巻号一覧
40 巻, 11 号
選択された号の論文の13件中1～13を表示しています
- |<
- <
- 1
- >
- >|
-
山下 裕, 中村 文一, 西谷 紘一2004 年 40 巻 11 号 p. 1071-1077
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose an observer for a satellite that estimates the angular speed vector from the attitude of the satellite. Since the estimation error dynamics of the observer have two equilibrium points, we add a statejump rule to the observer to avoid an unstable equilibrium point. This hybrid observer is globally asymptotically stable and locally exponentially stable. Moreover, we obtain conditions under which a comprehensive nonlinear control system composed of a globally stabilizing state feedback law and the proposed observer is globally asymptotically stable.抄録全体を表示PDF形式でダウンロード (1789K) -
山本 直樹, 津村 幸治, 原 辰次2004 年 40 巻 11 号 p. 1078-1087
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we focus on finite-dimensional quantum systems and give a general procedure to analyze its local reachability and local observability. We first derive the general Stratonovich equation of the quantum dynamics, which enables us to perform the analysis with conventional calculus using the Lie product and the Lie derivative. Our formula gives some physically new facts, and one of them is the following; the local evolution of a quantum state driven by the measurement back-action is restricted to a two-dimensional manifold without respect to the measured system. We lastly show the efficiencies of the results by studying an important example, the single-spin system.抄録全体を表示PDF形式でダウンロード (2186K) -
中島 明, 長瀬 賢二, 早川 義一2004 年 40 巻 11 号 p. 1088-1097
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we discuss control of contact coordinates for a contact point between a sphere and a plane with pure rolling contact by using iterative closed paths on the sphere with contstraint on range of rolling motion. First, we analyze the boundary of the reachable area by the closed path with constraint on range of rolling motion. Utilizing the result, we propose a method which brings all the contact coordinates to a target point by the iteration of a finite number of the closed paths. A numerical example where the rolling motion is restricted to the area on the semisphere shows the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (2043K) -
酒井 史敏, 杉江 俊治2004 年 40 巻 11 号 p. 1098-1104
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーThe paper proposes a novel approach to identification of continuous-time systems from sampled I/O data. The coefficients of plant transfer functions are directly identified by applying an iterative learning control which enables us to achieve perfect tracking for uncertain plants by iteration of trials. Furthermore, one way to make the method robust against the measurement noises is shown. One of the merits of the proposed method is that it does not require time-derivative of I/O signals. In addition, it indicates us the estimation accuracy explicitly through tracking control experiments. Numerical examples are given to illustrate the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (1584K) -
間普 真吾, 平澤 宏太郎, 古月 敬之2004 年 40 巻 11 号 p. 1105-1113
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーA new evolutionary algorithm named “Genetic Network Programming, GNP” has been proposed. GNP represents its solutions as directed graphs, which realizes better expression ability than GA and GP which use string and tree structures, respectively. The aim of developing GNP is to deal with dynamic environments efficiently by using the distinguished expression ability and the inherently equipped functions of the network structure. However, since GNP is based on evolution, the programs cannot be changed until one generation ends. In this paper, we propose the extended algorithm, “GNP with Evolution and Learning” which combines evolution and reinforcement learning in order to adapt to dynamic environments quickly. The tileworld is used as a simulation environment and the results show some advantages of the proposed method.抄録全体を表示PDF形式でダウンロード (2269K) -
西口 憲一2004 年 40 巻 11 号 p. 1114-1123
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a new method for the signal separation of interleaved pulse trains consisting of several pulse trains emitted from independent signal sources, some of which possibly exist for only a short period of time. The separation is based on the differences in the pulse repetition intervals (PRIs) of the signal sources. To detect each pulse train, we derive a map from the input signal to a function of two variables: time and PRI, which we call the PRI map. By taking the absolute value of the PRI map, we obtain a short-time PRI spectrum, from which we can use thresholding to estimate the number of signal sources, their time duration, and the PRIs. The PRI map is an extension of the PRI transform, which was proposed by the author previously. The extension is based on the time-period analysis. The construction of the PRI map is similar to that of a wavelet transform. The difference is that the PRI map is a nonlinear transform, while the wavelet transform is a linear one. Simulation results are presented on the performance of the signal separation of interleaved pulse trains using the PRI map. Finally, the performance analysis is given to show the detection ability of the PRI map for short pulse trains.抄録全体を表示PDF形式でダウンロード (2093K) -
福田 修, 卜 楠, 辻 敏夫2004 年 40 巻 11 号 p. 1124-1131
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new motion discrimination method using raw EMG signals to improve control performance of a prosthetic forearm. This method uses a novel recurrent neural network based on a well developed hidden Markov model. The proposed network can model a time sequence of EMG signals using recurrent connections, and different two processes such as filtering and a pattern discrimination are unified together and realized in a single network. Weight coefficients of the network are regulated by the back-propagation through time algorithm.
