巻号一覧
37 巻, 8 号
選択された号の論文の15件中1～15を表示しています
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小澤 尚久, 青竹 雄介, 下田 宏, 福島 省吾, 吉川 榮和2001 年 37 巻 8 号 p. 687-696
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーA new method of detecting pupil center position, eye gaze point and eye blinking is proposed for the author's developed Eye-Sensing Head-Mounted Display (ES-HMD), which is able to not only provide the user with 3-d virtual image but also monitor the user's both eyes by using infra-red CCD cameras. A real-time eye gaze point and eye blink detection system called GAB-DES is developed based on the proposed method.
Laboratory experiments for GAB-DES is conducted to evaluate the proposed methods. From the results of the experiment, it is confirmed that the proposed method of detecting pupil center position and eye gaze point is more robust and accurate than by the previous method. Concerning the eye blink detection, the rate of detecting involuntary eye blink is 93.1% while the rate of detecting intentional eye close is 100%.抄録全体を表示PDF形式でダウンロード (4928K) -
小川 毅彦, 金田 一, 森 きよみ, 坂田 勝2001 年 37 巻 8 号 p. 697-703
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーA method is proposed to estimate the mechanical properties of materials from the sound produced by the impact of a ceramic or steel sphere on a rectangular bar specimen which is suspended by thin wires or ceramic threads. In this method, we first observe the waveform of the sound produced by the impact. To measure the elastic moduli from the impact sound, we have to estimate the natural frequencies of vibration of the specimen from the obtained time-series of sound waveform. By an impact, the rectangular bar specimen produces the flexural vibration of the horizontal and vertical direction as well as the torsional vibration. For accurate estimation, it is necessary to identify vibration modes as many as possible. In this paper, we employ the frequency analysis and time-frequency analysis of the impact sound. Also, we discuss the information of the impact sound obtained by time-frequency analysis using the short time Fourier transform.抄録全体を表示PDF形式でダウンロード (2522K) -
保坂 良資2001 年 37 巻 8 号 p. 704-712
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーA new strolling control method for aged who are suffering from senile dementia and living in closed area of welfare institution is developed. It is using LF band RFID (Radio Frequency Identification) to control a partition door. Battery-less operation is available in the RFID marker. It is difficult to be carried the marker by the aged. However, it is easy to be carried it by the staff like as nurse. In this study, the marker is set on a nurse cap and so on. If the nurse with marker approach to the door, RFID sensor detects it. If the door is controlled by the detection information, the nurse is able to enter to the area and exit from the area. But, the aged without marker can not pass the door, since the RFID sensor can not detects the marker. By this method, strolling control of the aged realizes relatively. However, an identification distance of RFID is short. In this study, RFID sensor antenna and marker antennas are set to suitable condition. In the first step, two types of sensor antenna are produced. Those sizes are 1000mm by 1000mm and 1050mm by 150mm. Former is set to ceiling. Later is set to door top. In the second step, new type marker antenna is produced. Its size is 60mm in diameter. In experimental results, a combination of ceiling antenna and 60mm marker indicate over 880mm identification distance from the door. A combination of door top antenna and 60mm marker also indicates over 450mm identification distance form the door. It is enough distance to control the partition door. It was also evidenced by field experiment.抄録全体を表示PDF形式でダウンロード (4913K) -
中尾 晨一, 比嘉 徹, 高本 正樹2001 年 37 巻 8 号 p. 713-719
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーFor the uncertainty analysis of the oil sealed wet gas meter, it was connected in series with the transfer standard using sonic nozzles and its performance was investigated experimentally on the flow rate range from 0.5g/min to 12g/min. The uncertainty analysis based on the experimental results showed that the extended uncertainty (coverage factor k=2) is from 0.4% to 0.6% on the above flow rate range, and some uncertainty components, the dead liquid level adjustment and the setting of the gas meter, are strongly affected by the operators and therefore the trained operator can reduce the extended uncertainty by 0.3%. The present experimental results also showed that the ambient condition, the atmospheric pressure and the temperature, is an important parameter for the accurate flow measurement that should be correctly evaluated, especially on lower flow rate range, but the influences of the ambient condition can be neglected when the flow rate is discussed on mass flow rate, not volume flow rate.抄録全体を表示PDF形式でダウンロード (1600K) -
田中 正吾2001 年 37 巻 8 号 p. 720-726
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーIn the field of measurement, we often encounter the need to measure a pipe length indirectly. We have thus developed an on-line pipe length measurement with one acoustic sensor from the viewpoints of cost and its ease to be used in various applications. The system made use of the stationary wave generated spontaneously or by hitting the pipes. The system realized a fast and highly accurate measurement by modeling the stationary wave as the state variable of a linear dynamic system and applying Kalman filters and maximum likelihood method.
