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34 巻, 6 号
選択された号の論文の30件中1～30を表示しています
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花泉 弘, 澤田 陽以, 横田 達也1998 年 34 巻 6 号 p. 455-460
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーIn order to stop the depletion of ozone in the stratosphere, we have to analyze the mechanism of the ozone depletion. Measurement of vertical profiles of atmospheric minor constitutions provides us basic information for analysis. We will be able to obtain such profiles by a solar occultation sensor ILAS aboard ADEOS. The ILAS measures limb transmittances for various tangent heights using the sun as light source, and the vertical profiles of atmospheric minor constitutions are retrieved from these data. A nonlinear spectral fitting method is used for the retrieval. As the method needs line-by-line calculations for huge number of spectral absorption lines, the method spends much computation time. For a practical use we have to evaluate effects of cross talk between elements of infrared array detectors and of propagation of noise from transmittance data to retrieved profiles. A method with high speed and moderate precision has been required. Here, we proposed a simplified method using a band model (LOWTRAN 7 and MODTRAN 2) calculation instead of a line-by-line calculation for evaluation of the effects above. This method has less accuracy than line-by-line does, but has high speed for efficient evaluation of effects of the cross talk and the noise propagation. We describe the principle and procedures of the method. Some results of numerical simulation are also shown.抄録全体を表示PDF形式でダウンロード (2204K) -
合志 和洋, 田所 嘉昭1998 年 34 巻 6 号 p. 461-469
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new source locating method referred to as the one receiving point locating method in which only one receiving point is required. This method locates the moving object from its azimuth and elevation angles, so that the receiving system and the locating procedure can be realized simpler than the conventional methods. These angles are detected from two phase differences of the arrival signal impinged on each element of a three-element sensor array. For the phase estimation from the Fourier coefficients of signals, the notch Fourier transform (NFT) with small computational complexity is employed. To compare the locating accuracy of the NFT, we also consider the maximum likelihood estimation (MLE). Furthermore, to improve the locating resolution of the NFT, we propose a new arrival angles detection method referred to as the correlation-based NFT (COR-NFT). The COR-NFT detects the azimuth and elevation angles from two phases of cross-correlation functions of each sensor output. The performance of the proposed method is evaluated using data collected with an experimental system. In this experimental system, we use the ultrasonic wave as the signal instead of the electromagnetic wave, because we can not easily utilize a higher operating frequency for our poor mounting technique. The used frequency is well suited to the size of the array which can be conveniently built and treated. In our experiments, we have confirmed that the locating resolution is improved with increasing the number of sampled data N, where the standard deviations of detected angles are within 12.4deg, 3.45deg, 2.56deg, and 4.35deg for the NFT, the MLE (N=4), the MLE (N=32), and the COR-NFT (N=32), respectively. Furthermore, it is possible to detect the moving direction of the source by the proposed moving object tracking method.抄録全体を表示PDF形式でダウンロード (1927K) -
有田 秀昶, 大友 雄二, 森内 直樹1998 年 34 巻 6 号 p. 470-478
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーUsing the laser transit with CCD camera, a compact and high-accuracy 3D-coordinate automated collimating system has been developed. This system consists of a laser transit unit, an image processing unit and a note-type personal computer. For the target marks placed on the designated points to be measured, this sytem tracks the targets according to CAD data, measures the distance, the horizontal and vertical orientational angles, and the image data. The image processing unit inputs the video image data, detects the target mark area and identifies an ellipse and its parametes as the target mark figure. Then host personal computer estimates the 3D coordinates of the target mark center point and the offset point, and outputs them. The accuracy test in the factory shows that the each standard deviation of estimated 3D coordinate data was less than 1.0mm for the about 27m distance and 12 times round measurements.抄録全体を表示PDF形式でダウンロード (3381K) -
初澤 毅, 岡村 泰雄1998 年 34 巻 6 号 p. 479-482
