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Volume 39, Issue 8
Displaying 1-12 of 12 articles from this issue
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Hiroaki AIZAWA, Eiji TOBA, Tooru KATSUMATA, Yukiyoshi TOKOYODA, Shuji ...2003 Volume 39 Issue 8 Pages 703-708
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe chromium doped spinel crystals, MgAl2O4: Cr3+, have advantageous features for the fiber-optic thermometer. Since the spinel crystal has wide solid-solution region, the chemical composition of the spinel crystal varies with the composition of raw material. In order to clarify the influence of chemical composition on the characteristics of fiber-optic thermometer, spinel crystal with various compositions, x=MgO/(MgO+Al2O3)=0.40, 0.45, 0.50, 0.55, 0.60 were grown using a floating zone technique. The characteristics of the fiber-optic thermometer using spinel are found to vary greatly with chemical composition of spinel crystal. The stoichiometric specimen with x=0.50 shows the longest lifetime and large temperature coefficient. The stoichiometric spinel crystal is considered to be the most suitable sensor head for the fiber-optic thermometer.View full abstractDownload PDF (1544K) -
Fujio TORIUMI, Jun-ya TAKAYAMA, Shinji OHYAMA, Akira KOBAYASHI2003 Volume 39 Issue 8 Pages 709-716
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSensory evaluation can be broadly classified to analytic methods and a preference surveys. In the analytic methods, especially, since the panels are used as measuring instruments, sufficient inspection abilities are required to panels. The inspection abilities of a panel depend on various external factors or panel's attributes such as sex, age, etc. Then it is important to consider the attributes which have influence to the panel's inspection abilities. After we analyzed them, it is able to select appropriated panel to examination. The characteristics of panel's appear as the shapes of judgment characteristic functions. Therefore, by analyzing the shapes of judgment characteristic functions of the panels, it is able to evaluate the inspection ability of the panels. In this study, we focus on the difference of judgment characteristic function among panels. Then, we propose the method to evaluate obtaining panel's inspection abilities. Two kinds of evaluation indexes, “the judgment dispersion” and “the resolution” are defined from panel's characteristic functions of judgment. Simulation shows the validities of these evaluation indexes. Consequently, it may be clear that it is able to evaluate the inspection abilities of panels by the proposed evaluation indexes. Then, the evaluation indexes are applied to two actual experiments. From the first experiment, comparison of chroma saturation, we changed information which given to each panels, to analyze the difference of inspection abilities of panels. This experiment shows that the selection of suited information for experiment becomes easier by using proposed evaluation indexes. In the second experiment, the comparison of likeness of pearl, we analyzed the influences of sex and given knowledge of panel. This experiment shows the possibility to classify panels that have suitable inspection abilities, easily by using proposed evaluation indexes.View full abstractDownload PDF (1742K) -
Hisakazu NAKAMURA, Yuh YAMASHITA, Hirokazu NISHITANI2003 Volume 39 Issue 8 Pages 717-725
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper focuses on the problem of stabilization of a chained-form nonholonomic system. We propose a time-invariant discontinuous finite-time homogeneous controller for the chained system. The controller has no singular point where the control inputs become infinite values. Using the characteristics of the homogeneous system, we can select the convergence speed of the controlled system. Namely, we can choose an exponentially stable system or a finite-time stable system. We designed the controller for a 3-state chained system and confirmed the superior performance of the controlled system by computer simulations.View full abstractDownload PDF (1461K) -
Hiroshi KASAMATSU, Akira HIGUCHI, Jiro MORIMOTO, Nanayo FURUMOTO, Tosh ...2003 Volume 39 Issue 8 Pages 726-733
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with the parameter estimation of regression-type nonlinear system model based on maximum a posteriori (MAP) estimation. This is equivalent to the minimization problem of the object function derived from a posteriori probability density function. It is shown that the minimizer based on Newton-method becomes to iterated extended Kalman filter (IEKF). A method on the gain adjustment of the IEKF is given so as to improve the performance of it. Then the parameter setting for the gain adjustment is given as the solution of a continuous-time algebraic Riccati equation (CARE). As a result, the proposed estimator has some effect of simulated annealing.
