巻号一覧
36 巻, 12 号
選択された号の論文の20件中1～20を表示しています
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衝撃電磁力を利用した質量測定装置水野 毅, 箕輪 淳2000 年 36 巻 12 号 p. 1059-1064
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーA new type of mass measurement system under zero-gravity conditions is proposed whose principles of measurement are based on the law of conservation of momentum. The measurement procedures are as follows; initially, two objects, one of whose mass is unknown, are at rest. Then, a repulsive force is generated between the objects so that their momentum change; the unknown mass is estimated from the ratio of their velocities. In the developed system, an electromagnetic impulsive force is used as repulsive force. The objects are floated on an air slide surface so that they can have uniform motion because of very small friction. Experimental results demonstrate the feasibility of the proposed mass measurement system.抄録全体を表示PDF形式でダウンロード (1757K) -
山本 貴弘, 花泉 弘2000 年 36 巻 12 号 p. 1065-1070
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーIn order to make multitemporal analysis accurately, multispectral images must be precisely registered so that the same ground point has the identical coordinates in them. We have proposed an automated registration method ARTSIM (Automated Registration meThod for Satellite IMages), using a spatial correlation technique to generate many pairs of control point. The method accurately estimated relative rotation and shift between two images having the same spatial resolution.
Here we expand the method in terms of (1) applicability to images with different spatial resolutions, (2) processing speed for large scale images with huge number of pixels, and (3) accuracy of generating pairs of corresponding point in coastal regions. We call the new method as ARTSIM-II.
The proposed method was able to estimate the ratio of the spatial resolution accurately from 1.0 to 3.5 in numerical simulation. The method was successfully applied to registration between actual a SPOT/HRV and a LANDSAT/TM images.抄録全体を表示PDF形式でダウンロード (3383K) -
石川 博朗, 高本 正樹, 清水 和義, 文字 秀明, 松井 剛一2000 年 36 巻 12 号 p. 1071-1078
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーIn this study, small disk ultrasonic transducers were used to develop a very small ultrasonic flowmeter with a pipe diameter of 0.53mm ID. The feasibility of using a practical ultrasonic flowmeter to measure a liquid flow rate below 1mL/min was investigated experimentally.
The minimum flow rate of an ultrasonic flowmeter depends on the resolution of the transit time measurement and the zero flow rate stability. The former can be improved by applying the high measurement resolution of propagation time of an ultrasonic pulse with advanced electronics. However, the latter gives rise to a serious problem for low flow rate measurements. One of the causes of the zero flow rate instability is that the superposition of reflected pulses or remaining pulses affects the main pulses. This problem can be easily avoided by carefully selecting the sensor material or appropriate sensor location. The other cause of the zero flow rate instability is the different thermal characteristics of the two sensors. In order to solve the above problem, in this study, a newly designed ultrasonic flowmeter was developed.
A glass tube was used as the measuring pipe of an ultrasonic flowmeter. Detected signals of ultrasonic pulses were processed by applying the zero-cross method and the cross-correlation method for comparison. The performance of the developed ultrasonic flowmeter was examined, in particular, the measurement resolution and the zero flow rate stability were carefully evaluated. Results of the flowmeter calibration were scattered within the range predicted from its measurement resolution. It shows that the flow rate more than 0.2mL/min can be measured by the developed flowmeter. This suggests to be able to measure a very low flow rate range useful for semiconductor, medical and chemical industries.抄録全体を表示PDF形式でダウンロード (1895K) -
大桑 政幸, 江部 和俊, 稲垣 大, 土居 俊一2000 年 36 巻 12 号 p. 1079-1085
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーWith the progress of Intelligent Transport Systems (ITS), driver's mental workload caused by the visual and auditory cognition has recently increased with the rapid spread of car navigation systems and other in-vehicle information devices. Under such circumstances, the accurate evaluation of the workload is important in order to develop in-vehicle information devices that do not menace the safety. In this paper, we present a basic idea to estimate the workload based on the driver's cognition, and show some experimental results for the estimation. The experimental data provide subjective and behavioral aspects of the workload, and clarify the quantification measure of the workload.抄録全体を表示PDF形式でダウンロード (3665K) -
