巻号一覧
40 巻, 1 号
選択された号の論文の14件中1～14を表示しています
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山崎 輔, 穂苅 真樹, 渡辺 嘉二郎2004 年 40 巻 1 号 p. 1-9
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーAny sensor is more or less influenced by other physical variables that are not to be detected by it. For example pressure sensors are strongly influenced by the temperature and the acceleration. These other variables are called noise or disturbance to be minimized in the conventional sensor development. This paper proposes a novel strategy for the sensor development unlike the conventional approach above, i.e., the sensor receives all the influences of multiple physical variables, separates the influences, and reconstructs the separated multiple influences, by which a smart sensor that can judge the advanced event for a specific application can be developed. This approach is valid when an appropriate sensor exists for a specific application. In this paper we consider the security as the application and we selected a condenser microphone as the sensor. The condenser microphone is a supersensitive pressure sensor that is influenced by the pressure, acceleration, temperature and even the light emission in the wide frequency range. These variables can be separated and reconstructed for the security application. The security-sensor based on the one-microphone sensor can judge the occurrence of earthquake, fire, and invasion by a thief. Experiments carried out in a room of apartment house showed the validity of the new sensing strategy.抄録全体を表示PDF形式でダウンロード (3189K) -
長尾 景洋, 岡谷 貴之, 出口 光一郎2004 年 40 巻 1 号 p. 10-17
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーObject recognition is very important task in the field of computer vision. In this paper, we present a range image matching for the object recognition in real scene. The matching is the process of comparing a range image with a stored shape data. We first discuss that the difference of resolutions of them must be considered for the range image matching. Then, we analyze the apparent object shape change of the range image due to the measurement distance in the relation to the property of the range finder. We claim that the apparent shape change can be modelled by a smoothing process of the object surface. We propose a method of matching after shape smoothing of the stored data to cope with has a very low resolution of the range image. We also propose a generation of a surface model of the given data, considering the resolution difference of a newly obtained data of the target object. Finally, we show several experimental results which promises the feasibility of the proposal method.抄録全体を表示PDF形式でダウンロード (4081K) -
Teturo ITAMI2004 年 40 巻 1 号 p. 18-27
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーMonte Carlo methods are applied to an open-loop calculation of affine nonlinear optimal control systems. Nonlinear optimal control systems are represented as an infinite sum or an integration of possible paths connecting initial and final points in their linear wave theories. Weight of each path is a trigonometric function of “action” integral along the path nondimensionalized by a characteristic control constant HR representing strength of fluctuations due to wave action. When this constant is set as a pure imaginary value, HR=iHR, trigonometric functions are transformed into exponential functions. We can then consider HR as “temperature” of Boltzmann distributions. The wave function is regarded as a statistical mean under the Boltzmann distribution. Optimal path satisfying conditions at two boundary points is given as a stationary phase of the wave function when the temperature HR is low. Simulation studies for a system with 1-input and 2-states are given.抄録全体を表示PDF形式でダウンロード (1991K) -
菅原 佳城, 尾形 和哉, 早川 義一2004 年 40 巻 1 号 p. 28-35
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーThe energy modification method has been attracting a lot of attention as a new control design of mechanical systems. However, the relation between modified Hamiltonian and control performance is not so clear. In this paper, the IDA-PBC method is applied to controller of manipulator with 2 flexible-links, where controller parameters are determined by considering modified inertia and stiffness matrix. Some experimental results and modal analysis for modified system show that the proposed controller suppresses deformation of flexible-links.抄録全体を表示PDF形式でダウンロード (2393K) -
清水 年美, 佐々木 実2004 年 40 巻 1 号 p. 36-44
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents a nonlinear control of a magnetic levitation system for a flexible beam. There are few papers treated magnetic levitation systems for flexible objects. In most of these researches controllers are designed without explicit consideration of dynamics of flexible objects or are designed based on mode-decomposed dynamics of flexible objects in which high order modes are truncated. And also non-linear dynamics is approximated into linear models in a neighborhood of an equilibrium point. These linear finite order controllers cannot compensate large levitation gap and cause spillover phenomenon. In this paper, the dynamics of the flexible object are fully addressed and the results are valid for large deviations from equilibrium. The magnetic levitation system is divided into two subsystems: an electrical subsystem and a mechanical subsystem. The controller for each subsystem is designed independently based on passivity. The resulting controller dose not needs current feedback for the electrical subsystem while using position, velocity and deflection rate feedback for the mechanical subsystem. It ensures asymptotic stability of trajectory tracking and suppression of elastic vibrations. To illustrate the validity of our controller, some numerical simulations are carried out.抄録全体を表示PDF形式でダウンロード (1947K) -
