巻号一覧
34 巻, 2 号
選択された号の論文の15件中1～15を表示しています
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山崎 信寿, 佐藤 拓史, 田中 大輔, 中澤 和夫, 持丸 正明1998 年 34 巻 2 号 p. 65-71
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーAn optical measurement system was developed in order to obtain the individual foot shape and sizes for well-fitting shoe and shoe-last design. Three units of the Fiber Grating projector and CCD camera were used to measure the heel and instep part of a foot shape in a natural standing posture. Measurements were taken for both feet with the subjects having to face the other direction. The image capturing process for the shape measurement is completed within 100ms, so that any error caused by body swaying is negligible. A new calibration method to minimize the error gaps between sensors was developed. Measurements for the shape of the foot resulted in a smooth surface represented by 9000 data points. In addition, foot outlines projected on the lateral and horizontal planes were obtained with two other CCD cameras, for measurements of foot size. Size accuracy is ±1.0mm and plane orientation accuracy is ±1.5°. Such accuracy is sufficient for designing shoe-lasts, and for selecting correctly fitted shoes.抄録全体を表示PDF形式でダウンロード (3312K) -
宮田 千加良, 柏木 濶1998 年 34 巻 2 号 p. 72-77
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーWe have already proposed a method for grouping of relevant and equivalent inputs of a logical circuit under test (LCUT) by use of M-sequence correlation. We call this method as input grouping method. Relevant input implies those inputs which give some influence to the output, and equivalent input means those input pairs for which the output pattern does not change when they are exchanged. Input grouping shows the relation between the inputs and output, so this method is one of the method to represent the logical structure of the LCUT. The relevant inputs and equivalent inputs are calculated from the correlation functions between the input and output, when pseudorandom M-sequences are applied to the LCUT.
On the other hand, the input grouping can also be calculated from a truth table. We call this method as truth table method. The authors showed that the input grouping by use of correlation functions stated above, is far advantageous over the truth table method if we admit small percentage of error. This is due to the fact that the number of correlation functions necessary to calculate input grouping can be considerably reducible, if we admit small percentage of error.
In this paper, relations between the input groupings and fault probabilities of a LCUT are investigated for various cases, and undetected fault ratios of the fault positions by use of this input grouping are calculated. Same calculations were made in case where the input grouping by use of a part of correlation functions are used. These simulations were carried out for various kind of actual logical circuits, and it is shown that the undetected fault ratios of fault positions are sufficiently small even when a part of correlation functions are used.
This method of grouping of relevant and equivalent inputs of LCUT would be very useful for a fault diagnosis of actual logic boards.抄録全体を表示PDF形式でダウンロード (1278K) -
田中 正吾, 岡本 昌幸1998 年 34 巻 2 号 p. 78-86
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーAn on-line measurement of pipe length is considered. First, the acoustic pressure in a straight pipe is modeled by a linear dynamic system which includes some unknown parameters, that is, the parameters of pipe length and variances of transition and observation noises. Second, adequate candidates are introduced for the unknown parameters and then the posteriori probabilities of the candidates are calculated by using Kalman filters and Bayes' rule.
The increase of the number of the candidates, however, causes the measurement system to require much com-putational time for measuring the pipe length. Thus, determination of optimal candidates is considered using the probabilistic measure “divergence” together with an effective candidate-updating algorithm based on the Powell method.抄録全体を表示PDF形式でダウンロード (1791K) -
任意の3次の幅の不確定性に対する構成宮里 義彦1998 年 34 巻 2 号 p. 87-95
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーA design method of model reference adaptive controllers for unknown systems with uncertain relative degrees, is presented in this paper. Contrary to the previous researches on model reference adaptive control systems where it was assumed that the relative degrees of controlled systems are exactly known, the relative degrees in the present paper are partly unknown; that is, the relative degrees are known to be r, r+1, or r+2; r is known, but which the relative degrees are, cannot be specified. It is shown that single adaptive control schemes can deal with such uncertainties of relative degrees and that the resulting adaptive control systems are uniformly bounded and the tracking errors converge to zero asymptotically.抄録全体を表示PDF形式でダウンロード (1505K) -
大塚 弘文, 水本 郁朗, 岩井 善太1998 年 34 巻 2 号 p. 96-104
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーRecently, discrete-time Simple Adaptive Control (SAC) methods have been proposed. Unfortunately, there necessarily exists an offset between a plant output and a reference model output, because a PFC (Parallel Feedforward Compensator) is added to the plant in order to assure an almost strict positive realness of the augmented plant that is considered to be a new controlled plant. The above-mentioned offset can be easily reduced by reduction of PFC gain. However, in this case, a design procedure of PFC becomes more complicated. Here, we propose a design method for the discrete-time SAC system, which can remove the above-stated offset, by using parallel feedforward compensators for both of the plant and the reference model.抄録全体を表示PDF形式でダウンロード (1712K) -
高橋 一成, 中内 靖, 森 泰親1998 年 34 巻 2 号 p. 105-111
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーOutput predictions of generalized predictive control (GPC) are obtained by solving the Diophantine Equation based on the present model parameters. Therefore, exact value of prediction would not calculate for time-varying system changing model parameter fast.