宮本 浩幸, 大森 浩充, 佐野 昭2000 年 36 巻 12 号 p. 1086-1092
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we present a design method of robust plug-in adaptive controller (plug-in AC) for the purpose of rejection periodic disturbance in adaptive manner at selected frequencies. Our design method is based on external model principle, i.e. the controller can be added to an existed feedback control system without altering the original closed-loop configuration. And proposed design method can be developed by using linear control theory although the closed loop system includes the adaptive algorithm as nonlinear operator. Furthermore we consider the variation of the plant, therefore such adaptive controller design problem can be considered as linear robust controller design problem.抄録全体を表示PDF形式でダウンロード (1471K) -
Shun USHIDA, Toshitomo OHBA, Hidenori KIMURA, Yasuaki OISHI2000 年 36 巻 12 号 p. 1093-1100
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we show that the order of the closed-loop H∞ control systems using central controllers is determined by the sum of the numbers of stable invariant zeros of P12(s) and P21(s). This fact gives a sharp contrast with the LQG case where the order of the closed-loop system is always identical to that of the plant. Furthermore, using this result, we derive a new explicit form of the closed-loop transfer function of H∞ control systems based on the chain-scattering approach, which clarifies the fundamental structure of H∞ control systems.抄録全体を表示PDF形式でダウンロード (1960K) -
山下 裕, 西谷 紘一, 島 公脩2000 年 36 巻 12 号 p. 1101-1107
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we consider I/O-linearization problems for systems described by differential-algebraic equations using dynamic output feedback. First of all, a design method achieving I/O-linearization by a static feedback law is obtained. In the method, it is not necessary to solve the algebraic equations. Secondly, under linear-growth conditions, an observer, that stabilizes the whole system globally, is proposed. The observer can estimate two kinds of state variables simultaneously.抄録全体を表示PDF形式でダウンロード (1509K) -
松野 文俊, 茂木 一貴2000 年 36 巻 12 号 p. 1108-1116
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we derive a kinematic model and a control law for snake robots which have wheeled link mechanism. First, we define the redundancy controllable system and derive a condition and a control law for the snake robot that the system becomes redundancy controllable. We find that introduction of links without wheels and of shape controllable points in the snake robot's body makes the system redundancy controllable. Using redundancy, it becomes possible to accomplish both main objective of controlling the position and the posture of the snake robot head, and sub-objectives of the singular configuration avoidance, the obstacle avoidance and other tasks. Next, by introducing the concept of an unit for the system, we find the relation of the numbers of actuators, redundancy and shape controllable points, and propose the system design method of the snake robot. Finally, in order to demonstrate the validity of the proposed controller, simulations have be carried out. From simulation results we find that the crawling motion of the snake robot is natural.抄録全体を表示PDF形式でダウンロード (2000K) -
木下 浩二, 十河 拓也, 足立 紀彦2000 年 36 巻 12 号 p. 1117-1124
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーIterative learning control (ILC) obtains a desired input trajectory by repeating trials. Stable Inversion constructs a bounded input for desired output trajectory by using the non-causal inverses for non-minimum phase systems. In this paper, we investigate a relationship between the ILC using adjoint systems and the stable inversion. In order to clarify this relationship, we must extend the trial interval from the finite time interval [T0, Tf] to the infinite time interval (-∞, ∞). However, when ILC is applied to actual systems, it is impossible to carry out the trial on an infinite time interval. So, the trial interval is necessarily truncated to the finite interval. Hence, we investigate the effect of the truncation on tracking performance.抄録全体を表示PDF形式でダウンロード (1516K) -
田中 聡, 古田 勝久, 三平 満司2000 年 36 巻 12 号 p. 1125-1131
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with a mixed H∞/deadbeat suboptimal control problem for SISO continuous servo systems. By considering a deadbeat tracking, time domain performance may improve. Simultaneously, to improve frequency domain performance of the closed loop system, H∞ norm constraint is introduced. This problem gives the deadbeat tracking control with H∞ norm constraint and has been studied by Nobuyama et al. and Tsumura et al. individually. There is a structural difference between their designs. This paper proposes a new controller design of this problem. The design is more general since the structure of the controller covers those of the previous two designs.抄録全体を表示PDF形式でダウンロード (1820K) -
