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Volume 38, Issue 6
Displaying 1-10 of 10 articles from this issue
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Chikara MIYATA2002 Volume 38 Issue 6 Pages 517-520
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe author has studied the fault diagnosis of a logical circuit (board) by use of M-sequence correlation.
In this paper, the author proposes a new method for the diagnosis and repair of a faulty logic board by use of M-sequence correlation with Neural Network (NN). Let us denote the position in the circuit fault may occur as the fault candidates, and assume that the faults occur only there. In this method, the fault position is estimated as the fault candidates which has more than 50% fault occurrence ratio. This method by use of NN has the advantage that the teaching data can be generated from only a part of faulty logic circuit, which means teaching data can be generated without question even if the number of fault candidates increases. Simulations were carried out for this fault repairing method and shown as follows: 1. It is possible to repair arbitrary faulty logic boards with high probability by use of M-sequence correlation and NN even if the teaching data of NN was calculated from only a part of faulty logic boards. 2. This method has great ability in repair, even if the estimation error of fault probabilities is not small due to a few learning iterations of NN.
Therefore this fault diagnosis method can be very useful for actual faulty logic boards.View full abstractDownload PDF (1484K) -
Hayao KOBAYASHI, Shin-ichi NAKAO, Masaki TAKAMOTO, Kin-ichi KOMIYA2002 Volume 38 Issue 6 Pages 521-527
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe measuring accuracy of wet gas meters is generally high. However, they have the disadvantage of long measuring time due to significant rotational fluctuations of the measuring drum. Fluctuation was caused by the four-chamber configuration. Hence, a measuring drum consisting of five chambers was developed on the basis of theoretical analysis with the aid of a 3D-CAD system. The drum of five-chamber configuration was proved to have much smaller fluctuations in rotational speed, which enabled the gas meter to be used as a standard for measuring a low flow rate ranging from 1 to 300L/h. This paper presents analytical results about volumetric flow and rotational torque of the measuring drum.View full abstractDownload PDF (1893K) -
Taek-Kun NAM, Tsutomu MITA2002 Volume 38 Issue 6 Pages 528-536
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we proposed feedback controller for the stabilization of nonholonomic systems in high order chained form by integrator backstepping method. The proposed controller yields exponential convergence of the states to the origin. The control strategy is applied to the posture control of an underactuated manipulator to verify the effectiveness of the control algorithm.View full abstractDownload PDF (2063K) -
Mitsugu KAYANO, Kouji TSUMURA2002 Volume 38 Issue 6 Pages 537-542
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we analyse and discuss the efficiency of an expanded likelihood and a criterion for model estimation and selection problem in consideration of controller design by computer simulations. In the model estimation and selection, the uncertainty of system is transformed to that of control performance by a controller, and the models are estimated on the transformed space. According to the proposed method, the models are estimated by expanded maximum likelihood method on the transformed space, and the class of models is selected by the proposed criterion. The simulation results show that the criterion evaluates both the uncertainty of control performance and the discrepancies between the true system and estimated models. We also show that a designer of the controller can adjust weights of the two above-mentioned properties by selecting proper weights on the likelihood.View full abstractDownload PDF (1769K) -
Ryosuke MORI, Fumio MIYAZAKI2002 Volume 38 Issue 6 Pages 543-548
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we examine the human ball catching strategy called LOT (short for “a linear optical trajectory”) that had been proposed in the field of human behavior through an autonomous mobile robot. LOT is a model of the motion strategy that explains the rationality of the running path of outfielder in catching the balls. However, this model does not provide concrete shape about how fielders decide the running direction and velocity according to the ever-changing position of balls. We consider the ball catching task by an autonomous mobile robot and derive a visual feedback control method based on LOT. We also demonstrate that the proposed method enables the mobile robot to catch the balls that fly in three-dimensional space only by using the monocular vision system.View full abstractDownload PDF (1931K) -
Yoshifumi MORITA, Fumitoshi MATSUNO, Yukihiro KOBAYASHI, Motohisa IKED ...2002 Volume 38 Issue 6 Pages 549-556
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe discuss the dynamics based force control suppressing the coupled bending and torsional vibrations of a one-link flexible arm with a rigid tip body. We construct output feedback control law on the basis of the distributed parameter model using Lyapunov method, and prove the asymptotic stability of the closed-loop system. The proposed controller consists of the PD feedback of the motor angle and a feedback of the bending moment at the root of the flexible arm. We perform some simulations to show the effectiveness of the proposed controller.View full abstractDownload PDF (1973K) -
Takeshi KAWAMURA, Masasuke SHIMA2002 Volume 38 Issue 6 Pages 557-566
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we analyze the stability of the characteristic polynomials whose coefficients are polynomials of interval parameters via monotonicity methods. Our stability conditions are based on Frazer-Duncan's theorem and all conditions can be checked using only endpoint values of interval parameters. These stability conditions are necessary and sufficient under the monotonicity assumptions.
When the monotonicity conditions do not hold on the whole parameter region, we present an interval division method and a transformation algorithm in order to apply the monotonicity conditions. Then, our stability analysis methods can be applied to all characteristic polynomials whose coefficients are polynomials of interval parameters.View full abstractDownload PDF (2205K) -
Keisuke SUZUKI, Takashi WAKASUGI, Hitoshi SOMA2002 Volume 38 Issue 6 Pages 567-573
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe proposed designing method regarding the optimal warning timing based on the time criterion for Lane Departure Warning System. This timing can minimize the annoyance of warnings, and also keep the time margin to avoid the lane departure. As regards the annoyance of warnings, we analyzed the relation between the frequency of warning outputs and the annoyance of warnings. We clarified that the condition when the warning frequency is less than 0.5% is acceptable for the drivers, in view of minimizing the annoyance of warnings. This condition can be realized when the warning timing was set at 1.0 second before the lane departure. Regarding the time margin, we also clarified that the maximum lateral deviation will be less than 0.1 meter when the warning timing is set at 1.0 second before the lane departure, although the driver's arousal level is low. From these experimental studies, it can be concluded that 1.0 second before the lane departure is one of the optimal warning timing for Lane Departure Warning System.View full abstractDownload PDF (3825K) -
Yukako TAKIZAWA, Tsunemasa SAIKI, Yoichi KITAGAWA, Akihiro HAYASHI2002 Volume 38 Issue 6 Pages 574-576
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new eye blinking sensor with an optical fiber probe is described. Characteristics of this sensor are investigated in terms of eye parameters and iris movements on the basis of a detection model. By using an optical fiber, a useful eye blinking sensor can be simply constructed.View full abstractDownload PDF (1546K) -
Nobutaka WADA, Masami SAEKI2002 Volume 38 Issue 6 Pages 577-579
Published: June 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we will present a design method of a static anti-windup compensator that satisfies L2 performance criterion. The design problem is formulated as a convex optimization problem with linear matrix inequality (LMI) constraints. A numerical example is provided to illustrate effectiveness of the proposed method.View full abstractDownload PDF (471K)
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