The paper extends the system to that which can measure the temperature in the pipe together with the pipe length in order to cope with the situation where the temperature changes so rapidly as not to allow any conventional thermometer to track the change. The new system makes use of two acoustic sensors to achieve the objective.抄録全体を表示PDF形式でダウンロード (903K) -
相原 伸一2001 年 37 巻 8 号 p. 727-732
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーWe consider the estimation problem of the stochastic volatility in the Hull-White framework. Considering the stock price as the observation, we pose the estimation problem for the stochastic volatility. We first show that it is not possible to formulate this as a usual filtering problem and an alternative formulation is studied. We then derive the nonlinear filtering equation suitable for real observation data and propose a numerical technique to solve the robust filtering equation.抄録全体を表示PDF形式でダウンロード (1256K) -
平石 邦彦, 盧 吉錫2001 年 37 巻 8 号 p. 733-740
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーVarious concepts of stability has been proposed for discrete event systems (DES's). In this paper, a new concept of stability, called Lf-stability, is proposed as an extension of the language stability proposed by Kumar et al. Intuitively, a DES G is defined to be Lf-stable w.r.t. a given prefix-closed language K if the generated language L (G) of the DES exists around K. We show a necessary and sufficient condition for a DES to be Lf-stable and to be Lf-stabilizable. We also provide an on-line algorithm for computing an optimal stabilizing supervisor in the sense of minimally restrictive.抄録全体を表示PDF形式でダウンロード (1485K) -
藤本 健治, 桜間 一徳, 杉江 俊治2001 年 37 巻 8 号 p. 741-747
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーThis paper is devoted to trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. A general framework of tracking control of those systems utilizing the passivity property is proposed. Firstly, how to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system is shown. Secondly, a practical procedure to construct tracking controllers of port-controlled Hamiltonian systems including nonholonomic systems are derived. Finally, a simple example of tracking control of a nonholonomic system demonstrates the effectiveness of the proposed method. This method is a natural extension of the conventional passivity based control and is expected to derive robustly stable control systems.抄録全体を表示PDF形式でダウンロード (2039K) -
佐伯 正美, 小林 泰山, 井村 順一, 木村 純壮2001 年 37 巻 8 号 p. 748-753
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーBackward steering of a tractor-trailer vehicle needs more special techniques than that of a non-trailer vehicle. In this paper, we propose a design method of a man-machine system which enables a driver to steer a tractor-trailer vehicle backward as if he steers a non-trailer vehicle backward. The system only improves the dynamics by nonlinear feedback control, and the backward driving is left to the driver. Since the position of the vehicle is not used for the feedback, the system can be easily implemented for the car driven by wire.抄録全体を表示PDF形式でダウンロード (1395K) -
黒木 秀一, 西田 健, 信友 宏樹, 坂本 貴子, 三股 充, 伊藤 勝美2001 年 37 巻 8 号 p. 754-762
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーThe RCA cleaning method is the industry standard way to clean silicon wafers, where the temperature control of the cleaning solutions is important for a stable cleaning performance but it involves difficulties such that many of the, cleaning solutions show nonlinear and time-varying exothermic chemical reactions, the system has long and fluctuating time lags owing that the cleaning system has special equipments for dealing with corrosive cleaning solutions, and so on. Here, we first present a thermal model of the system, where by means of the DSC (differential scanning calorimetry) method we analyze exothermic chemical reactions of the cleaning solutions such as SPM (sulfuric acid/hydrogen peroxide mixture), APM (ammonia/hydrogen peroxide mixture) and HPM (hydrochloric acid/hydrogen peroxide mixture). To control the temperature of the solutions, we use adaptive predictive controller, where the adaptive method is used to cope with the nonlinear and time-varying exothermic reactions, and the predictive method is for overcoming the problems on the time lags. Further, the objective trajectory is designed for limiting the overshoot and eliminating the steady state error, and a new sampling method called virtual sampling method is introduced for reducing the required memory size and the calculation time. We show the usefulness of the present thermal model and verify the performance of the present controller through computer simulation as well as the control of an actual system.抄録全体を表示PDF形式でダウンロード (1805K) -
鈴木 昭, 成清 辰生, Hoang DUONG TUAN, 原 進2001 年 37 巻 8 号 p. 763-769
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, trajectory tracking control problems for multi-input non-holonomic dynamic systems with uncertainty are addressed. A reduced order dynamic description of such systems and the converted error system are developed. Based on the theory of stability, adaptive control algorithm is derived, guaranteeing the convergence of tracking errors. The usefullness of the proposed approach is illustrated through simulation with a tractor-trailer system called fire truck with a driving input and two steering inputs.抄録全体を表示PDF形式でダウンロード (769K) -
辻 敏夫, 野口 裕史, 金子 真2001 年 37 巻 8 号 p. 770-776
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーIt is widely recognized that dynamic characteristics of human upper extremities can be modeled using the mechanical impedance. Although many studies have been reported on human impedance characteristics in static tasks maintaining an arm posture, there is no such a report for multi-joint movements during dynamic tasks including interactions between the human arm and environments.