村上 龍大, 長谷川 清泰, 大橋 太郎, 柳原 好孝, 大日方 五郎, 中山 淳, 永作 清, 島田 洋一2000 年 36 巻 12 号 p. 1132-1137
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーDuring the last twenty years several different methods for presenting reaction forces to operators have been proposed for improving the performance of teleoperation. In most of these methods, some kind of a link mechanism with actuators is used to present the reaction forces. This results in a large and complicated system because the link mechanism should have the same number of active joints as the teleoperated robot. So to overcome this difficulty we propose a new method in which the functional electrical stimulation technique of muscles is used to present the reaction forces to the operator. Muscle forces can be generated artificially by functional electrical stimulation, which means that the operator can feel the generated forces as virtual reaction forces. In this paper the proposed man-machine interface is described, and the experimental results obtained using a teleoperated construction machine are given to illustrate the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (1684K) -
安部 原也, 伊藤 誠, 田中 健次2000 年 36 巻 12 号 p. 1138-1144
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper discusses the dynamics of operators' trust in automated systems. Previous research has shown that malfunctions in an automated system reduce trust of operators and that the trust depends upon the reliability of the automated system. This paper focuses on how the dynamics of trust depends on occurrence patterns of malfunctions as well as reliability of the system. Two experiments are conducted to clarify differences of effects of malfunctioning patterns on trust, where the total failure rate is constant. Firstly, we compare the dynamics of trust in which malfunctions occur at certain intervals with that in which malfunctions occur successively. Results of analyses on indicators, such as the elapsed time until decision and human intervention rate, show that successive malfunctions reduce trust, though malfunctions occurring at intervals have little effect on trust. The second experiment compares the dynamics of trust of operators who have poor experience with that of operators who have ripe experience after experienced successive malfunctions. The results show that trust of less experienced operators fluctuates and becomes stable gradually, and that richly experienced operators rapidly recover the trust that has declined due to the successive malfunctions. A regression model identifies the difference between them. Our results suggest that some occurrence patterns of malfunctions will reduce trust in an automated system even if it is highly reliable.抄録全体を表示PDF形式でダウンロード (1839K) -
菅原 一孔, 新地 俊幹, 岸野 誠, 小西 亮介2000 年 36 巻 12 号 p. 1145-1151
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーWord recognition techniques are investigated and proposed by several researchers. According to these techniques, relatively high recognition rates can be achieved in calm circumstances. But in noisy circumstances, it becomes difficult to accomplish high recognition rate. In this paper, we develop a real time lip reading system on a commercial personal computer to provide word recognition method in the very noisy circumstances. To realize a real time lip reading system, very fast extraction of lip shapes from face image sequence is indispensable. In the proposed system, the active contour model with vibration factor is introduced and is modified to solve this problem. Automatic extraction method of word speaking period and a novel lip shape recognition parameter are also proposed. In the proposed system, HMMs are used for recognition of lip shape movements. To confirm the effectiveness of proposed system, recognition experiments of 10 Japanese railroad station names are accomplished. The experimental results are included.抄録全体を表示PDF形式でダウンロード (2692K) -
小森谷 良明, 喜多 一, マルコン シャンドル, 西川 〓一2000 年 36 巻 12 号 p. 1152-1161
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーVertical transportation in buildings is mainly dealt with elevators. In high-rise buildings, such transportation is quite expensive because the elevators occupy large floor area and labor cost is consumed only for transportation. So as to improve the quality of vertical transportation service and to reduce the cost for it, the authors have proposed to separate transportation of human and material handling in high-rise buildings, and proposed an automatic material handling system consisting of autonomous guiding vehicle (AGV)s and elevators. In the present paper, control strategies of the automatic material handling system are discussed. Concept of autonomous decentralized systems is introduced, and a control strategy of multi-agent type is adopted. For cooperation among the agents such as the AGVs and the elevators, the contract net protocol (CNP) is adopted. Performance of the system is enhanced by neural networks for estimation of accurate completion time, and genetic algorithms for refinement of the bidding scheme taking various factors into consideration in CNP.抄録全体を表示PDF形式でダウンロード (2036K) -
