Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
Volume 33, Issue 8
Displaying 1-21 of 21 articles from this issue
  • Tsutomu KANAMORI, Haruhiro KATAYOSE, Satoshi SHIMURA, Seiji INOKUCHI
    1997 Volume 33 Issue 8 Pages 735-742
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Recently a field called interactive art, where performers control multimedia interactively, has been established and new musical instruments called hyper instruments have been developed. Most of hyper instruments are focussed on western musical instruments which have been given much attention to standardization. The number of hyper instruments regarding traditional musical instruments is small due to difficulty in realizing measurement of motions or gestures which are closely related with musical expression. This paper describes Cyber-Shakuhachi, a hyper instrument for the shakuhachi. First, we sum up gesture and motion which affect expression of shakuhachi performance. Next, we describe implementation of sensors for the Cyber-Shakuhachi. We are examining the validity of the Cyber-Shakuhachi through the production of the works of computer music. The Cyber-Shakuhachi got evaluation that it contributes to the creativity through the interactive search of new expression.
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  • Toshiaki TSUJII, Masaaki MURATA, Masatoshi HARIGAE
    1997 Volume 33 Issue 8 Pages 743-751
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    An algorithm of ambiguity resolution On-The-Fly (OTF) for dual frequency GPS receivers was proposed and flight experiments were conducted by National Aerospace Laboratory to evaluate its performance. As results of post flight analyses, the correct L1 ambiguities were resolved almost instantaneously with probability of better than 98% when 5 or more satellites were visible and the baseline length was shorter than 20km.
    In the OTF algorithm, the least squares search method was adopted to resolve correct ambiguities. The number of potential solutions could be reduced to one-tenth by using three kinds of observable step by step, namely, carrier-smoothed pseudorange, widelane phase and L1 carrier phase. In order to reject the wrong candidates of ambiguity, we performed the statistical test not only in measurement domain but also in positioning domain.Moreover, in the positioning domain test, we propose a method to evaluate the horizontal position instead of the three dimensional position in order to resolve the ambiguities quickly and reliably. This OTF algorithm can be applied to the real time kinematic GPS for the aircraft approach and landing.
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  • Kenji OMASA, Masaki KOUDA, Yoshihiko OHTANI
    1997 Volume 33 Issue 8 Pages 752-758
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    The shape-from-focus algorithm, a passive method, was modified for microscopic measurement of 3 D shape and texture mapping of intact petunia seedlings with coarse surface. First, both max-min and least-squares (linear regression) operators newly developed to estimate the focus measure index were compared with the sum-modified-Laplacian operator proposed by Nayar and Nakagawa. In the new operators a deformed mask was used for shortening of calculation time. Also, RGB full color images as well as gray image were used as a series of original 2-D images measured at consecutive focused planes by a computerized light microscope. As a result, the focused range image, i.e. 3-D shape estimated using the least-squares operator and RGB images was the best of all. This combination was effective for estimating the focused range in the case of not only the coarse texture but also the texture with large gradient in gray level such as the edge. Secondly, a focused color image was interpolated from a series of original images using the range image. Also, wire frame and texture mapping images were made using the range and focused color images. As a result, it was possible to make a clear color image of the seedling. Furthermore, it made easy to observe 3D color images of the seedling from any direction by operating a mouse.
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  • Jun-ichi TATENO, Kazuya ASANO, Susumu MORIYA, Fumihiko ICHIKAWA, Takas ...
    1997 Volume 33 Issue 8 Pages 759-765
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Assurance of surface glossiness is one of the most important factors in the production of stainless steel strips, but the surface glossiness has been evaluated by off-line measurement and visual inspection. For the purpose of on-line evaluation of the surface glossiness, an optical measurement method of the surface glossiness and a neural network-based discriminant method have been developed.
    For the optical measurement, the light reflection from a mercury lamp and an Ar laser are adopted. The former is concerned with information on relatively large irregularities and is effective in low glossiness areas. The latter is concerned with information on irregularities with the size of the wavelength of light and is effective in high glossiness areas. The combination of the two allows accurate classification of wide range glossiness on the stainless steel surface.
