巻号一覧
37 巻, 4 号
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大久保 茂2001 年 37 巻 4 号 p. 271-280
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーIn an array antenna which arranges a large number of radiating elements, desired directivities and gains are easily obtained. Designs, productions, inspections and maintenances are simplified by considering an array antenna as some aggregates of subarrays. And the reduction in cost can be carried out, too. Genetic Algorithm is an influential learning algorithm of the optimum solutions, and it is a possible technique to effectively retrieve the solution in difficult combinational problems with the restriction. In this paper, the array antenna is divided into some subarrays. The antenna element spacings are controlled using Genetic Algorithm in order to get the low sidelobes in the far field pattern. So, the array antenna becomes a space tapered array antenna. Then, the current distribution of the array antenna can be approximated to Taylor distribution by combining some subarrays having the same current distributions so that the simplification of the feed system becomes possible.抄録全体を表示PDF形式でダウンロード (1534K) -
河野 功, 杢野 正明, 鈴木 孝, 五日市 敦, 前田 裕昭, 内田 千秋2001 年 37 巻 4 号 p. 281-289
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーEngineering Test Satellite-VII (ETS-VII) successfully performed the first autonomous Rendezvous Docking (RVD) flight using Relative GPS navigation in the world. ETS-VII is a test satellite to perform in-orbit demonstration of the autonomous rendezvous docking technology. Relative GPS (RGPS) navigation which is a sort of differential GPS (DGPS) is used primarily in a relative approach phase (more than 500m from target satellite). In this paper, we will introduce the ETS-VII RGPS system design and results of ground tests before in-orbit experiment. Especially we will focus on the design of space-borne GPS receiver and RGPS navigation algorithm.抄録全体を表示PDF形式でダウンロード (4777K) -
市川 晃2001 年 37 巻 4 号 p. 290-298
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with statistical tolerancing for an omnidirectional vision system consisting of two curved mirrors, which was developed by the author and his colleagues. In tolerancing the vision system, it is first necessary to know the effects of manufacturing errors on changes in image quality. Therefore, linear equations are derived for analyzing these effects from the basic equations used in designing the vision system, on basis of the fact that the errors are small in general. Next, equations with tolerances are derived to determine the tolerances for mechanical design variables to achieve certain optical performance levels, using a statistical method, on the assumption that the errors are normally distributed within the tolerance band. Finally, these equations are applied to a system example. The application shows that this tolerancing method is useful in apportioning the tolerances so as to arrive at a given performance level by loosening tolerances which are too tight as much as possible and by tightening these which are loose, to a certain degree.抄録全体を表示PDF形式でダウンロード (1672K) -
田中 正吾, 林 寛人, 松原 篤2001 年 37 巻 4 号 p. 299-306
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーIn a high-aged society, the rate of high-aged drivers is rapidly rising. In accordance with it, traffic accidents by the high-aged drivers are increasing year by year. Main causes of the accidents are said to be functional obstruction of respiration and heartbeat and also the rise of blood pressure.