下界値計算方法の改良による高速化岡野 竜太郎, 木田 隆, 長塩 知之2004 年 40 巻 1 号 p. 45-53
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper studies the reduction of computation time of the global optimization for bilinear matrix inequality. For the purpose, we investigate the branch and bound algorithm and improve its lower bound calculation algorithm. With this improvement, the elapsed time for one iteration becomes shorter and the iteration number is decreased. Other amendments are added to the branch and bound algorithm with this improvement. We show that this improvement is effective through some computer experiments. In the computer experiment, the static output feedback gain synthesis that is known to be a BMI problem is considered.抄録全体を表示PDF形式でダウンロード (1708K) -
丹下 吉雄, 津村 幸治2004 年 40 巻 1 号 p. 54-61
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a new approach to design time-varying (TV) controllers for LTV plants by dealing with a performance inequality directly. The controller has a structure composed of a linear time-invariant (LTI) part and a TV one. We design the latter part to enhance l2 induced norm performance of the closed loop. We also precisely show a relationship between the available information for the TV controllers and the improvement of the performances compared with LTI controllers. This result supports the well-known result by Poolla et al. on a performance limitation of TV controllers for a robust control problem as a special case.抄録全体を表示PDF形式でダウンロード (1705K) -
高尾 健司, 加納 寛子, 山本 透, 雛元 孝夫2004 年 40 巻 1 号 p. 62-69
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーNeural-net based controllers have been proposed for nonlinear systems. The reason why the neural network is employed for such systems is that the neural network has the capability of highly approximating nonlinear properties. However, the problem is pointed out which much time is needed until the good control performance is obtained. On the other hand, a CMAC has been proposed by Albus. According to the CMAC, there is little time for training it, although it has an disadvantage that the accuracy of nonlinear approximation is not good.
In this paper, a new design scheme of intelligent controllers fused the multilayered neural network (NN) with the CMAC, in which the NN effectively works in the initial stage of training, and it automatically changes from the NN to the CMAC if the learning progresses. According to the newly proposed scheme, the disadvantages in the NN and the CMAC are supplemented each other, and a good control performance can be obtained with a few training. Finally, the effectiveness of the newly proposed control scheme is numerically evaluated on some simulation examples.抄録全体を表示PDF形式でダウンロード (1775K) -
中島 明, 長瀬 賢二, 早川 義一2004 年 40 巻 1 号 p. 70-79
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we discuss grasping and manipulation of an object by two-fingered robot hand, each of which has six degrees of freedom. The contact motion between the object and each fingertip is assumed to be the pure rolling. In addition to the grasping and manipulation, we discuss the regulation of the contact points between the fingers and the object by using the nonholonomy of the rolling contact. First, we provide a general formulation of a linearizing compensator for the motion of the object, the internal force and some of the contact points. Second, we propose a control method which regulates all of the contact points by iterating a single closed path of the some of the contact points. Numerical examples are shown to prove the efficiency.抄録全体を表示PDF形式でダウンロード (2167K) -
南部 隆夫2004 年 40 巻 1 号 p. 80-87
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーStabilization of linear parabolic boundary control systems is studied. While the system consists of a pair of standard linear differential operators (L, τ) of the Dirichlet type, it generally admits no Riesz basis associated with it. In this sense the system has enough generality as a prototype of general systems. A difficulty arises when applying existing procedures - via fractional powers of the associated elliptic operator - to our problem. The paper proposes a new algebraic approach to stabilization which has a substantial application to a variety of boundary control systems.抄録全体を表示PDF形式でダウンロード (1241K) -
川村 貞夫, 小形 崇, 磯田 康吉2004 年 40 巻 1 号 p. 88-93
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーNew flexible elements with variable viscosity are proposed in this paper. The structure of the proposed elements has laminated thin sheets. The sheets are compressed by atmospheric pressure and Coulomb friction occurs when the sheets move. A feedback method to artificially realize viscosity form Coulomb friction is proposed in the following chapter. The static and dynamic performances on the realization of viscosity are demonstrated through some experimental results.抄録全体を表示PDF形式でダウンロード (3820K) -
石垣 陽, 田中 健次, 伊藤 誠2004 年 40 巻 1 号 p. 94-101
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a safety monitoring system by small number of autonomous sensors. High-reliable safety monitoring system is vital to operate large-scale systems, such as nuclear power plants. Monitoring by multiple and fixed sensors is effective, but it requires large cost. Also, in nuclear systems, there are difficult places to fix sensors for long time since a sensor has weakness for radiation near a nuclear reactor. Thus, this paper proposes a reliable autonomous and distributed monitoring system by small number of sensors.
