巻号一覧
36 巻, 6 号
選択された号の論文の13件中1～13を表示しています
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山田 光2000 年 36 巻 6 号 p. 463-466
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーA new method to establish the high differential linearity on the Sucessive Approximation Analog to Digital Converter (SAADC) is proposed. The SAADC is a popular ADC but has poor differential linearity (large channel width irregularity) in comparison with the other type of ADC. Because of this reason, the SAADC is not usable for the precise measurement of the probability density function. E. Gatti and others established a way of smoothing the channel width of the SAADC by moving the signal base. This method is called the Sliding Scale Method.
In this paper, a new method to obtain the high differential linearity is proposed. On this proposed method, the SAADC is fused with the single channel method.
The feasibility of this newly proposed method is confirmed through some experiments by the use of test signals.抄録全体を表示PDF形式でダウンロード (1188K) -
平田 克己, 佐々木 公男2000 年 36 巻 6 号 p. 467-472
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーFor the purpose of developing refined devices for environmental recognition in robotics, a practical method for 3D-localization of a stationary random acoustical source in near-field is proposed by introducing multiple fixed point-detectors. Though 3 points detection is sufficient for 3D-localization, it is essentially lacking in range resolution in the direction perpendicular to a plane determined by 3 independent detecting points. By setting one more detector out of the plane, and using three pairs of estimated auto- and cross-spectra of signals detected simultaneously at 4 fixed point-detectors, information on three sets of differences of propagation distances and the amplitude attenuation of wave propagation are derived in such a manner that the derivation is independent of shape of power spectra of detected random signals so as to be applicable to any stationary random acoustical source, and additive corrupting noises at detectors are canceled out as completely as possible. Then, with an aid of geometric relations of signal detection, the source position in 3D-space is estimated in the basis of the extracted information. After the principle of the proposed 3D-localization and the required conditions being made clear, the effectiveness of the proposed method as well as that by 3 points detection reported previously are experimentally evaluated under practical conditions in an acoustically treated room. The results of the experiments illustrate the effectiveness as well as fundamental characteristics of the proposed methods for 3D-localization.抄録全体を表示PDF形式でダウンロード (2297K) -
山田 陽滋, 森田 裕之, 梅谷 陽二2000 年 36 巻 6 号 p. 473-480
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with a slip sensor that has ridges on the sensor surface and is capable of isolating a slip phase from other contact states between an object and the sensor surface, which has not been verified by using conventional slip sensors. The proposed structure of the sensor enables it to detect high-frequency slip vibration with vertically molded strip-shaped ridges of the sensor, in each of which a piece of PVDF film is fixed. We were convinced through wavelet analysis that the vibration corresponded to a free vibration mode of the strip-shaped ridges and that the vibration did not depend upon the surface condition. We showed that the slip sensor generated a slip signal which was characterized by distinction of only slip phases from other contact, release, or roll phases. Especially, the last two phases could be discriminated by the characteristic waveform of release-phase overshoot. The sensor output signal was also shown to be very different from the noise signal which originated in the vibration caused by driving a motor of the experimental setup. Finally, we demonstrated that a two-fingered planar robot hand successfully arrested a slipped-off notebook using the distinctive slip information acquired from the sensor after the necessity of detecting not an incipient but a total slip phase.抄録全体を表示PDF形式でダウンロード (4524K) -
章 忠, 川畑 洋昭2000 年 36 巻 6 号 p. 481-488
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーWavelet transform, which is a well-known and a remarkable way of the unsteady signal processing, is considered to surpass the Fourier analysis and is applied in various fields. In this study, we propose a complex-type wavelet, RI-Spline wavelet and examine its characteristics using a model signal. For the application of RI-Spline wavelet we use it to analize unsteady jet flow. The main results are as following: 1) The RI-Spline wavelet satisfies admissibility condition and bi-orthogoal condition. So it can use to continuous and discrete wavelet transforms 2) The RI-Spline wavelet is very useful for the unsteady signal analysis.抄録全体を表示PDF形式でダウンロード (2282K) -
三好 孝典, 寺嶋 一彦2000 年 36 巻 6 号 p. 489-496
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, the analytical control input represented by finite-power series of time is algebraically solved such that make the boundary condition satisfied at the initial time and the final time for the controllable linear time-invariant system with single input. The minimal order of proposed control input is 2nλ+n0-1, where nλ is the number of non-zero eigenvalues of the system and n0 is the number of zero eigenvalues of the system. Further, even if the control input represented by finite-power series of time is given in terms of any order N(N>2nλ+n0-1), analytical solution can be solved to satisfy the boundary condition by the arbitrary choice of the number 2nλ+n0 among the order N. And it is demonstrated that the minimal order control input without generating endpoint residual vibrations for the crane system is obtained by the proposed theorem. Finally, the usefulness of the proposed method is demonstrated by laboratory crane experiments.抄録全体を表示PDF形式でダウンロード (1948K) -
三好 孝典, 真木 義郎, 寺嶋 一彦, 森田 正則2000 年 36 巻 6 号 p. 497-504
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a synchronous control method for multiple-axis systems such as synchronization and cooperation of all axes. The proposed control system is constructed in terms of time-varying controller obtained for the time-varying performance index, in which the position synchronization can be realized for the circular path and/or the straight line path. The proposed control method is applied to the X-Y table which is a two-axis system. In the experiments, the proposed control method improves the precision of the path and reduces the fluctuation of the path by disturbance, in comparison with the conventional independent control for each axis.抄録全体を表示PDF形式でダウンロード (2344K) -
田中 一男, 堀 強2000 年 36 巻 6 号 p. 505-511
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents an iterative LMI approach to fuzzy modeling and controller design for nonlinear systems with unknown parameters. The main feature is to achieve iteratively and effectively the fuzzy modeling and controller design. Three LMI conditions to identify the parameters of Takagi-Sugeno fuzzy models are derived. The parameters are identified by solving a minimization problem utilizing the LMIs. More importantly, we design a robust fuzzy controller that compensates the identification error occurred in the fuzzy modeling part. A design example shows the utility of the iterative approach to the fuzzy modeling and controller design.抄録全体を表示PDF形式でダウンロード (1527K) -
藤本 英雄, 山川 聡子, 舟橋 康行2000 年 36 巻 6 号 p. 512-518
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーIt is well-known that the non-linear systems transformed into a chained form can not be stabilized by a time-invariant static state feedback control. A lot of approach were proposed to avoid this problem. One of them makes it possible to design a nonlinear control law based on linear control theory by using time-state control form. However, this method needs some input switches and the switching law was not discussed explicitly.