This paper proposes an unconstrained and noninvasive measurement for respiration and heartbeat for high-aged drivers, which makes use of a wire-type strain gauge installed in (or on) the seat belt of the cars. With the system, not only the average respiration and heartbeat periods but also the instantaneous periods can be measured accurately and efficiently.抄録全体を表示PDF形式でダウンロード (1435K) -
初期状態とL2外乱を考慮した解析と設計木山 健, 岩崎 徹也2001 年 37 巻 4 号 p. 307-315
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes analysis and synthesis method for the set of initial state vectors of saturating control systems such that any closed-loop state trajectory is bounded for all time and L2 norm of the performance signal is less than a prescribed level. We treat linear time-invariant systems with dynamic output feedback controllers subject to known bounds on the magnitudes of the control inputs. We assume that the initial state vectors belong to the bounded set and disturbance inputs belong to a set of signals having bounded L2 norm. Two subsets of such achievable set of initial state vectors are characterized. One is derived from the linear analysis that considers the behavior of the states in the linear (non-saturated) region only, while the other is based on the nonlinear analysis using the multi-loop circle criterion. We can show that the two sets are exactly the same in the synthesis case. Thus we conclude that the circle criterion does not help, within our framework, to increase the size of the initial state space region in saturating L2 performance synthesis when compared with that resulting from the linear analysis.抄録全体を表示PDF形式でダウンロード (2030K) -
向谷 博明, 新田 智昭, 土橋 宜典2001 年 37 巻 4 号 p. 316-324
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we study the guaranteed cost control for singularly perturbed systems with uncertainties. This is an extension of the work by Mukaidani et al. in the sense that the state and input matrices are allowed to be uncertain. A new method for decision of construction parameter in a controller is presented. We propose the ε-independent controller for the guaranteed cost control by solving the reduced-order algebraic Riccati equations and the Lyapunov equations only. Therefore, it is easy to construct the stabilizing controller for sufficient small because we need not solve the full-order algebraic Riccati equation or separate the slow and fast subsystems based on the existing method. On the other hand, when the parameter ε is not too small, we apply the exact decomposition technique to this problem. We newly show that the exact decomposition technique has property of quadratic convergence and that there exists a unique solution of the Riccati equation in the subset sufficiently close to the initial guess. A numerical example is given to show the potential of the proposed technique.抄録全体を表示PDF形式でダウンロード (2104K) -
浜本 研一, 杉江 俊治2001 年 37 巻 4 号 p. 325-330
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new type of iterative learning control algorithm for manipulators, which seeks the desired input in an appropriate finite dimensional input subspace. The convergence condition of the learning law is derived, and several advantages of the proposed method are pointed out. The effectiveness of the proposal method is demonstrated by numerical examples.抄録全体を表示PDF形式でダウンロード (1174K) -
Nobutaka WADA, Masami SAEKI2001 年 37 巻 4 号 p. 331-337
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a design method of a static anti-windup compensator for systems with input magnitude and rate saturations. First, we present an anti-windup controller for systems with input magnitude and rate saturations. Then, we show that the design problem of the anti-windup compensator that guarantees the local stability of the closed-loop system against saturation nonlinearities and optimizes the robust control performance during the saturation period can be reduced to a linear matrix inequality (LMI) problem.抄録全体を表示PDF形式でダウンロード (1647K) -
目標軌道と教示信号の分離生成中村 政俊, 岩永 卓也, 後藤 聡, 久良 修郭2001 年 37 巻 4 号 p. 338-345
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーHigh speed and high accuracy control performance is required for industrial robot arms. The research is aimed at high accuracy control of industrial articulated robot arms with trajectory allowance under torque and speed constraint. The proposed method is based on nonlinear separation, separating the nonlinear static parts and linear dynamic part. Controller was constructed for separation of trajectory generation and taught data generation and it can be achieved perfect performance under the speed and torque constraints of the hardware of the robot arm. The effectiveness of the proposed method was assured by experimental results of an actual articulated robot arm.抄録全体を表示PDF形式でダウンロード (1850K) -
登尾 啓史, 吉岡 孝, シュミット グンター2001 年 37 巻 4 号 p. 346-354