ENDXの提案と評価木村 周平, 小野 功, 喜多 一, 小林 重信2000 年 36 巻 12 号 p. 1162-1171
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーUNDX (unimodal normal distribution crossover) proposed by Ono et al. shows an excellent performance on multiomodal or highly epistatic function optimization problems. But the performance of UNDX is not good on ill-scaled functions. Kita et al. proposed guidelines for designing crossover operators. UNDX-m and SPX are crossover operators based on Kita's guidelines. They show good performances on highly epistatic or ill-scaled functions. But UNDX cannot follow the guidelines. In this paper, we propose a new crossover operator named ENDX (extended normal distribution crossover). ENDX is an extension of UNDX so that ENDX can follow Kita's guidelines. Experimental result shows that ENDX shows a good performance on multimodal, highly epistatic and ill-scaled functions. Finally, we show whether these guidelines are proper for designing crossovers. For ENDX, the trade-off between the variety of children and the ratio of characteristics inherited from the parents to their children is necessary.抄録全体を表示PDF形式でダウンロード (3464K) -
保坂 良資2000 年 36 巻 12 号 p. 1172-1177
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーPHS is convenient mobile communication media in Japan. However, it is not available in house, since an output power of its terminal is approx. 10mW. In home use of PHS, home-antenna is used as a repeater to keep its communication condition. Its coverage is limited to near by the house, since its output power is less than 10mW. If a strolling aged with handy marker using PHS terminal exits from the house, he or she will exits from the coverage. PHS network watches each terminal. If the terminal exits from the coverage, the network detects it as a missing. If an alarm is transmitted by ordinary phone network as soon as from detection of missing, family of the aged can find the aged at near by the house. In this paper, the coverage of the home-antenna is measured. Two cases are measured by experiments. In the first case, PHS terminal is set to 2cm in height. In the second case, the terminal is set to 100cm in height. Former case simulates handy marker that is molded in a heel of shoes. Later case simulates the marker that is set to waist belt. In the result of the experiments, an ability of the detection system for strolling aged is indicated. The family can detect the aged by the alarm in the early stage of the strolling, since the coverage is less than 50m from the home in both case.抄録全体を表示PDF形式でダウンロード (3110K) -
河野 通夫, 中井 政樹, 横道 政裕2000 年 36 巻 12 号 p. 1178-1179
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper gives a computational method for solving a stochastic continuous algebraic Riccati equation, which arises in stochastic optimal control and in guaranteed cost control. Our algorithm is a generalized version of the Kleinman's one and to solve a sequence of standard Lyapunov equations. It is shown that the iterations are monotonically convergent. To show that our method is efficient, a numerical example is given.抄録全体を表示PDF形式でダウンロード (286K) -
H∞ノルムの観点から佐藤 昌之2000 年 36 巻 12 号 p. 1180-1182
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a design method of the filtered inverse system redefined by H∞ norm. The existence condition of this inverse system is formulated with LMIs. This method is applicable to the system with invariant zeros on the imaginary axis.抄録全体を表示PDF形式でダウンロード (482K) -
田沼 正也, 沖村 仁志, 芝田 健二, 川瀬 隆世2000 年 36 巻 12 号 p. 1183-1185
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーA multivariable control system of a super critical sliding pressure once-through boiler is proposed to facilitate the daily cycling of a large electric generating unit. The simulation results show that the proposed system is robust to the change of the boiler dynamics.抄録全体を表示PDF形式でダウンロード (456K) -
則次 俊郎, 筒井 慎吾2000 年 36 巻 12 号 p. 1186-1188
発行日: 2000/12/31
公開日: 2009/03/27
ジャーナル フリーFirst, geometrical figure such as a line is displayed to the human with a tactile display with a pneumatic silicon rubber sheet. In this case, there is some errors between the display information and the recognition information. This is not a desirable result. So, the tactile information display system using a neural network is developed to make recognition information coincide with the display information. Then, the validity of the system is verified.抄録全体を表示PDF形式でダウンロード (1002K)
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