巻号一覧
35 巻, 8 号
選択された号の論文の21件中1～21を表示しています
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中山 繁生, 陳 鵬, 松宮 俊彦, 豊田 利夫1999 年 35 巻 8 号 p. 981-988
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーAn intelligent robot hand must be able to grasp a variety of objects, such as a frail egg and a heavy iron block and so on. It must be also able to have the ability as man hand to finish the job on the basis of tactile information from tactile sensor even without image information. In order to realize the intelligent hand, the contradiction problem between strength and sensitivity of a tactile sensor must be resolved.
This paper propose a new type tactile sensor called “Double Octagon Tactile Sensor (D.O.T.S.)” for the intelligent robot hand. The sensor has high sensitivity and high strength, and can precisely sense the touch force and slip between a grasped object and the sensor. This paper discusses the structure, design method and the sensing principle of the sensor, and proves the effectiveness of the sensor.抄録全体を表示PDF形式でダウンロード (2254K) -
久保田 毅, 和田 隆志, 松田 守弘, 永田 雅典, 安井 真由美1999 年 35 巻 8 号 p. 989-995
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThe visual softness was evaluated using the paired comparison method for wrinkly textured surfaces. Many kinds of physical quantities of sample surfeces, such as the depth of wrinkles, surface roughness and gloss, were measured. Correlations between the visual softness and the physical quantities were analyzed. As a result, this visual softness was found to be characterized by four factors, the depth and slope of wrinkles, gloss and lightness.抄録全体を表示PDF形式でダウンロード (3251K) -
本谷 秀堅, 奥村 政彦, 出口 光一郎1999 年 35 巻 8 号 p. 996-1003
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes a method which generates Straight Homogeneous Generalized Cylinder (SHGC) representation of an object from its range image. When a plane curve sweeps along a straight axis changing its size, it generates a 3D surface. The SHGC represents the shape of an object surface as such the swept surface. In order to generate SHGC representation of an object, the axis, the cross section curve to sweep, and the sweeping rule must be extracted from the given object surface. Here, to extract them, we utilize the fact that the parabolic curves of the SHGC surface lie on the cross section curves or on the meridian curves.
We, first, calculate the Gaussian curvature at every point of the surface, and extract its parabolic curves. A parabolic curve of the SHGC surface lie on a plane. Secondly, we obtain the cross sections of the object by shifting the cross section plane. If at two points on different two cross section curves, their tangent lines are parallel, and a straight line connecting these two points crosses with the axis of the object. So, referring every pair of the cross section curves, we obtain the axis. Then, the sweeping rule curve is obtained as a cross section of the object with a plane including the axis. Some experimental results show that the proposed method can also generate the SHGC representation from a part of the range image of an object.抄録全体を表示PDF形式でダウンロード (3331K) -
青野 俊宏, 藤井 健二郎, 初本 慎太郎1999 年 35 巻 8 号 p. 1004-1011
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with a positioning method of a vehicle on undulating ground using GPS and internal sensors (a fiber optic gyro, a roll pitch sensor and wheel encoders). To make the best use of the sensory data, the following five factors must be considered.
(1) The effect of undulation to yaw sensing.
(2) The drift of the gyro.
(3) The delay and scarcity of the GPS data.
(4) The inconstancy of travel distance per encoder pulse due to the differential mechanism and the slip of the wheels.
(5) The effect of the position of the GPS antenna on position estimation.
We propose an observation model of the GPS and the internal sensors, which considers these five factors. A positioning method was developed on the basis of the observation model. A prototype of autonomous mower was produced to evaluate this positioning method. The relationship between the GPS accuracy and the sensor fusion system accuracy is discussed. The experimental results show that the sensor fusion system was more accurate than GPS only or internal sensor system only. If the accuracy of the GPS was 1m, the accuracy of the sensor fusion system was 0.2m.抄録全体を表示PDF形式でダウンロード (3757K) -
渡辺 春美, 渡辺 嘉二郎1999 年 35 巻 8 号 p. 1012-1019
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes a new type of health monitoring sensor that can be used at hospital as well as at home. The sensor non-invasively and non-restrictively measures human bio-signals of a patient on a bed, that can be used to estimate the stage of sleep.