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーYoung's moduli of thin SiO2 films are measured by using micromachined Cantilevers. They are fablicated in a silicon chip in various lengths so that they have different resonant frequencies. The lever is vibrated by a electrodynamic vibrator, and the amplitude of the lever is measured by a laser interferometer. The micromachined cantilever itself acts as a half mirror, while the etch pit of the silicon chip works as a fixed mirror to construct a Fizeau interferometer in the micro test structure, resulting in a simple measurement system. The Young's moduli of SiO2 thin films are estimated from vibration experiments in the presence of air viscocity, and they are compared that of the bulk value.抄録全体を表示PDF形式でダウンロード (3585K) -
西 一樹, 安部 素嗣, 安藤 繁1998 年 34 巻 6 号 p. 483-490
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes a new algorithm of the auditory scene analysis, by which we can automatically choose a single sound stream from many background ones and reconstruct its original waveform. The features of our algorithm are as follows: 1) Efficient use of harmonics structure, i.e., stream is characterized by pitch and its dynamics; therefore it will be segregated by a time-varying comb filter. 2) Analysis and synthesis in the wavelet domain for extracting a stream so that its spectrum is invariant with the pitch estimation error. 3) The use of Parzen's density estimate and non-parametric Kalman filter for the optimum and multimodal tracking of pitch candidates. This algorithm is examined by several simulations and experiments using some artificial and real world data.抄録全体を表示PDF形式でダウンロード (1709K) -
南出 章幸, 得永 嘉昭1998 年 34 巻 6 号 p. 491-497
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーWe attempt to develop a scanning photoacoustic microscope system with low cost, high performance and easy operation. Using this system images of a surface artificial line flaw on a machinable ceramic, subsurface drill holes in epoxy resin and a distribution of carbon fiber fluxes in a carbon fiber reinforced plastics were obtained clearly. This system was also effective for measurement of thermal diffusivity of epoxy resin contacted on a substrate.抄録全体を表示PDF形式でダウンロード (3806K) -
江村 超, 千田 陽介, 桧山 昌之, 金子 哲憲, 荒川 章1998 年 34 巻 6 号 p. 498-503
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーIn order to analyze the mechanism of dead reckoning of wheeled robot, it is necessarry to measure the trajectory of robot. The authors made a measurement system using a CCD camera with electrically powered lens that tracks automatically a small wheeled robot using two servomotors. These servomotors have made possible to measure on large area and with high accuracy using zoom lens. After measuring and simulating the accuracy of this system, it was concluded that the main cause of measurement error is due to cross-coupling errors of tracking system. In order to calibrate measurement error, the authors used table look-up method, and it gave us satisfactory results. This paper describes methods for reducing the measurement errors and experimental results of actual trajectories of small wheeled robot.抄録全体を表示PDF形式でダウンロード (2329K) -
齋藤 努, 松井 孝誌, 本多 英基, 田所 嘉昭1998 年 34 巻 6 号 p. 504-509
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a real-time realization method of an automatic transcription system based on comb filters using digital signal processors. In the frequency domain, the comb filter has zero points at the integer multiple of the fundamental frequency of the played scale. In this method, the fundamental frequency of the musical signal can be eliminated by comb filters which are corresponding to the scales. When the characteristic of the comb filter is corresponding to the played scale, the output of the comb filter is zero. Using this principle we can detect the scale without trouble of its harmonic frequencies. Then we realize an automatic transcription system using DSPs. The processing time of a comb filters is 1.25μs by a DSP (TMS320c50, 20MHz) and four scales can be detected by a DSP.抄録全体を表示PDF形式でダウンロード (1538K) -
高橋 一成, 中内 靖, 森 泰親1998 年 34 巻 6 号 p. 510-515
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーIn order to improve the response property of generalized minimum variance control (GMVC), usually, control weighting polynomial included in the cost function is adjusted. But, only tuning the control weighting polynomial does not satisfy the severe design specifications, because the tracking response to the reference signal and the response property for disturbances are changed together when the polynomial is tuned. By the way, it is necessary to consider various disturbances in the process control, especially, emphasis is placed on a consistent performance despite a sustained input disturbance, i.e. a disturbance added to the output of the controller. Therefore, until now, many studies have been reported about two-degree-of-freedom control systems which can set up the feedback property and the tracking performance independently.