It is shown in numerical example that the proposed method indicates acceptable performance compared with conventional methods.View full abstractDownload PDF (1788K) -
Yoshio EBIHARA, Tomomichi HAGIWARA2003 Volume 39 Issue 8 Pages 734-740
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the gain-scheduled controller synthesis problems for linear parameter varying (LPV) systems. In the case where the state space matrices of the LPV system depend affinely on the time-varying parameters, the standard linear matrix inequalities (LMI's) are helpful in dealing with these synthesis problems provided that we accept the notion of quadratic stability. However, in the case of rational parameter dependence, the standard LMI's carry some deficiency and do not lead us to numerically tractable conditions in a straightforward fashion. This paper clarifies that dilated LMI's are effective in overcoming the difficulties and deriving numerically tractable conditions. The dilated LMI's also make possible to employ a parameter-dependent Lyapunov variable to achieve control objectives, which is promising to alleviate the conservatism stemming from a quadratic (parameter-independent) Lyapunov variable.View full abstractDownload PDF (1739K) -
Koichi YOSHIDA, Teruhisa AWATA2003 Volume 39 Issue 8 Pages 741-748
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, the heading control model of a center-articulated micro-tunneling robot is developed and validated by experiments conducted using an actual tunneling robot, toward the realization of autonomous navigation system. The driving machine of the tunneling robots consists of the head and hull sections connected by an articulation joint. The heading control model which describes the machine heading response to head angle command is introduced by combining a nonholonomic constraint model where the motion of the head tip is constrained along the longitudinal direction of the machine head and an ARX model describing the turning curvature respouse to head angle command. Then Kalman filter is applied to the heading control model to estimate state variables as well as ARX model parameters. Experimental result obtained with a real tunneling robot shows the effectiveness of the proposed model where the state estimation performances are verified for both the horizontal and vertical driving motions, and the heading control perfomance for the vertical motion with a state feedback controller is demonstrated.View full abstractDownload PDF (2109K) -
Masakazu TAKAHASHI, Kazuhiko TSUDA2003 Volume 39 Issue 8 Pages 749-758
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes Plant Motion Control Software (PMCS) development process. This process uses 2 kinds of software components (for requirement and implementation) and Z language (to describe design information). PMCS can be standardized, and design information can be transmitted accurately with using the software components and Z language. To adapt proposed process, it would be trace PMCS functions from requirement specification to PMCS. Consequently, PMCS that is adapted to the user requirement, would be developed.View full abstractDownload PDF (3011K) -
Masakazu ANDO, Tatsushi NISHI, Masami KONISHI, Jun IMAI2003 Volume 39 Issue 8 Pages 759-766
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRoute planning of multiple AGVs (Automated Guided Vehicles) is expected to minimize the transportation time without collision and deadlock among the AGVs in many transportation systems. In this paper, we propose an autonomous distributed route planning method for multiple mobile robots. The proposed method has a characteristic that each mobile robot individually creates a near optimal route through the repetitive data exchange among the robots and the local search of route using Dijkstra's algorithm. The proposed method is applied to several transportation route planning problems. The optimality of the solution generated by the proposed method is evaluated using the duality gap derived by Lagrangian relaxation method. A near optimal route plan within 5% of duality gap for a large scale transportation system consisting of 143 nodes and 15 AGVs can be obtained with five seconds of computation time by using Pentium III (1GHz) processor. Moreover, it is shown that the proposed method is effective for various types of problems despite the fact that each route for AGV is created without optimizing the entire objective function even when the velocity of each AGV is different.View full abstractDownload PDF (2827K) -
Masao SUGI, Hideo YUASA, Jun OTA, Tamio ARAI2003 Volume 39 Issue 8 Pages 767-776
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method is proposed for controlling a large number of traffic signals, which are represented by nonlinear oscillators, each governed by a reaction-diffusion equation at a node of a graph. The behavior of each signal is determined only by the states of its neighbors, with the system as a whole being also organized globally. In this report, cycle lengths of the signals are controlled according to the traffic condition. Along with the control of offsets and splits, which are also explained here, the system can achieve high performance in dynamic traffic conditions. The simulation results are exemplified to show the validity of the method.View full abstractDownload PDF (2368K) -
Toshiya OOI, Yoshiro WASHIKITA2003 Volume 39 Issue 8 Pages 777-785
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSMuch research has been done about Automatic Gage Control for cold rolling mill of steel, but universal study for cold rolling mill control has not been shown yet. The purpose of this paper is to show the fundamental control law for gage and tension control of cold rolling mill, based on general description of cold rolling process characteristics. We formulate and analyze the process dynamics considering the structure. The decoupling compensator is generally expressed, and the effect is shown. ILQ control law is recommended for mill entry process.View full abstractDownload PDF (1952K) -
Koichi KAMEOKA2003 Volume 39 Issue 8 Pages 786-788
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe have developed a machine that enables us to learn bifurcations and chaos intuitively. An inverted pendulum, excited at its pivots, generates the above-mentioned phenomena. The equation of motion of the pendulum is assumed to be described by the equation: Jθ+Cθ+Kθ-mghsinθ=mhaω2cosθcosωt. The experimental result shows that the n period behaviour (n=1, 2, 3) and chaos are clearly observed and the bifurcation characteristics agree well with the simulation results. According to the points of designing the machine, written in this paper, an analogous one or more extended ones can be manufactured.View full abstractDownload PDF (427K) -
Takehiko OGAWA, Yo HASHIMOTO, Hajime KANADA, Hideaki KASANO2003 Volume 39 Issue 8 Pages 789-791
Published: August 31, 2003
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe characteristic evaluation from the impact perforation process of the material by the ultra-high speed photograph system has been studied. In this method, the characteristic of the material is estimated from the continuous photograph image after the steel ball impacts and perforates into the material specimen. In this study, we propose to use the neural network to localize the steel ball in the continuous photograph image.View full abstractDownload PDF (1869K)
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