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーIn the last decade, many sensor-based navigation algorithms have been proposed, which keep convergence of a mobile robot to its destination in a 2-D uncertain environment. From the convergence viewpoint, all the previous algorithms are categorized into three types, i.e., metric, topologic, and geometric algorithms. A mobile robot supervised by each algorithm frequently joins a limit cycle (deadlock) if the robot generates position, orientation, and/or sensor errors. Especially, geometric and topologic algorithms are theoretically damaged by position and sensor errors, respectively, even though they are small enough in a 2-D unknown environment. Therefore, we are obliged to rely upon the metric algorithm if all errors exist. In case that a mobile robot is ready for position, orientation, and sensor errors, we propose a stable metric sensor-based navigation algorithm for overcoming all the errors. The stable algorithm always leads a robot near its destination in a sparse environment whose minimum distance of obstacles is sufficiently larger than the sum of a radius of a mobile robot and position ingredients of the errors. Finally, we ensure convergence of a robot in destination's neighborhood in the proposed algorithm by theoretical proof and experimental result.抄録全体を表示PDF形式でダウンロード (7373K) -
家電流通システムへの適用貝原 俊也, 大石 哲嗣2001 年 37 巻 4 号 p. 355-361
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーContract process in our economic society constitutes a well-understood class of mechanisms that provide effective decentralisation of decision making with minimal communication overhead. In multi-agent programming approach to distributed problem solving, the resource allocation for a set of computational agents is derived by computing the dynamism of contract process of an artificial economy. In this paper a new concept based on multi-agent paradigm, called contract-net protocol, is proposed to facilitate appropriate resource allocations in distribution systems. Several utilities, such as resource price, trading lot size and due date, are implemented into each agent. Generally agent utility is categorised in human factor which is difficult to handle as a quantitative parameter. In this paper, two types of utility functions, regular type and non-regular type, are introduced into due date utility on our agents as a basic study to establish a precise model of the complicated distribution system. Individual contract process amongst agents emerges global solutions in the system. The proposed concept enables automated negotiation in distribution system, and that concludes the contract-net based approach with several utilities plays an important role in the coming agile era.抄録全体を表示PDF形式でダウンロード (1939K) -
松崎 元昭, 川合 隆光, 安藤 秀樹, 島田 俊夫2001 年 37 巻 4 号 p. 362-371
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーProgressive evolution is one of the promising methods to improve convergency of genetic algorithms (GAs). It can find the solution with fewer iterations than conventional GAs by giving step-by-step subgoals that can be easily reached, not by hard task of searching directly for a solution in a large space. Conventional progressive evolution methods, however, have a serious problem that each subgoal must be set manually. Furthermore, they require extensive knowledge about a given problem such as the landscape of the search space, because of the obligatory manually set subgoals. For these problems, we previously proposed a progressive evolution method that can set subgoals autonomously. Yet, it still requires knowledge about problems such as the problem solving level. In this paper, we propose a new progressive evolution method that can set subgoals autonomously with little knowledge of the problem. In our method, we define the next subgoal as the common properties in an elite population of the current generation. Setting subgoals only requires the properties of individual phenotypes. Thus, little knowledge about the problem is required. We applied our method to the 6-multiplexor problem and the action control circuit for artificial ants to evaluate its searching ability. The experimental result confirms that our method performs progressive evolution with good convergency by appropriately setting subgoals.抄録全体を表示PDF形式でダウンロード (2665K) -
田中 一男, 大竹 博2001 年 37 巻 4 号 p. 372-378
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a fuzzy modeling technique utilizing the so-called sector nonlinearity concept. To fully take advantage of the sector nonlinearity concept, we modify the Takagi-Sugeno fuzzy model and develop an algorithm to identify model parameters. The algorithm consists of two parts. In the first part, a sector candidate that satisfies a compatibility condition is found from input-output data of an original nonlinear system. The second part determines membership functions in premise parts so as to minimize identification error between an original nonlinear system and the fuzzy model. Identification examples illustrate the utility of our approach.抄録全体を表示PDF形式でダウンロード (1509K) -
櫻井 弘久2001 年 37 巻 4 号 p. 379-381
発行日: 2001/04/30
公開日: 2009/03/27
ジャーナル フリーSample dependency of the triple point temperatures of equilibrium hydrogen is experimentally studied using three different sources. The maximum difference of the triple point temperatures among these samples is about 0.38mK, which is not inconsistent with the isotopic uncertainty of natural hydrogen. The triple point temperature also depends on their impurity levels estimated by a thermal analysis; the purer sample shows the lower triple point temperature.抄録全体を表示PDF形式でダウンロード (1073K)
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