In this paper, we propose a two-degree-of-freedom GMVC. This controller is of added a feedforward element to the conventional GMVC structure. The feedback property which directs response to the input disturbance is provided by locating all of the closed-loop poles in a desired region of the complex plane. The feedforward element which adjusts the tracking performance is designed based on the model matching method. At the end, we have inspected the effectiveness of the proposed method by numerical simulations.抄録全体を表示PDF形式でダウンロード (1905K) -
安田 一則, 中辻 喜久1998 年 34 巻 6 号 p. 516-522
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with sliding mode control of linear multivariable systems where time-varying unmatched uncertainties lie in both state and input matrices. A sufficient condition under which a robust sliding mode control can be accomplished is shown. The condition is an extension of a previous result where only state matrix uncertainties are treated. Moreover, in the case that the state of the system cannot be directly available, sliding mode controller synthesis is considered by using a disturbance decoupled observer.抄録全体を表示PDF形式でダウンロード (1430K) -
準分離型積分核のグラミアンをもつクラス太田 快人, 児島 晃1998 年 34 巻 6 号 p. 523-531
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper studies the computation of the Hankel singular values for a class of input delay systems. It is shown that there is a procedure to divide the delay interval so that the resulting Gramian is an integral operator with semi-separable kernel. Some classes of input delay systems whose Hankel singular values are computed by this procedure are elucidated. A formula using the exponential of a Hamilton matrix is derived to characterize the singular values.抄録全体を表示PDF形式でダウンロード (1509K) -
毛利 彰, 平野 剛, 山本 元司1998 年 34 巻 6 号 p. 532-537
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes an algorithm to determine sub-optimal paths and trajectories for cooperative multiple manipulators which transfer an object from a given start point to a given goal point. In this problem, we use a path parameter ‘s’ which does not depend on the time ‘t’ explicitly and represent dynamics of manipulators and the object with it. A quantity λ(s) which connects the time ‘t’ and the path parameter ‘s’ is introduced. Both joint paths and λ(s) are approximated by using B-spline. Sub-optimal paths and λ(s) are determined by considering the boundary conditions of both end points and the driving torque/force constraint of each joint of each manipulator and/or the internal force constraint. Redundancy of force exsists in this system, so we use this degree of freedom to refine trajectories. We apply this algorithm to two-manipulator system. Simulation results show the effectiveness of the algorithm.抄録全体を表示PDF形式でダウンロード (1250K) -
櫻井 達也, 川谷 亮治, 土井 智晴1998 年 34 巻 6 号 p. 538-545
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we consider a design method of robust vibration controller for flexible structures with parameter perturbations. This method is based on incorporating the quadratic stabilizing theory and robust stabilizing theory to the framework of the standard H∞ problem. To confirm the validity of our proposed procedure, we consider the vibration control problem of an elastic beam whose ends are simply supported. Approximated model has 1st, 2nd and 3rd vibration modes. This means higher modes more than 4th are neglected. We have to treat these modes as the unstructured uncertainty. Furthermore, we arrange an additive mass as the structured uncertainty. In this situation, we synthesize the robust controller and show that it has expected performance in both simulation and experiment.抄録全体を表示PDF形式でダウンロード (1362K) -
楊 子江1998 年 34 巻 6 号 p. 546-554
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThe subspace-based state space system identification algorithms have received great attentions owing to its efficiency especially for high-order multivariable systems. Usually, this class of methods are focused on discretetime models, which may cause some numerical problems when the sampling interval is relatively small. This paper proposes a new approach to subspace-based state space system identification for continuous-time systems from sampled input-output data. The operator w=(p-α)/(p+α) where p denotes the differential operator, is introduced to avoid direct numerical differentiations. Hence the system can be identified based on a new state space model in the w-operator. And then the estimated w-operator state-space model can be transformed back to the common continuous-time state space model. It is shown through simulation study that the proposed method is numerically superior to some other existing approaches.抄録全体を表示PDF形式でダウンロード (1529K) -
向谷 博明, 水上 孝一, 徐 〓1998 年 34 巻 6 号 p. 555-562