    Because the relation between those optically measured data and the visual surface grade shows severe nonlinearity, the neural network is applied to derive the mapping function. The feedforward-type neural network with back-propagation learning and the LVQ neural network are compared by preliminary off-line experiments from the viewpoint of the ability to interpolate and extrapolate the distribution of training data. Performance of the former is dependent upon the decision of learning convergence and it does not guarantee the proper classification for unlearned data. On the other hand, the LVQ network can approximate the distribution by placing the reference vectors. The learning algorithm of the LVQ network is modified to get the proper classification, thereby improving the accuracy for unlearned data.
    Experimental results show that the neural network classifier performed with higher accuracy than the linear discriminant function that uses a conventional statistical method. The developed system has been successfully applied to quality assurance in an actual stainless steel cold processing line.
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  • Ziye LI, Keiji KUBO, Sadao KAWAMURA
    1997 Volume 33 Issue 8 Pages 766-772
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    This study aims at clarifying the effects of internal force between human arms and a handle on the handle's rotational stiffness. Rotational stiffness of a handle is determined by internal force stiffness and stiffness of human arms. We use the two-link model to analyze the rotational stiffness due to the internal forces, and measure the rotational stiffness as a function of the internal force. Through theoretical calculation and experimental results, it is reveraled that the stiffness due to internal force is significantiy large in comparison with the stiffness due to the muscle conrtaction of arms. Moreover, it is clarified that one can effectively increase the rotational stiffness of handle by internal force if the handle is pulled.
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  • Wei LIN
    1997 Volume 33 Issue 8 Pages 773-779
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    This paper studies adaptive control of a class of minimum-phase nonlinear systems with unknown parameters. Sufficient conditions are developed for the existence of a nonlinear adaptive controller that achieves global stability and regulation. The adaptive controller is explicitly constructed by using a Lyapunov-like recursive argument. The result of this paper incorporates and extends a number of adaptive control schemes recently proposed in the literature for globally feedback linearizable systems without zero dynamics.
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  • Naoharu ITO
    1997 Volume 33 Issue 8 Pages 780-786
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    This paper studies the diagonal decoupling problem with dynamic state feedback for linear systems over principal ideal domains using the so-called geometric approach. A sufficient condition for the problem to be solvable is obtained, and a numerical example for the decoupling control problem of a ship propelled with a controllable pitch propeller is presented to illustrate the result obtained.
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  • Junichi MIGUCHI, Hansheng WU, Koichi MIZUKAMI
    1997 Volume 33 Issue 8 Pages 787-791
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    In this paper, a discrete sliding mode is treated. Recentry, the sliding mode control attracts attention, because the sliding mode control is robust to the uncertainties of systems. Contrary to the continuous case, however, discrete sliding mode control has the faults which the states are chattering around switching surface and can not ride on the switching surface and so on. Therefore, the stability of system can not be guaranteed. In this paper, the control law on the basis of a discrete Lyapunov function is proposed. As a method eliminating the chattering, the equivalent control which make the stetes of systems stay on the switching surface is employed. This equivalent control is estimated by using neural network which has the capacity to learn arbitrary nonlinearity. Then, the estimated equivalent is introduced in the control law above mentioned and the new controller changes from the reaching control to the equivalent control smoothly. By using this control, for the systems with uncertainties the states of systems aproach the switching surface asymptoticaly and stay on it. This validity of this scheme is made sure by simulation.
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  • Yoshito OHTA, Osamu GOTO
    1997 Volume 33 Issue 8 Pages 792-798
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    This paper studies the convergence of the interpolation augmentation method applied to multi-block H and L1 control problems. Firstly, it is shown that the norm of the Hankel operator of the augmented 1 block problems converges to the norm of the Hankel Toeplitz operator of the multi block problem for H problems. Secondly, it is shown that the norm of the upper bound sequence approaches the optimum under some conditions for L1 2-block problems to guarantee the suboptimality of the sequence.
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  • Keigo KOBAYASHI, Jun-ichi IMURA, Tsuneo YOSHIKAWA
    1997 Volume 33 Issue 8 Pages 799-804
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    This paper is concerned with point to point control of a 3 link planar manipulator where the first two joints are actuated and the third revoluted joint is unactuated. This system is a special case of under-actuated manipulators that have acceleration nonholonomic constraints. First, we show that this system is converted to seconed order chained form by coordinates and feedback transformation. Next we propose a control law that stabilizes this chained system with exponential convergence from any initial point to any desired point.
