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Volume 35, Issue 10
Displaying 1-14 of 14 articles from this issue
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Shogo TANAKA, Shuhei AKUTAGAWA, Susumu KOUNO1999 Volume 35 Issue 10 Pages 1227-1235
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn a container crane, a spreader is suspended from a trolley to grip and carry a payload. Although the attitude of the spreader is conventionally measured using a CCD camera at the bottom of the trolley, the exact measurement of the primary sway (sway of low frequency) of the trolley is difficult due to the secondary sway (sway of high frequency) of the spreader. This is because the wire suspending the spreader has a non-negligible flexibility, despite of its stranded steely property.
The paper proposes an adaptive sensing system which measures the primary sway accurately using an adaptive learning method of unknown parameters of the system.View full abstractDownload PDF (1528K) -
Kajiro WATANABE, Yuichiro TAKAHASHI, Fujio KAYAHARA1999 Volume 35 Issue 10 Pages 1236-1242
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes an environmental monitor method. Here we describe a method for measuring the amount of soot and dust discharged from the plant and incinerator. The method is based on the electrostatics engineering.
When the soot and dust pass through the strong electric field, these contact to the ionized air and are charged. These induce the change in the electrostatic field near the electrode in the downstream when passing through near it and the small current occurs in the electrode. The current is proportional to the amount of electric charge of the soot and dust, and the amount of soot and dust is proportional to the charge. Thus, the soot and dust amount can be estimated from the current.
In this paper, a mathematical model that relates the current (voltage) detected by the sensor and the mass flow rate of the soot and dust is constructed, and a new measurement method based on the model is presented. The validity of the method is experimentally examined.View full abstractDownload PDF (3315K) -
Akira ICHIKAWA, Akito TAKEYA1999 Volume 35 Issue 10 Pages 1243-1252
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents an optimal design method with some design examples of the omnidirectional vision system using two curved mirrors, primary and secondary, which was previously proposed and developed by the authors. In the design method, the bore size and position of the primary mirror and the coefficients included in the profile equation of the secondary mirror are chosen as the design parameters. By adjusting the design parameters so as to minimize the performance index representing the sharpness of a panoramic image on the secondary mirror, the arrangement and the shape of the mirrors can be designed so as to realize an omnidirectional vision system with higher image quality. Taking a paraboloid and other shapes as the surface shape of the secondary mirror in the design calculations, optimal designs were made for each catoptric system for each surface shape, and the degrees of aberration on the secondary mirror were evaluated. The results show that the use of an ellipsoid is the best for minimizing the opti-axial range of the image points, the use of a hyperboloid is the best for minimizing the degree of astigmatism and the use of a biquadratic surface is not only efficient for minimizing of both case described above but also provides almost same results as the best results of both case. It is also shown that the degree of aberration obtained by the optimal design strongly depends on the values of the weighting coefficients included in the performance index.View full abstractDownload PDF (1757K) -
Toshiyuki OHTSUKA1999 Volume 35 Issue 10 Pages 1253-1260
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAlgorithms are proposed for real-time state estimation of nonlinear systems with unknown disturbances. An optimal estimate of the state is determined so as to minimize a receding-horizon performance index that includes estimate of unknown disturbances. Application of the stabilized continuation method results in algorithms that do not involve any successive approximation methods. One of the proposed algorithms is examined in numerical simulation of a two-wheeled mobile robot. Simulation results clarify characteristics of the algorithm. The performance of the present algorithm is compared with that of an algorithm that does not take disturbances into account.View full abstractDownload PDF (1428K) -
Fujio IKEDA, Atsushi WATANABE, Seiichi KAWATA1999 Volume 35 Issue 10 Pages 1261-1267
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe purpose of this paper is to make a comparison between the equation errors and the output errors which are used as criteria for measuring modeling errors in system identification.
In many practical situations real systems have high system orders which are often unknown, and reduced order models are used for estimating the parameters of the systems. In such a case there inevitably exists a modeling error due to the reduction of orders. The modeling error is usually evaluated by the equation error and the output error.