In this paper, we shows output predictor and control law of GPC for time-varying system suggested by O.P. Palsson et al. (1993) without giving a practical value to model dimension and costing horizon for simplify. Then, we investigate properties of GPC for time-varying system and compare response with conventional GPC. Responses of the closed loop system for various reference values and effect of filter removing offset are verified.抄録全体を表示PDF形式でダウンロード (1047K) -
山田 実, 徐 粒, 斉藤 制海1998 年 34 巻 2 号 p. 112-119
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper gives, for the case where only one independent variable of the considered 2D (2-dimensional) systems is unbounded, a formulation for 2D model-following servo problem. That is, to determine a control input such that the outputs of a given 2D plant asymptotically track, with tracking error as small as possible, the step response of a given 2D model system as the unbounded variable approaches infinite. It is shown that this problem can be transformed into an equivalent 1D LQR problem, and thus can be essentially solved by 1D the-ory. The relationship between the solvability conditions obtained for the equivalent 1D system and the practical stabilizability and detectability of the original 2D plant is clarified. A numerical example is also shown.抄録全体を表示PDF形式でダウンロード (1595K) -
高橋 一成, 中内 靖, 森 泰親1998 年 34 巻 2 号 p. 120-125
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーIn order to improve the response property of a closed-loop control system, in general, the control-weighting of cost function is given a positive value. But this may cause the offset in the output of the system. Also, the offset may occur because of input diturbance. To eliminate these offsets, in the closed-loop control system constructed by generalized minimum variance control (GMVC), the structure of the control system must be modified. However, appropriate methods for removing the offsets have not become clear as yet.
In this paper, we study about the methods to remove the above mentioned offsets in GMVC. We have studied several methods for removing the offsets. These methods are expressed in numerical expressions and we verified them by using the final value theorem. Also we have verified them by numerical simulations.抄録全体を表示PDF形式でダウンロード (1007K) -
榎本 隆二, 島 公脩1998 年 34 巻 2 号 p. 126-134
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーWe discuss a problem of stabilizing a general nonlinear system almost everywhere globally to a single isolated singular point or a single isolated limit cycle. For this purpose we allocate a set of singular points on the null manifold of state equations. Using the product theorem in the Conley index theory and the classical Poincaré-Hopf theorem, we obtain a global asymptotic stabilization theorem.抄録全体を表示PDF形式でダウンロード (3066K) -
中村 政俊, 萬谷 清高, 池上 康之, 上原 春男1998 年 34 巻 2 号 p. 135-141
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーOcean thermal energy conversion (OTEC) is a method of power generation which harnesses the deference of temperature between warm sea water at ocean surface and abyssal cold sea water. Recent studies on OTEC plants are being carried out through a pilot plant which substitutes a heating and cooling source system for a part of warm and cold sea water. However, the efficiency of the conventional water supply system such as one tank system is not good enough to use as a OTEC pilot plant, because it takes much time to supply the appropriate water. Further it is impossible to make the desired water temperature and flow-rate at a constant level during the experiment. In this paper, a new temperature flow-rate water supply system with closed cycle is proposed for solving the existing problems. Proposed system is rather convinient to use as an OTEC pilot plant due to two main advantages. First is the ability of quickly supplying the objective water with an appropriate temperature and flow-rate. And the other is the possibility of conducting an experiment for a long time by adopting the closed cycle water supply system. In order to construct the procedure for improving the controllability of this system theoreticaly, controllable range of the pumps was also investigated and evaluated.抄録全体を表示PDF形式でダウンロード (1472K) -
中村 政俊, 萬谷 清高, 池上 康之, 上原 春男1998 年 34 巻 2 号 p. 142-147
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーA systematic controller design for actual nonlinear dynamical systems was investigated. By eliminating a nonlinear static part from the original nonlinear dynamical system, residual of the system is approximated by a linear dynamial model. Based on the nonlinear separation model, a controller is constructed ideally by use of conventional linear control theories. By use of the nonlinear separation method, a controller was designed for a temperature-flowrate water supply system which was a part of main apparatus for OTEC (ocean thermal energy conversion) experimental plant. The experimental results revieled satisfactory control performances which proved an effectiveness of the nonlinear separation method for controller design for actual nonlinear dynamical systems.抄録全体を表示PDF形式でダウンロード (1727K) -
湯本 真樹, 有本 慎司, 大川 剛直, 薦田 憲久, 宮坂 房千加1998 年 34 巻 2 号 p. 148-156
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーQualitative reasoning is one of the powerful methods for the fault diagnosis of the complicated systems. The stochastic qualitative reasoning method, one of qualitative reasoning methods, has proposed. However, it is hard to apply this method to large scale systems because of the enormous generation of behavior patterns.