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーMaking use of the recursive technique, we consider the H∞ control problem for singularly perturbed systems which include the nonstandard case. We construct the controller that guarantees a disturbance attenuation level γ which is larger than the maximum of the optimal disturbance attenuation levels for the slow and fast subsystems. In order to obtain the controller, we must solve the full-order Riccati equations. Using the recursive technique, we show that the solution of the full-order Riccati equation converges to a positive semidefinite stabilizing solution with the rate of convergence of O(εk). In addition, the controller achieves the peformance level γ+O(εk+1). To show the effectiveness of the proposed algorithm, numerical examples are included.抄録全体を表示PDF形式でダウンロード (1608K) -
小林 伸明, 櫻井 光広, 中溝 高好, 矢野 靖仁1998 年 34 巻 6 号 p. 563-570
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーWe discuss a property of the limiting form, which is derived by letting the weighting matrix with state vectors tend to infinity in a standard linear regulator problem. It is proved that the limiting feedback gain achieves disturbance decoupling under that the system satisfies disturbance decoupling condition with stability. Therefore it is shown that there exists an explicit relationship between the disturbance decoupling of a limiting form and the exact disturbance decoupling condition for linear multivariable systems. A numerical example shows the validity of results in this study.抄録全体を表示PDF形式でダウンロード (1304K) -
山下 裕, 島 公脩1998 年 34 巻 6 号 p. 571-576
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーA New method of solving the Hamilton-Jacobi partial differential equation is proposed. Hamilton-Jacobi partial differential equations are often used for solving nonlinear-H∞-control problems or nonlinear-optimal-control problems. Some trajectories of the Hamiltonian system which is generated from the Hamiltonian function related to the Hamilton-Jacobi equation give a stable manifold of the system approximately, so they produce the derivative of the storage function. From their trajectories, the solution of the Hamilton-Jacobi equation is approximated with Bezier interpolation. The initial states of the trajectories are given by the linear system which approximates the dynamics on the stable manifold.抄録全体を表示PDF形式でダウンロード (1063K) -
申 鉄龍, 田村 捷利1998 年 34 巻 6 号 p. 577-583
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a solution of globally robust stabilization problem via passivity theory. Gain bounded unknown nonlinear perturbated function is considered. Sufficient and necessary conditions for a nonlinear system being robust passive are discussed. Using the conditions, it is shown that if a nonlinear system has relative degree {1, …, 1} and minimume phase property for all uncertain perturbations, then the nonlinear system can be globally robust stabilized by smooth state feedback control.抄録全体を表示PDF形式でダウンロード (1595K) -
榎本 隆二, 島 公脩1998 年 34 巻 6 号 p. 584-592
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーA control theory on the configuration space and singular point assignment via the Conley index theory are proposed. To assign a global topological structure of control systems, a set of singular points is allocated on the null manifold of state equations. This topological structure of control systems can be described by homology Conley index braids and homology connection matrices. Generalized control systems are defined on configuration spaces. On the configuration space we discuss properties of the uncontrolable invariant null manifold, the separating null manifold and projective dimensions of null manifolds for the input-output manifold.抄録全体を表示PDF形式でダウンロード (4649K) -
有尾 一郎, 池田 清宏1998 年 34 巻 6 号 p. 593-600
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThe block-diagonalization method for systems with geometric symmetries is introduced based on the framework of group-representation theory. This method is put to use in the numerical analysis of the systems with regular polygonal symmetries, that is, Dn-invariant systems. The method is superior to the direct method in that the former can enhance the numerical efficiency and, at the same time, reduce numerical errors.抄録全体を表示PDF形式でダウンロード (1963K) -
湯本 真樹, 大川 剛直, 薦田 憲久, 宮坂 房千加1998 年 34 巻 6 号 p. 601-606
発行日: 1998/06/30
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 construct an appropriate stochastic qualitative model for a target system because of a lot of stochastic variables in this one.
Toward the construction of a stochastic qualitative model automatically, parameter expression for them are proposed in this paper. All propagation rules and functions are represented with some parameters to construct a model easily. In this method, the variable elements of the model can be reduced extremely.