An air mattress laid out on the bed, a fine pressure sensor that detects the pressure of air in the air mattress and filters are the components of the non-invasive sensing system. The human body movements due to such as the cardiobilistram, respiration, snoring, turning over and coughing directly influence to the pressure and the causes of the movement can be discriminated by the proper filtering.
Here we investigate the pneumatic characteristics of the air in the mattress via a mathematical model and show the effective filtering to eliminate the ill pneumatic characteristics and further to discriminate the changes due to various body movements. The important bio-signals from a sleeper whose sleeping posture was arbitrary were acquired without any disturbances.抄録全体を表示PDF形式でダウンロード (3934K) -
石橋 雅裕, 高本 正樹1999 年 35 巻 8 号 p. 1020-1025
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーA novel method to measure the Reynolds number dependence of the discharge coefficient of a critical nozzle relatively against the other critical nozzles is proposed. The method uses three or more series connections of 2 nozzles among the reference and the test nozzles. The two constants, which control the Reynolds number dependence of the discharge coefficient, are derived from comparing the pressure between nozzles in these series connections. The upper condition is kept constant near a reference condition, therefore realization of the facility and performance of the measurement are quite simple. The only instrument the method requires is a pressure gauge which has only a linearity in a narrow range. Its sensitivity is measured utilizing a stable pressure ratio generated by a series connection of two critical nozzles. All of the measured pressure are appeared as ratios in the equations to calculate the two constants, therefore error caused by a zero-shift of the pressure gauge is negligible. An uncertainty analysis and realized measurements on critical nozzles of different designs confirmed its high accuracy in very short measuring time.抄録全体を表示PDF形式でダウンロード (1576K) -
田中 正吾, 吉原 孝次1999 年 35 巻 8 号 p. 1026-1035
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーInside wall of blast furnace is frequently defected by its high pressure and temperature process and solid bodies like iron ore and cokes. For the safety and efficient operation of blast furnace, state-based detection of the defect of the inside wall is of great importance. One of the authors previously proposed a detection system which used ultrasonic sensors to measure the thickness of the inside wall. The system enabled the measurement of the wall-thickness even when many reflected waves from the inside of the wall were complicatedly superposed on the sensor under a time-variant bias. Although the system proposed a raw concept of time map of received reflected-waves, the detection method still depended somewhat on an empirical knowledge of the time map for a furnace-type steeve (used for the experiment) to measure the wall thickness of the actual blast-furnace.
The present paper thus derives the time map for the received reflected-waves strictly, and proposes the wall thickness measurement by comparison between the theoretically and experimentally derived time maps. Finally, the effectiveness of the proposed system is verified with experiments on a furnace-type steeve and an actual blast furnace.抄録全体を表示PDF形式でダウンロード (1853K) -
田中 正吾, 米澤 俊昭1999 年 35 巻 8 号 p. 1036-1043
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーFor an accurate on-line measurement of ship's attitude, the authors previously developed a measurement system with one servo-type accelerometer and two servo-type inclinometers which were appropriately located on the ship. The above strategy introduced linear dynamic systems, as dynamic models of the attitude signals, characterized by the candidates of the angular frequencies of the signals. Furthermore, a bank of Kalman filters were used to realize an on-line measurement of the signals and also to overcome possible changes in the parameters as time lapse. This method realized a comparatively accurate on-line measurement of ship's attitude on rolling, pitching and heaving. This paper proposes a method which realizes a much higher accurate on-line measurement with an effective update algorithm for the candidates and shows the effectiveness of the proposed approach by simulations.抄録全体を表示PDF形式でダウンロード (1852K) -
野中 謙一郎, 古田 勝久1999 年 35 巻 8 号 p. 1044-1052
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a parameterizaton of output feedback dynamic sliding mode controller is proposed and the BIBO stability problem of generalized plant is studied. It is shown that by the proposed controller, the sliding mode is achieved in finite time, and thereafter, the ideal sliding mode controller stabilizes the generalized plant in the sense that the slightly modified BIBO stability is assured. Also, the model matching problem is formulated for this controller and the difference between linear dynamic controller and sliding mode controller is highlighted.抄録全体を表示PDF形式でダウンロード (1432K) -
福島 宏明, 杉江 俊治1999 年 35 巻 8 号 p. 1053-1059
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a new set-membership(SM) identification method using periodgrams obtained from experimental data. One of the difficulties in the existing SM identification methods is that identified model sets are conservative, since they adopt the unknown-but-bounded noise sets which ignore empirical noise properties.In the proposed method, we consider the unknown-but-bounded noise set of cross-periodgrams of input and noise. This noise set is prescribed such that the upper bound of cross-periodgrams gets smaller by increasing the data number for the low correlation properties of noise. As a result, the noise effect in model set identification is decreased by increasing the data number. Also, since this noise set is convex, the identification problem is reduced to a convex optimization. Numerical examples show the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (1530K) -
