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Volume 32, Issue 5
Displaying 1-24 of 24 articles from this issue
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Satoshi SAKUMA, Teruo MIYASHITA, Chikara SATO1996 Volume 32 Issue 5 Pages 611-619
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes the method of the pose determination of the 3-D polyhedral object from a single perspective image based on the known 3-D prototype model. For the pose determination from the 2-D perspective image, we must know the correspondence of vertices and the parameter for the coordinate transformation between the 3-D prototype model and the 3-D reconstructed model from the 2-D perspective image. Generally there is hopefully only one transformation of the coordinate between the 3-D prototype model and the reconstructed model. Therefore the parameters of the coordinate transformation, which we calculate between each surface chosen from 3-D prototype model and 3-D reconstructed model at will, have just the same value. We make use of this property, and search the correspondence of vertices and the parameter of the coordinate transformation.
First we assume to match a surface of prototype model with one of 2-D projective image, reconstruct the 3-D coordinate of vertices on 2-D projective image and determine the parameter between them. Next, we calculate the parameter within the permission limit to the error obtained from pairing the surface and look for the primary parameter with the most number of the corresponding points. Then the optimal parameter is calculated from the primary parameter using the quasi-Newton method so that the square distance error between the point of 2-D perspective image and its corresponding point of the reconstructed model on the image plane is minimized. Therefore we can obtain the 3-D location of the 2-D image using the optimal parameter.
Using the above theory, we make the experiment on the pose determination of 2-D image based on the 3-D prototype model using the real image. The application of the object recognition is also shown and the proposed theory in the paper is able to be applied effectively in the field of the robot vision.View full abstractDownload PDF (1793K) -
Chikara MIYATA, Hiroshi KASHIWAGI1996 Volume 32 Issue 5 Pages 620-627
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe authors proposed a new method for grouping of relevant and equivalent inputs of a logical circuit by making use of input-output correlation function. Pseudorandom M-sequences are applied to a logical circuit and their outputs are observed. The crosscorrelation function between the input and output gives us the information on the logical circuit whether it is faulty or not. And the grouping of inputs by relevant and equivalent inputs gives us the structure of a logical circuit under test, and it is possible to estimate the faulty part by comparing the input grouping of faulty logical circuit and that of normal one. Of course these input grouping can also be estimated from truth table. But the authors show that the grouping method by use of correlation function is far advantageous over the truth table method when we admit small percentage of error. For example, it is possible to reduce the number of correlation functions needed to calculate these input grouping from 1.07×109 to only 465 in case of 30 inputs logical circuit if 1% error is admitted. This method of grouping of relevant and equivalent inputs of a logical circuit would be very useful in a fault diagnosis of logic boards.View full abstractDownload PDF (1301K) -
Yoshiyuki HABU, Masaaki MAKIKAWA, Ken ISHIHARA1996 Volume 32 Issue 5 Pages 628-636
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we have tried to measure physiological responses under mental stress in some daily scenes with a portable digital biosignal memory device. The aim of this study is to search for the method to evaluate objectively the mental stress in daily life. Here we chose the heart rate and the respiratory rate as non-invasive measuring objects and have developed an ambulatory mental stress monitoring system. Daily life stress scenes used here was the graduation thesis presentation, an unexpected police checkup during a car driving and the getting on a roller coaster, and in addition the calculation experiment under the laboratory was done for the comparison with other previous results reported.
As a result, the heart rate and the respiratory rate were getting higher, and the respiration was getting irregular under strong mental stress, that is, getting on a jet coaster, presenting a graduation thesis, and a police checkup while driving. Under weak stress, like the calculation in the laboratory and the car driving, the respiratory rate was getting higher and irregular, but the heart rate wasn't remarkably high. From these results, it was suggested that the heart rate, the respiratory rate, and the respiratory irregularity are effective to evaluate the mental stress in daily life.View full abstractDownload PDF (1609K) -
Shigeki TSUCHITANI, Seiko SUZUKI, Masahiro MATSUMOTO, Masayuki MIKI1996 Volume 32 Issue 5 Pages 637-645
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn mirostructures such as microsensors and microactuators, a small surface force can occur between two contacting surfaces which affects their operations. Therefore, it is very important to clarify the generation mechanism of this surface force and to find a way to decrease it in order to realize these devices.