In the experiments, five subjects which include two amputees performed control of the prosthetic forearm. We confirmed that the proposed method could cope with time-varying characteristics of EMG signals and could achieve considerably high discrimination accuracy compared with the previous methods. Response of the discrimination result to the input EMG pattern was also improved using the proposed method.抄録全体を表示PDF形式でダウンロード (2505K) -
山本 晃生, 石井 利樹, 樋口 俊郎2004 年 40 巻 11 号 p. 1132-1139
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーA new electrostatic tactile display consisting of parallel electrodes and thin film slider is proposed. The tactile display can present tactile sensations corresponding to surface roughness textures. By exploring the surface of the electrodes with the slider film, subjects can receive distributed shearing force on their fingertip, which results in tactile sensation. The experimental results show that the display can simulate fine surface textures that have regular asperities arranged with intervals of several hundreds of microns. We also report visual-tactile integrated display using transparent electrostatic tactile display. In the integrated display, tactile sensations are presented in synchronization with visual information shown on LCD visual display. Subjects can directly scan the image on the LCD and can feel it on their fingertips.抄録全体を表示PDF形式でダウンロード (6285K) -
Masato HAYASHI, Katsutoshi HIGUMA, Yuichi MIYAMOTO, Shigeru IHARA, Shi ...2004 年 40 巻 11 号 p. 1140-1147
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーWe propose a solution method for an assignment problem and a routing problem of vehicles for a container yard. In a container yard, vehicles waiting for work often obstruct vehicles at work or traveling. We offer the solution method to generate a feasible solution finding the appropriate evaluation function, which is the total traveling time of all the vehicles in order to solve the above-mentioned problem. The proposed method has two characteristics. The first is to consider the interference between the vehicles such as deadlock and blocking. The second is to reschedule the assignment and the routing to the vehicles already planned if it is possible to minimize the total traveling time of all the vehicles. The second one is for the case where vehicles waiting for work obstruct vehicles at work or traveling. We, moreover, show the result of the simulations we carried out to confirm the capability of the proposed method. The simulations were carried out on the container yard with two-way-traffic routes. The results show that the proposed method generates a feasible solution with the appropriate traveling time of all the vehicles without deadlock among the vehicles.抄録全体を表示PDF形式でダウンロード (1997K) -
山崎 隆, 鷲見 晋一, 大島 正美, 井上 悳2004 年 40 巻 11 号 p. 1148-1153
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーDroop in a rectangular pulse is a problem in klystron power supplies for next-generation particle accelerators. This paper presents a feedback control for droop reduction in a μs pulsed power, based on a framework for the control of short repetitive pulses newly introduced by the authors. The pulse waveform is sampled by a fast A/D converter. The inclination in a straight line fitted to the measured pulse top is used as the feedback variable representing the droop. The calculated variable is applied to modify the next generated pulse. An integral controller is built on the basis of measured characteristic curves that represent pulse generator's transfer characteristics, which look instantaneous to the controller acting slowly at the repetition rate of the pulse. As the control may increase high-frequency noises and the estimate for droop may be susceptible to drift in pulse phase, a condition for noise-resistant droop detection and a two-variables control of droop and phase are presented. The design procedure is illustrated and the effectiveness of the control is demonstrated in an experimental study on a 4μs 10kV/8A pulse generator with a hard FET switch. Iwata's compensating power supply was used for manipulating the waveform. The controlled droop was centered at zero with rms deviation less than 0.1%.抄録全体を表示PDF形式でダウンロード (1631K) -
LMI表現に基づく実時間最適化アプローチ和田 信敬, 齋藤 甲侍, 佐伯 正美2004 年 40 巻 11 号 p. 1154-1156
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we present a method for synthesis of a model predictive control (MPC) law that considers disturbances and plant uncertainties. We show that the proposed method guarantees feasibility for all future time as well as stability of the closed-loop system. The method is reduced to an on-line optimization problem based on linear matrix inequality (LMI) representation.抄録全体を表示PDF形式でダウンロード (486K) -
木村 純壮, 西村 行雄2004 年 40 巻 11 号 p. 1157-1159
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, the structure of simple predictor is analyzed. It is similar to that of plant model predictor. And, different point is made clear. The simple predictor uses plant response effectively.抄録全体を表示PDF形式でダウンロード (442K) -
長谷川 律雄2004 年 40 巻 11 号 p. 1160-1162
発行日: 2004/11/30
公開日: 2009/03/27
ジャーナル フリーThe differential equation which represents the relation between rotation and angular rate is called kinematic equation. Direction cosine matrix is considered the standard model for rotation. So, each rotation representation can be connected with direction cosine matrix. This paper shows general method deriving kinematic equations for rotation representations using direction cosine matrix.抄録全体を表示PDF形式でダウンロード (458K)
- |<
- <
- 1
- >
- >|