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Volume 33, Issue 10
Displaying 1-11 of 11 articles from this issue
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Masanobu KOBAYASHI, Fumihiro SAKUMA, Akira ONO1997 Volume 33 Issue 10 Pages 981-987
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method for temperature scale calculation of a radiation thermometer with four-point blackbody calibration data and knowledge of the shape of the spectral responsivity was developed. This method was applied to numerical models of narrow-band and wide-band infrared radiation thermometers and it was compared with conventional characteristic equations.
The developed characteristic equation has an array representing the shape of the spectral responsivity and four constants: the array Sk, the gain coefficient C3, the offset D3, the center wavelength λ0 and the wavelength step d. The wavelength of Sk is given as λ0+k·d(k=-n, …, -1, 0, 1, …, n). Sk is obtained from relative data of the spectral responsivity or rough estimation on the shape of the spectral responsivity. Then the calculation of the four constants is made from four-point blackbody calibration data. When the offset can be measured, necessary blackbody calibration data are reduced to three points.
Spectral responsivity data of a germanium photodiode were used as the numerical model of a wide-band radiation thermometer. The product of the responsivity data and spectral transmittance data of a narrowband-pass filter of an actual radiation thermometer was used as the numerical model of a narrow-band radiation thermometer.
In the case of the wide-band model, the deviation of the calculated temperature scale from the model was less than ±1°C in the range from 140°C to 1500°C when the calibration points were 231.928°C, 660.323°C and 1084.62°C, and the used shape was a Gaussian distribution. The deviation was mostly less than 1/2 of the deviation of the best conventional equation in the interpolation range and it was 1/6 at 1800°C.View full abstractDownload PDF (1775K) -
Shuta MURAKAMI, Misako INOKUCHI, Ryuji KITAGAWA1997 Volume 33 Issue 10 Pages 988-994
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with stability of a fuzzy control system designed using the direct fuzzy inference. The describing function method is applied to the stability analysis.
A fuzzy controller has two inputs (the error and the change in error) and one output (the change in manipulating variable). The input variable is divided into three fuzzy partitions, that is Positive, Zero and Negative. The output value has three singletons as fuzzy partitions: Positive, Zero and Negative.
The describing function of this fuzzy controller is analytically obtained. Using the relationship between the locus of inverse describing function and Nyquist locus of the controlled object, the asymptotically stable condition of the fuzzy control system is analyzed.
Using this condition, stability bounds of the loop gain for the first order lag system with dead time and the second order linear system are calculated analytically. Those stability bounds are founds to be nearly equal to those obtained by a simulation study.
This fact indicates that the describing function method is useful for analyzing the stability of fuzzy control systems with direct fuzzy inference.View full abstractDownload PDF (1525K) -
Junbo SONG, Kazunori KADOWAKI, Yoshihisa ISHIDA1997 Volume 33 Issue 10 Pages 995-1001
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA practical control scheme of model reference robust control (MRRC) for pneumatic servo system is introduced in this paper. As an important driving element, the pneumatic cylinders are widely used in industrial applications. It is well known the control problem of pneumatic cylinder becomes complex in varying load, travel and environment temperature, because it contains unknown parameters, possible nonlinear uncertainties and additive bound disturbances. The proposed control scheme is essential to achieve the robust stability and good performance for time-varying and nonlinear systems. The controller requires only measured input and output signals of system, rather than the full state feedback. In order to suit for practical application the neural control parameters estimator is led into the controller. Compared with MRAC, it makes the controller become simple.View full abstractDownload PDF (1281K) -
Tetsuji TANI, Makoto UTASHIRO, Motohide UMANO, Kazuo TANAKA1997 Volume 33 Issue 10 Pages 1002-1009
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn transient states of feed oil switching and operation mode changing, the nonlinear response with a time delay makes difficult to control a plant automatically. However, a well experienced operator can control it by his experience in such a state. We propose a hybrid control system by replacing the procedure of a well experienced operator. The proposed hybrid control system consists of three component; (1) the base control component which calculates an average from long-term tendency of the plant, (2) the compensating component which compensates the output of the base control component by predicting the status of the plant and (3) the target setting component which sets a suitable target value of controller. We choose PID controller for the base control component, fuzzy controller for the compensating component and fuzzy controller for the target setting component.