In this study, the surface force between two contacting surfaces in a sample microstructure was evaluated theoretically and the force magnitudes obtained were compared with the measured values which we reported previously. Four kinds of basic physical forces, i.e. van der Waals force; liquid bridge force due to capillary condensation of water molecules from the atmosphere, hydrogen bonding force between adsorbed water molecules, and electrostatic force based on a contact electrification were calculated by modeling the contacting parts in the sample. The sample microstructure has a movable plate supported by cantilever beams and two opposing electrodes. The movable plate and one of the opposing electrodes contact each other when the movable plate is displaced significantly.
We found that the van der Waals force, the liquid bridge force and the hydrogen bonding force could generate surface force magnitudes which were almost equal to the measured surface force.
From the theoretical analysis described above and the earlier experimental results, we concluded that the dominant surface force in usual microstructures is the liquid bridge force due to the capillary condensation of the water when the humidity of the atmosphere around the two contacting surfaces is high; it is the hydrogen bonding force between water molecules adsorbed on the two surfaces when the humidity is relatively low; and it is the van der Waals force when physisorbed water molecules on the surfaces are almost moved out.View full abstractDownload PDF (3243K) -
Hai-Jiao GUO, Tadashi ISHIHARA, Hiroshi TAKEDA1996 Volume 32 Issue 5 Pages 646-652
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe discuss the application of an LTR (Loop Transfer Recovery) technique to a discrete-time integral controller design using a disturbance estimator. For our problem, the conventional LTR techniques can not be applied since the extended system consisting of a plant and a disturbance model is not stabilizable. We give an appropriate target and a recovery procedure for the LTR. Taking a state feedback integral controller including a disturbance entimator as a target, we show that an LTR procedure based on the Riccati equation formalism recover the target feedback property provided the plant model is minimum phase. A simple numerical example is presented to illustrate the flexibility of the proposed design.View full abstractDownload PDF (1278K) -
Tsuyoshi MATSUO, Yasumichi HASEGAWA1996 Volume 32 Issue 5 Pages 653-662
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe realization problem of almost-linear systems had been presented with the following realization theorem. Realization theorem [For any invariant & affine input-response map (equivalently, any input/output map with causality, time-invariance and affinity), there exist at least two canonical almost-linear systems which realize it. Moreover any two canonical almost-linear systems with the same behavior are isomorphic each other.] And ‘so-call’ linear systems are examples of almost-linear systems. Moreover, the finite-dimensionality of the systems had been discussed.
In this paper, being based on the above results, we will discuss problems of the partial and real-time partial realization. The problems can be roughly described as the follows. The partial realization problem: [For a given partially time-invariant and affine input response map by multi-experiment, find a minimal dimensional almost linear system which partially realizes it.]
The real-time partially realization problem: [For a given partially time-invariant and affine input response map by single-experiment, find a minimal dimensional almost linear system which partially realizes it.]
And the following results are obtained.
(1) A necessary and sufficient condition for minimal partial realization systems to be unique is given by the rank condition of input/output matrix.
(2) For a given partially time-invariant and affine input response map by multi-experiment, an algorithm to obtain the minimal partial realization is given.
(3) For a given partially time-invariant and affine input response map by single experiment, an algorithm to obtain the minimal partial realization is given.
We conclude that these results about partial realization are the extension of the finite-dimensional, constant linear systems to almost linear systems which are non-linear systems.View full abstractDownload PDF (1797K) -
Ken-ichiro NONAKA, Masaki YAMAKITA, Katsuhisa FURUTA1996 Volume 32 Issue 5 Pages 663-671
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, for a class of systems which are linear time invariant and single-input and state accessible with unmatching parametric uncertainties, a new model following control based on an adaptive sliding surface is presented. The tracking error tends to go to zero asymptotically by the proposed controller. In addition, even though there are matching disturbances which have an unknown upperbound, finite time reaching to sliding surface can be achieved and then the performance of the system is invariant to matching disturbances. Simulation results are also presented to show the strength of the presented method.View full abstractDownload PDF (1359K) -
Hiroaki MUKAIDANI, Koichi MIZUKAMI, Hua XU1996 Volume 32 Issue 5 Pages 672-678
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper considers the linear-quadratic optimal regulator problem for nonstandard singularly perturbed systems making use of the recursive technique. We first derive a generalized Riccati differential equation by the Hamilton-Jacobi equation. In order to obtain the feedback gain, we must solve the generalized algebraic Riccati equation. Using the recursive technique, we show that the solution of the generalized algebraic Riccati equation converges with the rate of convergence of O(ε). The existence of a bounded solution of error term can be proved by the implicit function theorem. It is enough to show that the corresponding Jacobian matrix is nonsingular at ε=0.