In this paper, at the first, the switching controlled system based on time-state control form is compared with a linear system. We clarify the difference between them and show that influence of switching control is characterized with a certain matrix. Secondly, we propose a periodic switching control law. The necessary and sufficient conditions of stability of the system are shown. At last, we apply the proposed control law to two-wheeled car system and discuss switching period.抄録全体を表示PDF形式でダウンロード (1996K) -
志水 清孝, 傳田 英治2000 年 36 巻 6 号 p. 519-526
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with derivation and tuning of PID control law. In the first half, output tracking for general nonlinear system is investigated by means of direct gradient descent control (DGDC), in which control input is manipulated directly so as to decrease a performance function based on gradients of the performance function and the steepest descent method. In the second half, PID control law for linear systems is derived by using the output tracking DGDC, and at the same time best tuning of PID controller parameters is established. The effectiveness of the proposed method was confirmed by computer simulations, where very good performance was observed with various examples.抄録全体を表示PDF形式でダウンロード (1656K) -
安達 和孝, 若原 龍雄, 越智 徳昌, 金井 喜美雄2000 年 36 巻 6 号 p. 527-533
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes modeling of a gear ratio servo system of a belt-drive continuously variable transmission (CVT) and design of controllers for the system. It is found through experiments that the servo dynamics is modeled as a first-order system with time delay. Its time constant is given as a function of gear ratio, shift direction, and line pressure of the hydraulic system. The steady-state gain varies depending on the distance between the primary and secondary pulleys or stepper motor position. The steady-state gain variation with the stepper motor position is compensated for by inverse mapping from gear ratio to stepper motor position. Thereby the system can be modeled as a first-order-delay system with a constant steady-state gain. The control system consists of a first-order feedforward controller with a scheduled parameter and a proportional-plus-integral-type feedback controller. The feedforward controller gives desired dynamic characteristics, while compensating for time constant variation of the plant by scheduling the control parameter. The feedback controller guarantees stability of the closed-loop system in the presence of the time-constant uncertainty. The feedback controller also provides the system with robustness against other uncertainties such as time delay, parameter variation due to aging, errors between scheduled and real parameters, etc. Robust performance of the control system is verified through μ-analysis and the control effectiveness is demonstrated through computer simulation and driving tests.抄録全体を表示PDF形式でダウンロード (2599K) -
板橋 界児, 平名 計在, 鈴木 達也, 大熊 繁, 藤原 文治2000 年 36 巻 6 号 p. 534-541
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーA novel assembly skill controller based on a framework of a hybrid system is proposed in this paper. In the proposed control architecture, a concept of a ‘Time/Event driven’ is introduced, which means that a state transition under a supervision of the hybrid system is caused by both a measured event and a time. Secondly, a bridge between this framework and the conventional impedance controller is established. The resulting controller switches the impedance parameters according to a state transition of a task. By introducing the concept of ‘Time/Event driven’, high performance is attained in a sense that the replayed task agrees well with the one demonstrated by a human worker. Also, some properties about robustness against the deviation of the geometric parameter of the environment and/or an unexpected disturbance forces can be found. Effectiveness of the proposed method is verified through realistic experiments.抄録全体を表示PDF形式でダウンロード (5792K) -
小嵜 貴弘, 佐野 学2000 年 36 巻 6 号 p. 542-544
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new model of friction forces for simulation of pneumatic cylinders. The usefulness of the proposed model is evaluated by the comparison of numerical and measured results from the viewpoint of approximation accuracy and the prediction capability of stick-slip occurrence at low speeds.抄録全体を表示PDF形式でダウンロード (538K) -
川崎 直哉, 安久 正紘, 山中 一雄2000 年 36 巻 6 号 p. 545-547
発行日: 2000/06/30
公開日: 2009/03/27
ジャーナル フリーAn orthogonal matrix S∈Rn×n, which satisfies the relation STS=SST=In, has some interesting properties. For example, the rows and columns are orthogonal each other, and all eigenvalues exist on the unit circle with center at the origin in the complex plane. In addition, it is well known that a symmetric matrix is transformed to a diagonal one by the linear transformation with orthogonal matrices. In this paper, we discuss the existence of a matrix M which makes MTAM an orthogonal matrix, where A∈Rn×n is an arbitrary real matrix. Consequently, the existence of such a matrix M is not necessarily assured if M is restricted to a square one. However, we can find such a matrix M that makes MTAM an orthogonal one if we lift the above restriction on M.抄録全体を表示PDF形式でダウンロード (447K)
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