Efficient qualitative reasoning is proposed in this paper. In this method, the minimum existence probability of the generating behavior patterns is estimated by the Monte-Carlo method. The minimum existence probability is used to depress the number of generating behavior patterns. In addition, the improbable behavior patterns in the future are pruned off by future real measured values patterns. This method can be applied to the diagnosis for the large scale systems.抄録全体を表示PDF形式でダウンロード (3010K) -
吉岡 孝, 登尾 啓史, 富永 昌治1998 年 34 巻 2 号 p. 157-165
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーIn the last decade, many algorithms have been proposed for sensor-based navigation, which keep convergence of a mobile robot to its goal in a 2D uncertain environment. From the convergence viewpoint, all the previous algorithms are categorized into three types of metric, topologic, and geometric algorithms. If position and orientation errors occur, a mobile robot unfortunately gets lost in each type of algorithm. Especially if a mobile robot should trace the boundary of an obstacle faithfully in a dense 2D environment, the metric algorithm is damaged with a small position error, and also the topologic algorithm is destroyed with even the smallest position error. In such a case, we are obliged to rely on the geometric algorithm. This paper proposes a geometric algorithm for sensor-based navigation when a mobile robot is ready for position and orientation errors in a dense 2D uncertain environment. In the proposed algorithm, a robot never joins deadlock (cyclic motion) and consequently arrives near its goal if and only if position and orientation errors are of finite. The wider a free region exists around a goal, the larger bounds of the errors become. Finally it is confirmed theoretically and experimentally that the proposed algorithm makes a robot converge into the neighborhood close to a goal.抄録全体を表示PDF形式でダウンロード (7321K) -
呉 景龍, 中畑 政臣, 川村 貞夫1998 年 34 巻 2 号 p. 166-174
発行日: 1998/02/28
公開日: 2009/03/27
ジャーナル フリーThe head mounted display (HMD) is widely used in the virtual reality technology. In previous studies, however, disparity of HMD is set as a uniform value in the whole view field. In such HMD systems, many problems will occur to develop a new HMD with wide view. In this study, in order to realize a natural stereo sensation of HMD with wide view, the authors measure the characteristics of binocular stereo perception and binocular lightness perception. The results of measurement suggest that both of the binocular stereoacuity and binocular lightness sensitivity decrease as the eccentricity increases from fovea to periphery of the retina. However, the decrease of binocular stereoacuity is more rapid than the binocular lightness sensitivity. This results suggest that the binocular disparity at the peripheral field should be small. Conversely, if we set a large binocular disparity at the peripheral field, we can see double images instead of a stereo view. In order to set proper binocular disparity to design a HMD with wide view, the authors analyze the results of measurements and reveal a model of binocular perceptual characteristics. Furthermore, a new method to set a proper disparity pattern for whole view is proposed. In the proposed method of disparity setting, the binocular disparity weight window shifts in the wide view corresponding to the eye movement to set proper values of disparity.抄録全体を表示PDF形式でダウンロード (3238K) -
1998 年 34 巻 2 号 p. e1
発行日: 1998年
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (44K)
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