As a result, the solution of optimal regulator problem for nonstandard singularly perturbed systems can be obtained with an accuracy of O(εk). The proposed technique represents a significant improvement since the existing method for the standard singularly perturbed systems can not be applied to the nonstandard singularly perturbed systems.
To show the effectiveness of the proposed algorithm, numerical examples are included.View full abstractDownload PDF (1184K) -
Masahiro OYA, Toshihiro KOBAYASHI1996 Volume 32 Issue 5 Pages 679-688
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper we consider controlled objects with unknown deterministic disturbances and propose the control system whose construction is simpler than that of conventional adaptive control systems.
In the case when a control system is constructed by using a conventional adaptive control so that the output of the object converges to zero, the estimated parameters corresponding to the unknown parameters of the disturbance and the transfer function of the object are needed. In this paper, to simplify the construction of the control system, a design method using the estimated parameters corresponding to the unknown parameters of the disturbance and an unknown one feedback gain is presented. Then, it will be shown that the convergence of the output to zero and the boundedness of the states in the control system are assured. In the control system proposed here, regardless of the order of the controlled object, the control system can be constructed, and the construction is simpler than that of the conventional control system, because the estimated parameters corresponding to the unknown parameters of the transfer function are not needed.View full abstractDownload PDF (1775K) -
Ken-ichiro NONAKA, Masaki YAMAKITA, Katsuhisa FURUTA1996 Volume 32 Issue 5 Pages 689-698
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, for single-input single-output linear time invariant systems with unknown parameters, a new model reference variable structure control which has an adaptive sliding surface is proposed. This control is feasible using only input and output measurements. Under some usual assumptions in model reference adaptive control (MRAC) by applying the so-called e1-modification1), the resulting closed loop system is shown to be globally stable in the presence of bounded input disturbances. Also disturbance attenuation is possible, to some extent, by changing the parameter of sliding surface. In addition, since the identification error model can be suitably changed without prefilter and the relative degree of it is smaller by 1 compared with ordinary MRACs, the tracking performance can be improved. Simulation results are presented to show these advantages.View full abstractDownload PDF (1484K) -
Hisao KATOH, Yasuyuki FUNAHASHI1996 Volume 32 Issue 5 Pages 699-705
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe control to make the error vanish completely after the finite period of time is called the deadbeat control. This control scheme is considered originally in the discrete-time framework. In the case the reference is continuous-time signal, then the so-called sampled-data systems are widely adopted. However, an entirely different approach to the deadbeat control for the continuous-time references exists. That approach uses the dead-time elements in the controller. We consider such deadbeat control problem in this paper.
For a solution to this problem, some researchers proposed the method that use the parametrization of all stabilizing controllers and make the free parameter in them have the dead-time elements. In this paper, we modify this approach, and consider the case that the number of dead-time elements is one. Also, the improvement of the response is shown in a numerical example.View full abstractDownload PDF (846K) -
Tomohide NANIWA, Suguru ARIMOTO1996 Volume 32 Issue 5 Pages 706-713
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new learning control method and an adaptive control method are proposed for coordinated control of multiple manipulators. Proposed methods can achieve exact tracking of all desired trajectories of each joint of the manipulators, the mass center of a manipulated object, and so-called “internal force” which does not affect the motion of the object.
Firstly, it is shown that the dynamics of whole coordinated control system composed of the multiple manipulators and a target object can be regarded as a dynamics of a manipulator moving under geometric end-point constraint in the joint-angle coordinate system. This implies that the control of both the trajectory of the object and the internal force is regarded as a control of both the joint angle trajectory and the contact force of a geometrically constrained manipulator. In addition to this, based on the passivity property of the dynamics and the orthogonality between the joint torque caused by the internal force and the joint angle velocity, conventional methods of learning control and model-based adaptive control for a geometrically constrained manipulator are extended to the coordinated control of multiple manipulators in the joint coordinate system.