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  • Shuichi ADACHI, Hiroshi NAGATA, Isao YAMAGUCHI, Takashi KIDA, Takeshi ...
    1997 Volume 33 Issue 8 Pages 805-811
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    System identification experiments for a large space structure (LSS) have been performed as ones of on-orbit experiments using Engineering Test Satellite-VI (ETS-VI) which was launched in August 1994. The purpose of the system identification experiments is to check the validity of a mathematical model for ETS-VI which was previously obtained by ground experiments. There are two types of excitation methods by gas jet thrusters of Reaction Control System (RCS), that is, an impulse excitation and random excitation. In this paper, we concentrate on the latter excitation method. As an output signal, the satellite attitude along the excited axis is monitored during the experiments. Two kinds of methods are utilized for system identification. One is based on polynomial models such as a prediction error method (as a special case, least-squares method is included), and an instrumental variable method. The other is a subspace-based method which has been of great interest recently. The purpose of this paper is to compare these system identification methods based on experimental data. It will be shown that the subspace method is promising for system identification of LSS.
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  • Koutaro TORII, Susumu KUNIFUJI, Teruo MATSUZAWA
    1997 Volume 33 Issue 8 Pages 812-818
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    A quantal analysis method is proposed for the study of long-term potentiation (LTP) in hippocampus. This physiological phenomenon has been a leading candidate for mechanisms underlying the memory and learning function. It has been thought that the quantal analysis of miniature excitatory post-synaptic potentials (mEPSPs) would be able to resolve the long standing question of whether LTP is a pre- or post-synaptic event. In practice, however, the analysis is not always useful since the data are usually corrupted by noise. One approach to circumvent this problem would be the application of the maximum entropy noise deconvolution (MEND) method which actively eliminates the noise. MEND is composed of two elements, a maximum likelihood estimator and a maximum entropy. The former is intended to unmask small peaks in the quantal frequency distribution while the latter has a role of smoothing the estimation result, with a Lagrange-multiplier like parameter controlling the balance between the two functions. Our preliminary study has confirmed the feasibility of MEND is fairly good, but the method wastes a large portion of the available data due to its inadequate integration. MEND has two versions, binned and unbinned ones. The unbinned form is more robust, but there is some problem in the way to remove the bins. The unbinned method presented here is a new unbinned form of MEND devised for the quantal analysis of mEPSP recordings. We have improved the unbinned form with the numerical integration to obtain the integral as accurately as possible. The method is aimed at minimizing the noise effect on the estimation performance without wasting the valuable experimental records. Its usefulness is demonstrated by using synthetic as well as real hippocampul mEPSP data. Furthermore, we had applied the improved method to monosynaptic experimental data. Compared to the conventional statistical methods, it gave better results.
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  • Hiroyuki TAMURA, Satoru TAKAHASHI, Itsuo HATONO, Motohide UMANO
    1997 Volume 33 Issue 8 Pages 819-824
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    This paper deals with how to describe one's preference on risk and a value function under extreme uncertainty. When we describe the degree of ignorance and uncertainty by basic probability of Dempster-Shafer theory, the problem is how to represent the value of the set element which consists of multiple elements. We propose a method of assessing preference on risk by taking into account the average value and the variance of the value of the multiple elements. Our method is based on the concept of Regular Risk Structure. Although it has been defined under known probability distribution, our method can be used under unknown probability distribution.
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  • Tadashi KONDO
    1997 Volume 33 Issue 8 Pages 825-833
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    The purpose of this study is to propose a neural network algorithm that has an ability of self-selection of useful input variables. For a nonlinear system whose structure is very complex and which contains very many input variables, we can not generally obtain a priori knowledge about useful input variables of a nonlinear system. The neural network algorithm that is proposed in this paper has an ability of self-selection of useful input variables. The neural network is constructed with some small sub-neural networks. If the sub-neural networks contain useless input variables, they are eliminated automatically from a neural network structure according to the prediction error criterion. So the neural network is constructed with only useful input variables and a good generation can be obtained. The neural network is applied to a nonlinear system identification problem and the results are compared with those which are obtained by using another neural network and GMDH (Group Method of Data Handling) algorithm. Finally, the neural network is applied to the short-term prediction problem of air pollution concentration and compared with the linear and nonlinear prediction models.
