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Volume 33, Issue 12
Displaying 1-13 of 13 articles from this issue
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Shigenobu MURAOKA1997 Volume 33 Issue 12 Pages 1117-1123
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe output of the force sensor using quartz resonators is variations in frequency according to change in an external force. The output can be easily converted into a digital signal through a frequency counter. The output of the frequency counter can be directly connected to microprocessor. The force sensor is robust to electrical noises and operates with low electric power. On the other hand, though a quartz resonator is fragile to an impulsive force, the impulsive force applying on a quartz resonator can be damped through a mechanical filter such as a silicone rubber.
First, characteristics of a rectangular AT-cut quartz resonator as a force sensor under a static force are discussed. Second, a differential method that compensates temperature dependence of sensitivity and improves force sensitivity is proposed. A pair of rectangular quartz resonators is mounted to a holder that can impose the tensile stress to one and the compressive stress to the other by an external force. The relationship between the force directions of a pair of quartz resonators where the temperature coefficient of the sensitivity becomes zero is derived. Third, responses of the force sensor under a dynamic force are measured. Consequently, it is revealed that the output is able to respond to the force. Lastly, an example of a grasping force sensor that consists of two pairs of rectangular quartz resonators mounted on a robot hand is proposed. Two pairs of differential structures is used in the sensor so that the sensitivity of the sensor is independent of a grasping position on the robot hand. A grasping position on the robot hand is also able to measured by the grasping force sensor.View full abstractDownload PDF (1592K) -
Yoshiaki IZAWA, Kyojiro HAKOMORI1997 Volume 33 Issue 12 Pages 1124-1130
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a method for designing a nonlinear system which has the hysteresis in the input stage. The hysteresis is usually described by a two-valued nonlinear function. Therefore it is more difficult to design the system with hysteresis.
By using the idea of topology, we consider first how to represent the hysteresis as a one-valued function. To this modified nonlinear system, we construct a Riemannian geometric nonlinear optimal regulator which has been proposed by the authors. Because this nonlinear regulator is homeomorphic to a linear optimal regulator, the superior properties of a linear regulator (i.e. asymptotic stability, feedback construction, and so on) are also to be reflected to the nonlinear regulator. As an example, the temperature control system with a bimetal thermal sensor is investigated.View full abstractDownload PDF (1152K) -
Toshiyuki OHTSUKA, Hironori A. FUJII1997 Volume 33 Issue 12 Pages 1131-1139
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA real-time optimization technique is proposed for optimal state feedback control of general nonlinear systems. A state feedback control law is determined so that a receding-horizon performance index is minimized. Computation of the control input is equivalent to solving a family of optimal control problems with a varying initial state in the real time, for which the stabilized continuation method is applicable. Application of the stabilized continuation method results in a real-time solution technique that does not involve any approximation nor iterative algorithm in principle. The proposed solution technique successfully implemented in a control experiment of a 2-wheeled mobile robot that is nonlinear and nonholonomic. Equilibrium points of the closed-loop system are also analyzed.View full abstractDownload PDF (1617K) -
Akihiro KURODA, Ryou KONDO1997 Volume 33 Issue 12 Pages 1140-1147
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA method of H∞ servo system design which does not use unstable weightings has been proposed. The servo system specification can be incorporated into the H∞-norm constraint ||Fl(G, K)||∞≤γ using “complementary weighting” which does not have infinity gain. The H∞ problem does not correspond to the so-called DGKF type, since it is not a suboptimal H∞ problem. The solution is obtained using the parameterization of solutions for the optimal H∞ problem without extending the notion of closed-loop stability. We have also shown that the obtained compensator has jω axis poles.View full abstractDownload PDF (1240K) -
Ryoji OKABAYASHI, Katsuhisa FURUTA1997 Volume 33 Issue 12 Pages 1148-1154
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, the design of sliding mode control systems is studied under the situation that the inputs are constrained by saturation. Setting the control law as a simple sign function of a given magnitude, how to select an appropriate switching surface is considered so as to guarantee constant robustness to the “matched” disturbance. First, it is shown that the linear surface (hyperplane) may be used for a class of linear systems. Next, for second order systems, a new method of designing the nonlinear switching surface is proposed. Using the method, the nonlinear surfaces are designed for linear systems, and the superiority of them to the conventional hyperplanes is shown by comparing from the viewpoints of robustness, stability region, and dynamics of the sliding mode.View full abstractDownload PDF (3476K) -
Kee-Sang LEE, Sung-Ho KIM, Masatoshi SAKAWA, Masahiro INUIGUCHI, Kosuk ...1997 Volume 33 Issue 12 Pages 1155-1163
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a method of the fault diagnosis based on FCM (Fuzzy Cognitive Map) is proposed. FCM which can store uncertain causal knowledge is essentially fuzzy signed directed graphs with feedback. The proposed basic fault diagnostic algorithm is considered as a simple transition from Shiozaki's signed directed graph method to FCM framework. It can simply identify the origin of the fault and can further be expanded to hierarchical fault diagnostic scheme. In particular, as the proposed scheme takes a shorter computing time in comparison with other methods, it can be used for on-line fault diagnosis of large and complex processes where conventional fault diagnostic methods can not be applied. Examples highlighting the use of the proposed scheme are presented.View full abstractDownload PDF (1213K) -
Hiroaki KOSAKA, Takeshi SHIGEMATSU, Kajiro WATANABE1997 Volume 33 Issue 12 Pages 1164-1170
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSElectronic sound is used as one of the most common means of human-machine interface. Few investigations for how human feels to such the simple sound yield the situation that it is sometimes called sound pollution. The electronic sound must be designed by considering how or in what situation it is used. This paper is aimed at describing how human feel to variety of electronic sound and describe the relation between human feeling and sound physical characteristics.