The effectiveness of proposed methods is illustrated by computer simulation results based on a dynamics model of coordinating two 3-DOF manipulators.View full abstractDownload PDF (1378K) -
Jinglu HU, Kousuke KUMAMARU, Katsuhiro INOUE1996 Volume 32 Issue 5 Pages 714-721
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with the issues related to developing an efficient system identification algorithm which may find “global minimum” of multimodal loss function robustly, on the basis of an effective combination of Genetic Algorithm (GA) and gradient method. In order to realize such robust system identification algorithm, a Non-Standard GA (NSGA) is proposed as an effective GA. In the NSGA, a new GA operator named as development is introduced to improve its convergent property. We can thus realize a hybrid robust identification, in which parameter estimation is executed by a gradient method based on a good initial value searched by the NSGA. The effectiveness of the proposed algorithm is demonstrated by numerical simulations.View full abstractDownload PDF (1600K) -
Noriyuki AKASAKA1996 Volume 32 Issue 5 Pages 722-730
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe quality of manufactured wide films is determined by the flatness of their thickness. In the lip-heater method, the thickness control is performed by realizing a uniform distribution of melted polymer flow velocity in the gap between die lips and for this purpose one hundred or more regulating heaters are used. In the previous paper, a design method is proposed for such control systems based on a concept of fundamental subsystems. This paper aims at proposing a parameter adjusting mechanism of the obtained controllers to cope with the change of operating conditions. As the causes of the change, the following three factors are taken into account: (1) casting speed, (2) polymer extrusion rate and (3) lip gap. Thickness of films can be determined through the combinations of these three factors. In the paper, it is shown through the analysis of experimental data that the change of the dynamics of the thickness process model can be well expressed simply by the changes of the gain and the dead time of the process. Based upon this fact, a pre-setting type control method is described which enables to realize a uniform control stability for any operating conditions. In this method, before starting manufacturing, the necessary matrices to be used in the controllers are easily obtained from the matrices calculated beforehand. The effect of the control method is shown by simulation calculations.View full abstractDownload PDF (1347K) -
Yoshio MOGAMI, Norio BABA1996 Volume 32 Issue 5 Pages 731-740
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a new learning algorithm is developed for hierarchical structure learning automata with an S-model nonstationary random environment at each level by extending the relative reward strength algorithm proposed by Simha and Kurose. The learning propertiy of our algorithm is considered theoretically, and it is proved that the optimal path probability can be approached 1 as much as possible by using our algorithm. In numerical simulation, the number of iterations of our algorithm is compared with that of the hierarchical structure learning algorithm proposed by Thathachar and Ramakrishnan(T & R algorithm), and it is shown that our algorithm can find the optimal path after the smaller number of iterations than that of T & R algorithm.View full abstractDownload PDF (1477K) -
Tsuneo YOSHIKAWA, Tamao OKAMOTO1996 Volume 32 Issue 5 Pages 741-749
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA simulator for displaying the operational feel of virtual tools will be useful for development and design of new tools and for task training. Since a tool is usually used in contact with the environment, it is important for this kind of simulator to display a feel of contact with the environment to the operator.
In this paper, we propose an algorithm to display the operating feel of virtual tools in frictional rigid contact with virtual environments and present some experimental results to show the validity of the proposed algorithm. First of all, the dynamic equation of an articulated virtual tool in frictional rigid contact with a virtual environment is given. Secondly, the proposed algorithm is presented dividing it into three parts: acquisition of the manipulating input of the operator by the display system, simulation of the virtual tool, and the display of operating feel to the operator. Finally, the validity of the proposed algorithm is confirmed experimentally using a display device with a two-degree-of-freedom link mechanism.View full abstractDownload PDF (2242K) -
Isao ONISHI, Toshimitsu USHIO, Shinzo KODAMA1996 Volume 32 Issue 5 Pages 750-757
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRecently, many model-based fault detection methods have been proposed in discrete event systems. In this paper, we consider discrete event systems modeled by finite state machines, and propose a design method of a diagnoser which detects failurers in the discrete event systems via state and event observations. This diagnoser can detect failures more precisely than that using event observation only. This diagnoser performs diagnostics using on-line observations of the system behavior. It is said that the systems diagnosable if the diagnoser detects any failure using finite numbers of observation data after it occurs. We consider a necessary and sufficient condition for systems to be diagnosable.View full abstractDownload PDF (1160K) -
Eitaro AIYOSHI, Eiichi IKESUGI, Takuya WAKUTSU1996 Volume 32 Issue 5 Pages 758-767
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSNeural Networks as optimizing machines have pending problems that a process of the state transition is trapped at one of local optimal solutions. Especially, local stationary of the asynchronous state transition in binary is caused by judging increase or decrease in the minimizing function value between two states at only one Hamming distance. In order to get off from such local minima, the linked state transition neural network was proposed. On the other hand, in probabilistic expectation for getting off from local minima, the Boltzmann Machine was developed in which state transitions increasing the minimizing function value are accepted in a frequency ratio. Consequently, the state transition reaching the global optimal solution is stochastic process.
