resonator as a force sensor are discussed. The sensor with frequency output has many advantages. Ultimate tensile stress, stress sensitivity and its temperature coefficients being functions of a direction of force, and the accuracy are presented.抄録全体を表示PDF形式でダウンロード (865K) -
河村 拓史, 斎藤 英雄, 中島 真人1996 年 32 巻 4 号 p. 607-609
発行日: 1996/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes a new method for 3-D shape measurement of underwater object by using temporal-spatial image analysis. We performed a basic experiment for demonstrating the efficacy of the proposed method. A shape of an underwater polyhedron can be experimentally measured by using the proposed method.抄録全体を表示PDF形式でダウンロード (1304K)
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