In this paper, in order to analyze the human hand impedance in dynamic tasks, a concept of a task readiness impedance is introduced. The human arm impedance should be regulated before motion according to a task requirement for some classes of tasks. For a catching-a-ball task, for example, the hand impedance must be adjusted before the hand contacts with a ball. In this paper, the human impedance in a task readiness phase is called the task readiness impedance, and an estimation method using a virtual reality technique is proposed. Then, characteristics of the human task readiness impedance in a virtual catching-a-ball task are analyzed. Also, a virtual trajectory is roughly estimated in order to simulate human movements using the task readiness impedance.抄録全体を表示PDF形式でダウンロード (2230K) -
高橋 宏, 藤本 和巳, 下村 倫子, 小泉 智史, 廣田 薫2001 年 37 巻 8 号 p. 777-785
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーA sensor fusion algorithm considering possibility of obstacle existence for obstacle detection is proposed. In the sensor fusion of both image data and distance data observed by a laser range finder, vagueness of data, which come from the unknown disturbance, is paid a lot of attention. Using co-relation factor between the distance data without any object and the observed distance data, possibility index of obstacle existence is calculated. Similarity of intensity distribution of image data in each horizontal direction compensates the possibility index of existence. Objects with possibility index of existence are detected. For the pedestrians and vehicles, experimental detections are carried out in real ground using laser range finder. The results conclude the algorithm gives the breakthrough to solve the dilemma problem of under-detection and over-detection.抄録全体を表示PDF形式でダウンロード (6959K) -
川上 浩司, 野村 大輔, 須藤 秀紹, 小西 忠孝, 片井 修2001 年 37 巻 8 号 p. 786-794
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーA causal explanation of physical systems, what we call PCN, is proposed based on the discussion of the contrast between causal and teleological viewpoints. PCN (physical causal network) is a kind of qualitative explanation of physical systems. Its nodes denote labels of physical quantities and its arcs denote physical causalities between nodes. PCNs are generated in a bottom up manner from fragmentary and general pieces of knowledge on physical causalities. The resultant PCN involves not only the essential phenomena for a certain teleological viewpoint but also unexpected (unintentional) phenomena which will be beneficial in the case where PCNs are utilized to synthesis processes. After discussing the temporal and logical aspects of causal relations, we propose a form for representing fragmentary pieces of knowledge on causal relations and a method for generating PCN based on CMS (Clause Management System).抄録全体を表示PDF形式でダウンロード (2233K) -
池田 富士雄, 川田 誠一, 小口 俊樹2001 年 37 巻 8 号 p. 795-797
発行日: 2001/08/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents the numerical method for dynamic problems of linear fractional differential. equations which are described in terms of fractional order derivatives of state variables. Matignon et al. derived an analytical solution of fractional differential equations described by a state space form. There is not efficient numerical algorithm for this analytical solution. The proposed algorithm in this paper includes the process which reduce calculating times together with infinite series truncation of Mittag-Leffler function and a numerical integration. The effectiveness of the presented method is verified on a numerical example comparing with the conventional methods.抄録全体を表示PDF形式でダウンロード (449K)
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