In order to ignore the statistical indeterminacy, in this paper, neurons are endowed with a hysteretic input-output relation by which state transitions with increasing fluctuation of the minimizing function value within a certain range are accepted deterministically to pass over the local minima certainly, and annealed types of the Hysteresis Machines are proposed in which the hysteresis is tranquilized in a process of the state transitions to stabilize them in the global optimal solution. Moreover, the genetic algorithm is applied to acquisition of the best annealing parameters realizing the global optimal solution by trial and repeated cooling procedures of the hysteresis. It is certified in a few combinatorial optimization problems that the global optimal solution is obtained with high reliability by the hybrid annealing procedure of the Hysteresis Machine supervised by the genetic algorithm.View full abstractDownload PDF (1736K) -
Manabu KOTANI, Akihiro KAJIKI, Haruya MATSUMOTO1996 Volume 32 Issue 5 Pages 768-775
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe multi-layered neural networks with back-propagation learning algorithms are widely used in pattern recognition systems. However, when these networks are applied to a pattern recognition process, some problems arise in the network behavior and the network structure itself. Those problems include the enormous learning time, the convergence to local minima and the indistinct criterion for the better network structure. Here, a hybrid learning algorithm is proposed for organizing the structure of the multi-layered neural networks. The proposed pruning algorithm consists of two already known algorithms, the structural learning algorithm with forgetting and the optimal brain damage algorithm using the second derivatives of the assessment. After the network is slimmed by the structural learning algorithm with forgetting, unimportant weights are removed from the network using the second derivatives. The simulations are performed for the operation of the Boolean function and the acoustic diagnosis of compressors. The results show that the proposed algorithm is effective for eliminating the unimportant weights. The relation between the second derivatives and the absolute values of weights is discussed.View full abstractDownload PDF (1584K) -
Kajiro WATANABE, Takashi AIZAWA, Takao HASEGAWA1996 Volume 32 Issue 5 Pages 776-778
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a non-contact velocity measurement method. We apply the method to measure the golf-swing speed. The proposed sensor can measure both the speed of moving golf club and the angle of the golf club face, which were not achieved by conventional sensors. It was experimentally verified the swinging club speed in wide range can be measured by this sensor.View full abstractDownload PDF (330K) -
Michio KONO, Nobuya TAKAHASHI, Kenji HIRANUMA1996 Volume 32 Issue 5 Pages 779-781
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper gives a new numerical method for solving a Sylvester equation. Our method is based on reducing only one coefficent matrix to a triangular form. On depending on the dimension of the matrices, our method is more effective than the Bartels-Stewart algorithm.View full abstractDownload PDF (247K) -
Yasumichi HASEGAWA, Tsuyoshi MATSUO1996 Volume 32 Issue 5 Pages 782-784
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe realization theory of almost-linear systems have been already established. The system include “so-called” linear systems (equivalently, linear systems with a nonzero initial state) as the subclass.
In this paper, it is mainly cleared what class of the systems are equivalent to “so-called” linear systems.View full abstractDownload PDF (455K) -
Shunji KAWAMOTO, Xinyu HUANG, Katsuhiko TAKINO1996 Volume 32 Issue 5 Pages 785-787
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSOn the robust stability of linear system with uncertain parameters, the Lyapunov inequalities can be derived as a condition for the stable matrix polytope. In this paper, the P-region methed is proposed to find a symmetric positive definite matrix P among the inequalities, and a stability region for uncertain parameters of the example is obtained.View full abstractDownload PDF (332K) -
via Processing of One-Dimensional VisionNaoki AMANO, Hiroshi HASHIMOTO, Minoru HIGASHIGUCHI1996 Volume 32 Issue 5 Pages 788-790
Published: May 31, 1996
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a method to estimate a position of a vehicle equipped with a monocular camera. Since it is necessary to detect the yaw angle in the vehicle motion, the proposed method uses an approximated relationship between the yaw angle and the variation on 2-D image. Furthermore, to reduce the computational efforts, the method uses the cross correlation function of sequences of the vertical projections. From this, it does not require extraction of the feature points and reduce the computational efforts.View full abstractDownload PDF (708K)
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