This paper analyzes a relationship between these two errors in the case of ARX model to the system which has no zero, consequently derives that the variance of the output error is no less than that of the equation error. Furthermore it shows how the system's nature affects these two errors. To achive this purpose, the model parameters can be explicitly described by the system parameters. The result shows that when the system's poles are near the unit circle, which means a marginal stability of the system, the variance of the output error take the maximum value.View full abstractDownload PDF (1432K) -
Tomohiro KUBO1999 Volume 35 Issue 10 Pages 1268-1272
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA method to construct a memoryless feedback law for systems with time-delay in the inputs is proposed. A feedback law is constructed with a solution of a matrix equation. It is shown that the resulting closed loop system is asymptotically stable, and moreover, it is a linear quadratic regulator for some cost functional. Its robust stability conditions against a class of nonlinear static perturbations or a class of linear dynamic perturbations are shown. A numerical example is given.View full abstractDownload PDF (1076K) -
Hiroaki MUKAIDANI, Yasuhide KOBAYASHI, Tsuyoshi OKITA1999 Volume 35 Issue 10 Pages 1273-1282
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper considers the robust H∞ control problem for nonstandard singularly perturbed systems with time-varying norm-bounded parameter uncertainties in both state and output equations. In order to obtain the controller such that both robust stability and a disturbance attenuation level γ larger than a arbitrary boundary value are achieved, irrespective of uncertainties, we must solve two algebraic Riccati equations with the singular perturbation parameter ε>0. The main results in this paper are to propose a new algorithm to solve the above equations and to find an ε independent sufficient conditions for the existence of the full-order dynamic controller. Using the algebraic Riccati equation approach, although the uncertain matrix A22+ΔA22(t) has unstable mode, our new results are applicable to both standard and nonstandard uncertain singularly perturbed systems. Furthermore, in order to show the effectiveness of the proposed algorithms, numerical examples are included.View full abstractDownload PDF (2373K) -
Hironao SAKAKI, Hiroshi YOSHIKAWA, Toshihiko HORI, Takuya SOGO, Norihi ...1999 Volume 35 Issue 10 Pages 1283-1291
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe energy fluctuation of the beam which is produced by the large scale electron linear accelerator (linac) is statistically analyzed. The result shows that the mutual contribution of disturbances exists in this linac. We took account of these effect of disturbances, and we made the energy fluctuation model by the adaptive identification. As a result, the energy fluctuation was surpressed less than ±0.1% by the control based on this model. The statistical analysis and the adaptive identification will be indispensable for the next generation of linac like a free electron laser.View full abstractDownload PDF (3326K) -
Takayoshi NAEMURA, Tomonori HASHIYAMA, Shigeru OKUMA1999 Volume 35 Issue 10 Pages 1292-1299
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a new approach to acquire effective modules in Genetic Programming (GP). Tree-structured chromosome can be handled with GP. The performance of GPs highly depends on the design of primitive functions. The aim of this paper is to propose a new method to determine the effective function nodes as modules.
The modules are generated and stored automatically. The obtained modules have a hierarchical structure.
Logic circuit generations are selected to show the feasibility of the proposed method. They can be represented by the minimal complete set, and it is easy to evaluate the effectiveness of the generated modules. Simulation results show the effectiveness of the proposed method. The experiments for the incremental evolution also show the feasibility for the scaling problem in GPs. The results show that the proposed method can generate effective generic modules.View full abstractDownload PDF (4055K) -
Can We Regulate Our Hand Impedance Through Training?Toshio TSUJI, Yoshihiko KANJI, Takashi KATO, Makoto KANEKO, Sadao KAWA ...1999 Volume 35 Issue 10 Pages 1300-1306
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe present paper argues that appropriate regulation of mechanical impedance is a key of dexterity of human movements, and proposes a new training method, which is called Impedance Training, to improve trainee's impedance regulation ability. During the training, the desired value of the hand impedance is given, and the trainee is instructed to regulate his or her own hand impedance to the desired one as close as possible based on biofeedback information such as EMG signals of muscles, joint angles of the upper limb, and the realized hand impedance. In order to evaluate the proposed method, the training experiments were carried out, and it is shown that the trainees can regulate their hand impedance through training.View full abstractDownload PDF (3216K) -
Takashi HATAKEYAMA1999 Volume 35 Issue 10 Pages 1307-1315
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a modeling method of the input-output relation of river runoff phenomena by Volterra functional series is studied. When the higher order Volterra model (3rd order Volterra Model is discussed in this study) is applied to river runoff phenomena, derived model does not give good simulation results, and can not represent the input-output relation. So, for a long time, the method can not become general method.
In this study, considering the source of the inaccuracy to be ill condition of the coefficient matrix of normal equation, the rank reduction method of SVD of M-P generalized inverse in performing the least-squares with a constraint conditions has been applied. As the results, it has been shown that the method is the very effective scheme to derive the faithful model representing the physical input-output characteristic, and the general modeling method of wide range natural nonlinear phenomenon whose input output data contain measuring errors has seemed to be established.View full abstractDownload PDF (2226K) -
A Systematizing Methodology by Focusing on Relations among Natural LawsShuhei MURAKOSHI, Toshiharu TAURA, Teruo KOYAMA, Tadao KAWAGUCHI1999 Volume 35 Issue 10 Pages 1316-1325
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a methodology for systematizing knowledge concerning natural laws for engineering design. It is assumed that natural law can be represented by constraint and behavior, and that relations among natural laws can be described by using a scheme of constraint and behavior. The methodology of this study is a systematization focusing on the constraint of natural laws and relations among natural laws. After some discussion, it was found that natural laws could be systematized into a natural law description model, and a relational knowledge of natural laws could be systematized into a natural law relational model, a dictionary and an operation algorithm of natural laws. As a result of this study, it is confirmed, through some examples, that the assumptions made in this study are valid and that this approach is feasible for engineering design.View full abstractDownload PDF (2432K) -
Ryoji KOBAYASHI1999 Volume 35 Issue 10 Pages 1326-1328
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe measuring principle of annular viscometer for gases is based on the Hagen-Poiseuille'law.
The viscosities can be obtained by a constant flowrate of a liquid and the pressure difference at a constant state.View full abstractDownload PDF (960K) -
Kunihiko HIRAISHI, Mihiko SHIMIZU1999 Volume 35 Issue 10 Pages 1329-1331
Published: October 30, 1999
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe propose a new method for integrating evaluation structures each of which is represented by a rooted tree. This method is usueful when AHP(analytic hierachy process) is applied to group decision making, because it requires a eveluation struture accepted by all members of the group. The integrated evaluation structure is uniquely obtained from common elemnts of reachability matrices representing evaluation structres, and from queries about disagreed elements.View full abstractDownload PDF (518K)
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