There are three requirements for the autonomous monitoring system from aspect of reliability. The first one is that several sensors should aggregate to prevent false alarms when a sensor detects abnormal situation, and that then they should diffuse efficiently all over the objected area to prevent lack of alarms. The second is that a frequency of sensors' visit should be constant for every point in area when the monitored area is homogeneous. The last is that the frequency should be controllable depending on the priorities when the monitored area is heterogeneous. The monitoring system that this paper proposes is an Ant-like Sensor System (ASS) that consists of autonomous sensors communicating by pheromone. In ASS, each sensor agent moves around leaving the markings of repulsive pheromone that means that some sensor has visited the surveillance point. Such pheromone communication makes sensors system satisfy the above three requirements.
Two experiments are conducted to clarify the condition to assign optimal parameters for ASS, such as quantity of sprayed pheromone and evaporation speed of pheromone. The optimal parameters are determined dependent on the number of sensors and the characteristics for monitored area.抄録全体を表示PDF形式でダウンロード (4862K) -
千葉 龍介, 太田 順, 新井 民夫2004 年 40 巻 1 号 p. 102-108
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーFlow path network design problem and fleet size design problem are important so as to design Automated Guided Vehicle (AGV) systems. AGVs are guided with the paths and the path network should be designed appropriately for the high performance of transportation. In this paper, we propose a method to design the flow path network and fleet size suitable for transporter routings with Genetic Algorithm. The effect of our method is verified through simulations.抄録全体を表示PDF形式でダウンロード (1696K) -
岡 潔, 檜山 昌之2004 年 40 巻 1 号 p. 109-116
発行日: 2004/01/31
公開日: 2009/03/27
ジャーナル フリーThe International Thermonuclear Experimental Reactor (ITER) is underway as joint effort of EU, Japan and RF. Remote maintenance technology is essential to realize ITER since the reactor components are activated by 14-MeV neutrons and have to be maintained remotely. For this purpose, the Japan Atomic Energy Research Institute (JAERI) has been conducting remote handling technology development mainly for in-vessel components. On the other hand, a critical accident at the JCO occurred in September 1999, which was the most serious nuclear accident in Japan. It took long time to gain the information on the accident and then to stop the critical reaction since human access was limited due to high radiation level. Therefore, the JAERI has developed a Radiation-proof Robot (called RaBOT) operating under high γ-radiation field up to 105Gy. Under such a background, a variable baseline type distance sensor has been developed for use under the severe conditions such as γ-radiation. This sensor is composed of optical fiber, mirror, motor and so on. The aim of the sensor is to be used for the measurement of the distance between a robot and an object under the severe conditions of the maintenance for fusion plants and atomic disaster. The sensing method is also applicable to the general distance sensor. This report describes the outline of the variable baseline type distance sensor and the results of the basic performance test.抄録全体を表示PDF形式でダウンロード (3809K)
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