This control system is applied to the tower-top temperature control of the naphtha desulfurize plant at Idemitsu Hokkaidou Refinery and we have a good control performance in transient states of feed oil switching and operation mode changing.View full abstractDownload PDF (1837K) -
Akira OHSUMI, Takeya IZUMIKAWA1997 Volume 33 Issue 10 Pages 1010-1018
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper an effective method of control for swing-up and stabilization of an inverted pendulum is established without resorting to any approximation of each nonlinear terms appearing in the mathematical models. The key idea is to derive the partially linearized system due to the coordinate change and input transformation via the Lie theoretic approach and to apply a kind of equivalent linearization to the resulting linear system with nonlinear output injection. Based on the linearized system, the control law is established performing both swing-up and stabilization of the pendulum. The effectiveness of the proposed control method is examined by numerical simulations and tested by experiments.View full abstractDownload PDF (1649K) -
Mitsuo OHTA, Akira IKUTA1997 Volume 33 Issue 10 Pages 1019-1025
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a state estimation algorithm especially matched to the computer technique with successive observations for the actual complicated stochastic system is derived. First, in the actual situation when the stochastic system is affected by a multiplicative random factor as well as an additive noise factor of arbitrary probability distribution form, a mixed type stochastic process model is established. Next, by considering the level quantized mechanism of the actual observation, a recursive algorithm of digital filter to estimate the momentary unknown state is theoretically proposed in an expansion form of the well-known Bayes' theorem. Finally, the effectiveness of the proposed theory is experimentally confirmed by applying it to the environmental noise data in the room acoustics.View full abstractDownload PDF (1301K) -
Configuration Space ApproachTetsuo KOTOKU, Kouichi TAKAMUNE, Kiyoshi KOMORIYA, Kazuo TANIE1997 Volume 33 Issue 10 Pages 1026-1034
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a method of calculating the interaction forces between the objects in model world. In our previous research, we discussed the interaction forces between a point object and its polyhedral environment, and confirmed its effects by constructing an experimental simulator of manipulation. However, to apply this system to the simulations of various assembling tasks, we have to deal with the objects with volume. Therefore, we extend the previous algorithm to general three-dimensional model by introducing the configuration space modeling. Then, the interaction forces are modeled as the reaction forces at the surface of the configuration obstacles. We applied this algorithm to a planar task (two transitional degrees of freedom and one rotational degree of freedom motion) and developed a simulator of manipulation. We confirmed the effectiveness of this system through experiments.View full abstractDownload PDF (6444K) -
Takayuki OKATANI, Koichiro DEGUCHI1997 Volume 33 Issue 10 Pages 1035-1042
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method for reconstructing three dimensional object from an endoscope image is presented. The proposed method uses image shading generated by a light source at the endoscope head. The problem of reconstructing three dimensional shape of an object from its shading has been widely studied in the literature of computer vision research. There have been many significant developments made in this area. However, most of the conventional methods are not applicable to this case, since they are based on the assumption that the light source is far from the object surface. The light source of an endoscope is located at its head, so that it is near the object surface. In this case, the image brightness depends on not only the surface gradients but also the distance from the light source to each point on the surface. To deal with this difficulty, we employ an optical system having a point light source at the projection center, which well approximates the imaging system of the endoscope. In addition, we introduce an equal-distance contour, which is a curve composed of surface points at an equal distance from the light source. Propagating these contours using the image shading, we reconstruct the object surface. We use the level-set method for numerical computation. Experimental results for real medical endoscope images show feasibility of this method.View full abstractDownload PDF (4134K) -
Mitsuhiko ARAKI1997 Volume 33 Issue 10 Pages 1043-1045
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA state feedback law is derived for systems with mismatched nonlinear uncertainties and it is proved that the closed-loop system becomes globally asymptotically stable for any uncertainties with the norm less than a given bound. The feedback law is a modification of the proposal given in the short paper by Y. Sung and H. Shibata, whose proof was incomplete and whose result does not hold in general.View full abstractDownload PDF (353K) -
Manabu KOTANI, Takashi MIYATAKE, Haruya MATSUMOTO1997 Volume 33 Issue 10 Pages 1046-1048
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe propose a neural network model for trajectory planning of redundant manipulators. The model is consisted of two Hopfield networks. The obtained results for a planar manipulator show that the model can make the speed profile of end-effector be bell-shaped.View full abstractDownload PDF (432K) -
Koichi KAMEOKA, Norio MATSUMOTO, Genichi KOMATSU1997 Volume 33 Issue 10 Pages 1049-1051
Published: October 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA measuring apparatus of the torsional rigidity distribution of a shaft has been trially constructed which is applicable to the measurement for golf shafts. The structure, measuring principle and accuracy evaluation are reported.View full abstractDownload PDF (463K)
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