From application to some air conditioning system models, the effectiveness for the model generation is confirmed. As a result of this, the agreement rate, which which indicates how much the inference by the model agrees with the series of the measurement data, is smoothly changes according to the parameters, and the maximum value is as high as the one for the conventional modeling.抄録全体を表示PDF形式でダウンロード (1509K) -
Durand-Kerner法によるARモデルから極表現への変換鎌田 晴海, 保坂 恭男, 青島 伸治1998 年 34 巻 6 号 p. 607-613
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーSpeech synthesis has been studied for about half century since H. Dudley developed “vocoder” in 1939. There are many synthesis methods, and AR model, PARCOR and LSP play an important role today. Among them, formant-bandwidth representation of AR model is said to be most advantageous to information rates. In this paper, we divided a pulse transfer function of AR model to a partial fraction form using Durand-Kerner method and residue formula. The obtained form is easily implemented by parallel connection of complex first order systems (CFOS). Additionally, we have programed the parameter identification algorithm for digital signal processor (DSP), and we have shown the computational efficiency for real-time processing.抄録全体を表示PDF形式でダウンロード (1881K) -
畠山 豊正, 白 英1998 年 34 巻 6 号 p. 614-620
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーSelf-organization of a tail segment in bacteriophage T4 could be simulated by using our MFA (movable finite automaton) models consisting of a sphere with one or more BS's (bond sites). Each BS has a BSN function. An “emergence-like effect” as well as an allosteric effect was taken in the state transition function. It could be explained only by the emergence-like effect that a length of the tail is constant, and that the head is attached to an end of tail combined to the base plate before the fibers are attached to this base plate.抄録全体を表示PDF形式でダウンロード (2280K) -
慣性項を用いたBP法に対する階層構造確率オートマトンの適用馬場 則夫, 佐藤 剣1998 年 34 巻 6 号 p. 621-628
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーBack propagation method with momentum has often been applied to adapt artificial neural networks for various pattern classification problems. However, an important limitation of this method is that its learning performance depends heavily upon the selection of the values of momentum factor and step size. In this paper, it is shown that hierarchical structure stochastic automata are quite helpful for finding appropriate values of the parameters involved in the BP method with momentum.抄録全体を表示PDF形式でダウンロード (1929K) -
倉重 賢治, 亀山 嘉正, 宮崎 茂次, 船戸 謙, 佐山 隼敏1998 年 34 巻 6 号 p. 629-635
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a method for determining relative importance in AHP with consideration of certainty to pairwise comparison of decision maker. Furthermore, we propose a new consistency index with consideration of certainty. And correlation of conventional consistency index and proposed consistency index is cleared. With numerical experiment, the efficiency of this proposed method is described.抄録全体を表示PDF形式でダウンロード (1857K) -
吉岡 宗之, 隆杉 茂樹1998 年 34 巻 6 号 p. 636-638
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーIn a fluid transmission line terminated with the non-linear resistance, the reflected pressure wave from the loading point is analytically obtained. The non-reflection matching condition and its approximate result are also derived by using the reflected wave.抄録全体を表示PDF形式でダウンロード (541K) -
池田 雅夫, 林 直樹, 藤崎 泰正1998 年 34 巻 6 号 p. 639-641
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a tracking control strategy based on input-output data for a linear discrete-time plant. No traditional mathematical model of the plant is employed. The plant dynamics is represented as an array whose elements are plant input-output data. The control input for tracking an arbitrary reference signal is readily computed using linearly independent rows of the array.抄録全体を表示PDF形式でダウンロード (511K) -
Sergio B. VILLAS-BOAS, Kang-Zhi LIU, Tsutomu MITA1998 年 34 巻 6 号 p. 642-644
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーWhen an MIMO plant has zeros at s=0, it will be shown that this imposes a constraint on the steady state output of the plant. In the control design using unstable weight, the structure of unstable weight can not be selected freely in this case. The required structure is exposed in this note. We then propose a particular generalized plant structure for an optimal servo design such as the one using H∞ control.抄録全体を表示PDF形式でダウンロード (414K) -
杉本 英彦, 鷲田 一夫1998 年 34 巻 6 号 p. 645-647
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーIn a modified repetitive control system, the internal model principle is not kept because of including the lowpass filter. So, the purpose of repetitive control system can not be achieved enough. In this paper, it is proposed that the dead time of the internal model should be shorter than the repetitive period of the reference signal or disturbance, and a method of the design for the dead time is described.抄録全体を表示PDF形式でダウンロード (468K) -
近藤 敏之, 石黒 章夫, 内川 嘉樹1998 年 34 巻 6 号 p. 648-650
発行日: 1998/06/30
公開日: 2009/03/27
ジャーナル フリーRecently, Evolvable Hardware (EHW) has been attracting much concerns in Artificial Life community. EHW is the concept aiming to realize self construction abilities in hardware level, generally by combining Genetic Algorithms with FPGA (Field-Programmable Gate Array). Although EHW realizes high-speed processing, it still suffers from timeconsuming process to adapt itself to newly encountered environments particularly if it is applied to robotics. To overcome this drawback, in this paper we present a method that can realize on-line adaptation inspired from the concept called phenotypic plasticity.抄録全体を表示PDF形式でダウンロード (1025K)
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