We investigate how each physical parameters of sound effects to the sound feeling via evaluation experiments.
We found relations between the human auditory physiological feeling and the physical characteristics of the sound. We show a guideline of how to design a variety of electronic sound that satisfy given specifications.View full abstractDownload PDF (1527K) -
Takashi SAKAGUCHI, Tsutomu KANAMORI, Haruhiro KATAYOSE, Kosuke SATO, S ...1997 Volume 33 Issue 12 Pages 1171-1177
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSHuman gestures have much abundant information in non-verbal human communications, so it's expected that gesture recognition is one of promising man-machine-interfaces in the near future. Especially, gesture communication has rich quantitative information which stands for the degree of gesture meaning, i.e. “very”, “a little”.
Recently, in fields of Virtual Reality and sign-language recognition, a lot of efforts regarding human motion capturing and gesture recognition have been made. Among many sensing methodologies are widely tried, image sensing has exhibited some problems due to occlusion etc., and magnetic sensing has shown some problems in magnetic disturbances etc.
In this paper, we propose a measurement of quantitative information of gestures using gyroscopes and accelerometers, which are not influenced by occlusion or magnetic disturbances potentially. Unlike position sensors, the both sensors are dynamic ones, which are superior in capturing the quantitative information of gesture. A developed gesture-sensing-unit is introduced. A quantitative and qualitative recognizing method using an artificial neural network is also proposed. In experiments with 12 kinds of gestures (Japanese sign-language), the effectiveness of the method has been verified in the recognition of both qualitative information and quantitative information.View full abstractDownload PDF (2238K) -
Hisao KATOH, Yasuyuki FUNAHASHI1997 Volume 33 Issue 12 Pages 1178-1180
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this note, we propose new calculating procedures for lower left triangular interactor matrices, which are defined by Wolovich et al. These procedures require only additions, multiplications, and singular value decompositions of real matrices. So, those can be easily calculated.View full abstractDownload PDF (266K) -
Kajiro WATANABE, Yasusi UMEZAWA, Shintaro IIJIMA1997 Volume 33 Issue 12 Pages 1181-1183
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe difficulty of air bag system design is substantially due to the existence of delay time between the triggering time and the air bag expanding time. The key idea in the proposed algorithm is to employ the concept of prediction of occupant motion after collision to compensate the delay time. Basing on the key idea, we develop an air bag triggering theory and present a general air bag expanding algorithm. Simulations by the real collision data were carried out to show the validity of the proposed method.View full abstractDownload PDF (435K) -
Re-scheduling by Warm-startMasahiko MURAI, Yutaka IINO, Takashi SHIGEMASA1997 Volume 33 Issue 12 Pages 1184-1186
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper focuses on the re-scheduling problem for utility plant operation. The optimal scheduling problem is described as LP model, and solved by the primal affine scaling algorithm. We try to re-optimize the perturbed LP model using warm-start. Numerical example shows that the warm-start solve the problem about half the time which the cold-start does.View full abstractDownload PDF (352K) -
Nobuo SANNOMIYA, Ko NAITO1997 Volume 33 Issue 12 Pages 1187-1189
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe information exchange between two fish swimming in a water tank is investigated by using a dynamical behavior model and the noncooperative nonzero-sum game theory. A simulation is carried out based on the proposed information exchange rule. Quantitative similarity is obtained between the observation data and the simulation result.View full abstractDownload PDF (450K) -
Masayuki HARANO, Eiji TOBA, Yoshinao KOJIMA, Toyonori NISHIMATSU1997 Volume 33 Issue 12 Pages 1190-1192
Published: December 31, 1997
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA SHG laser beam writing system has been developed for making optical waveguides efficiently. By using adoption of a specially designed holder and improving the algorithm of the autofocus control, it made possible to use continuous patterning of the substrates with different reflectance. Moreover, to make an arbitrary design of the pattern linewidth possible, the multiple regression equation by using multiple regression analysis was used. As a result, it was found that the multiple regression equation produces patterns in good agreement with designed values.View full abstractDownload PDF (1180K)
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