Jinglu HU, Kotaro HIRASAWA, Kousuke KUMAMARU1999 年 35 巻 8 号 p. 1060-1068
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes an adaptive predictor for general nonlinear systems based on the use of a class of neurofuzzy models. The neurofuzzy-based predictor can be interpreted as a linear predictor network consisting of a global linear predictor and several local linear predictors with interpolation. It has some distinctive features as well as good prediction ability: its parameters have explicit meanings useful for initial value setting in parameter adjustment; it may be transformed into a form linear for the variables synthesized in control systems, which makes deriving a control law straightforward. Simulations on applying it to adaptive control of nonlinear systems demonstrate its usefulness.抄録全体を表示PDF形式でダウンロード (2099K) -
孫 連明, 佐野 昭1999 年 35 巻 8 号 p. 1069-1077
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with discrete-time direct closed-loop identification based on an output inter-sampling scheme to construct a plant model when the plant is directed by a feedback controller. The ordinary identifiability condition requires that the order of the controller is higher than that of the plant order, however, this is hardly satisfied in practical cases. This paper proposes a new direct method using data set of the input and inter-sampled output of the plant and clarifies that the ordinary restrictive identifiability conditions can be removed by using the single input multiple output model description, and then the consistency of the parameter estimate is assured even without using any external test signal with PE condition.抄録全体を表示PDF形式でダウンロード (1919K) -
田中 聡, 古田 勝久1999 年 35 巻 8 号 p. 1078-1084
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThe deadbeat control makes the controlled signal zero in finite time and has been studied for a long time for a discrete-time system. It is reported that the ripples may occur if a discrete-time deadbeat controller is applied to continuous-time systems. To avoid the ripples, Kurosawa and Nobuyama proposed the continuous-deadbeat controller. Nobuyama designed the continuous-deadbeat controller using Youla's Parametrization. He assumed the free parameter as linear combinations of several time delays. Katoh designed the free parameter using one time delay when the plant is stable and its initial condition is zero. He has showed that the input has one discontinuity in its simulations. Kurosawa has designed the continuous deadbeat controller which was calculated using the transfer function from the input to the error signal. This controller can not be applied to the unstable or mon-minimum phase system, because it contains the inverse of the plant. So, in this article, we suggest a new method of the continuous deadbeat control which is an extension of Kurosawa's method. The method can guarantee to achieve the deadbeat settlement for unstable and non-minimal SISO systems with the arbitrary initial conditions. Furthermore it can give continuous input.抄録全体を表示PDF形式でダウンロード (1707K) -
末廣 利範, 大川 不二夫, 外村 隆行1999 年 35 巻 8 号 p. 1085-1091
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a simplified digital control for a feed drive system. The feed drive system generally includes uncertainties and nonlinearities which result from inertia of loads, friction and so on. Thus, it is difficult to ensure robust performance and high accuracy for motion control. In this paper, both pole placement control and adaptive control systems are designed based on a novel discrete-time model of the feed drive system to overcome the above stated problem. This model is characterized with its simple structure reducing number of parameters and regarding no nonlinear terms and disturbances. Therefore, the digital control systems can be simplified in design and algorithm calculation. Experimental results have shown high performance and effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (1236K) -
山本 秀彦1999 年 35 巻 8 号 p. 1092-1098
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes the parts input problem of production system where two FTLs (Flexible Transfer Lines) are linked under JIT production management. In this paper, new parts input real-time control method SEALS (Real-time Scheduling Control of Automated Flexible Production Lines) is proposed. SEALS is useful when the FTLs are operated under the production order that is different from the pre-decided production scheduling. By applying SEALS for a virtual production system, it is ascertained that SEALS is a useful real-time control system that does not give a bad influence if a production order that is different from pre-decided production scheduling is suddenly given.抄録全体を表示PDF形式でダウンロード (1713K) -
喜安 千弥, 藤村 貞夫1999 年 35 巻 8 号 p. 1099-1104
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーA method for connected word recognition of sign language from a color image sequence has been developed. The method is intended to be used on the sign language translation system which assists a hearing impaired person and a hearing person to communicate with each other. Since several words in conversation are expressed by a sequence of continuous action, the translation system must recognize the connected words in sign language. The sign language consists of two types of action, one is expressing a word, the other is a transient movement between words. It is important to determine the region of words out of the sequence of action in sign language.