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  • Takashi NAKAGAWA, Yoshio NAKATANI, Kazunori SASAKI, Hidekazu YOSHIKAWA ...
    1997 Volume 33 Issue 8 Pages 834-842
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    The operational safety in nuclear power plants depends strongly on man machine interfaces (MMI), such as assignment of equipment on control boards and operation procedures in emergency situations. Therefore, the evaluation and analysis methods for the MMI are important. In order for the methods to be practical, the methods should be executed in each step of design and be easy for designers to use.
    We aim to develop SEAMAID system: a computer supported system for evaluating and analyzing the MMI by simulating the interaction between the operator and the machine. In this paper, we discuss problems of the conventional methods and the required functions of the operator simulator for the SEAMAID. The operator simulator executes not human errors but correct behavior which follows the operational procedure. The SEAMAID evaluates the MMI by finding potential human errors which could occur in the simulated interactions and points out the problematic interaction parts which could induce human errors.
    We construct the operator simulator by combining the human model which was proposed by Prof. Reason, and the knowledge base model based on the Petri net model. This simulator can treat frequency parameter which represents the degree of frequency of using a certain knowledge.
    We conduct two sample simulations in different frequency parameters in the same scenario. These simulation results show that even if the operator behaves correctly following the procedure, there are alternative task sequences. We verify that the simulated interactions are in good agreement with the actual one. Also, we propose the method to point out the problematic parts in the interactions based on the working memory consumption.
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  • Wei DAI, Kimio SASAKI
    1997 Volume 33 Issue 8 Pages 843-845
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    This paper newly proposes a telescopic microphone system that may establish the high sensitivity and SNR, and narrow directivity, by using passive dynamic focusing and spherical wave synthesis with a sensor array. Based on the fundamental construction of the system. its realizability is basically examined through numberical analysis, from the viewpoints of sensitivity, directivity, and RMS error of the synthesized output.
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  • Tomohiro KUBO, Etsujiro SHIMEMURA
    1997 Volume 33 Issue 8 Pages 846-848
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    A hybrid system of a lumped parameter part and a distributed parameter part is considered. An LQ regulator is constructed by the lumped-parameter-part control. Its robustness against a class of nonlinear perturbation in the input channel is evaluated.
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  • Fujio OHKAWA
    1997 Volume 33 Issue 8 Pages 849-851
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
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    This paper proposes a new type of discrete-time model of mechanical systems.
    It is shown that the proposed discrete-time model has simple structure without disturbance and perturbation terms of continuous time system.
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  • Ryoji KAWATANI, Tsuyoshi MURATA, Fahri HELTHA, Susumu BUSHIMATA
    1997 Volume 33 Issue 8 Pages 852-854
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Inverted pendulum system is one of the most well-known equipment in the field of control engineering. In this paper, we introduce a success trial of stabilizing control of a triple type pendulum system which consists of a motorized cart and three pendulums connected in series. We synthesize a stabilizing controller based on the Loop Shaping Design Procedure and weighting parameters in the design procedure are decided by numerical search method.
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  • Minoru YAMADA, Li XU, Osami SAITO
    1997 Volume 33 Issue 8 Pages 855-857
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    Alternative necessary and sufficient conditions for 2D detectability and a design procedure for 2D state observers based on Gröbner basis of polynomial module are proposed. Further, the set of all 2D observers for a given plant is parameterized.
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  • Masaru UCHIYAMA, Kazuaki USUI, Yongqiang DAI
    1997 Volume 33 Issue 8 Pages 858-860
    Published: August 31, 1997
    Released on J-STAGE: March 27, 2009
    JOURNAL FREE ACCESS
    A solution for the inverse kinematics problem of flexible manipulators is presented. The solution exploits iterative calculation techniques that are based on the idea of learning control. The proposed method successfully finds the joint variables as well as the link deflections for a desired trajectory of the end-eifector. The performance and capabilities of the method are tested through simulation using a planar two-link flexible manipulator model.
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