We divided the sequence into the units of movement by finding the minimum points of hand's speed. The candidates of words were determined for each segment according to the pattern of movement and the shape of a hand. After the candidates were determined, each of them was examined whether it is suitably matched with the data from the dictionary. If the coincidence was not enough, the region was considered to correspond to a transient movement. We recognized the pattern of movement of a hand by the DP matching algorithm and recognized the shape of a hand by using the BDT (Binary Decision Tree). The small number of suitable features were automatically selected by using the BDT and the words are recognized hierarchically. The recognition rate in a particular signer was 96% for 128 number of short sentences consist of two, three or four words out of 20 words.抄録全体を表示PDF形式でダウンロード (1791K) -
吉川 雅修, 高村 亘史, 藤村 貞夫, 西井 龍映, 宮本 泉, 田中 章司郎1999 年 35 巻 8 号 p. 1105-1112
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーA new feature extraction method for land-cover classification is proposed. New variables are produced by a simple linear combination of two variables in the original measurement vector. They correspond to the first and second principal componets. At first, an equivalent relation is proven to exist in coefficient matrices for the proposed variable sets. Variable selection is employed for representatives of the largely-reduced equivalent classes. The total number of selection is defined using the Stirling number of the second kind. Secondly, strategies for selecting quasi-optimal variables for discriminant analysis are described. Akaike's Information Criterion (AIC) for linear discriminant functions is utilized in selection. Results of experiments by simulation data and real remotely-sensed data show effective performance of the proposed method.抄録全体を表示PDF形式でダウンロード (1748K) -
尹 禮分, 中山 弘隆, 谷野 哲三1999 年 35 巻 8 号 p. 1113-1118
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーSo far, there have been developed several kinds of DEA models, say, CCR, BCC, FDH and so on, for evaluating the relative efficiency of decision making units. This paper suggests a new model called a generalized DEA (GDEA) model, which can treat these existing DEA models in a unified way. Theoretical properties on relationships among these DEA models are given first. Next, the efficiencies for these DEA models are compared and clarified by a numerical example with real data.抄録全体を表示PDF形式でダウンロード (1649K) -
小林 良二1999 年 35 巻 8 号 p. 1119-1121
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThe measuring principle of the annular viscometer for gases has been reported already as “Theory of Annular Viscometer for Gases”. This viscometer has very simple construction and enables us to measure easily the viscosities of gases with only pressure difference.抄録全体を表示PDF形式でダウンロード (342K) -
石飛 光章, 後藤 啓一, 奥村 直樹1999 年 35 巻 8 号 p. 1122-1124
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーFractional-order hold can locate zeros of sampled systems inside the unit circle in some cases when zero-order hold fails to do so. However, it is not easy to implement the fractional-order hold in practice. This note studies a staircase-type fractional-order hold, and shows that it can be a desirable alternative to the zero-order hold. The advantage is verified by an experiment.抄録全体を表示PDF形式でダウンロード (335K) -
補間アプローチによる2自由度サーボ系の設計村松 鋭一, 池田 雅夫, 首藤 博司1999 年 35 巻 8 号 p. 1125-1127
発行日: 1999/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a two-degree-of-freedom robust servosystem for a plant with variable operating conditions. The plant is described as a linear interpolation of proper stable coprime factorizations of transfer functions of two representative models identified at representative operating points. An interpolation approach is utilized to design the feedback and feedforward compensators of the two-degree-of-freedom controller. The control system has the robust servo property at any operating point.抄録全体を表示PDF形式でダウンロード (453K)
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