計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
40 巻, 12 号
選択された号の論文の14件中1~14を表示しています
  • 石橋 雅裕
    2004 年 40 巻 12 号 p. 1163-1169
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    In most isentropic gas flows including the air, the difference between the recovery and the stagnation temperatures is proportional to the square root of the flow velocity. Based on this principle, RTA measures the recovery temperature distribution in a flow using a traversing thin thermocouple wire to estimate its flow velocity distribution. Although RTA resembles hot-wire anemometry at a glance, it has several advantages because of the concentrated sensitivity of a thermocouple wire on its contact point.
    The paper uses a probe on which a thermocouple wire of 50μm diameter turns back at its contact point, which forms the probe vertex, to measure the recovery temperature distribution. Its results coincide with those using a thermocouple wire settled parallel to the flow, thus it is shown that the recovery factor of a thin wire is independent of the angle of incidence of flow. This fact allows RTA to employ a sensor of various shapes on a traverse of various structures, thus to be employed for various applications.
  • 岡田 徳次, 鈴木 則幸, 黒崎 賢一
    2004 年 40 巻 12 号 p. 1170-1176
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    This paper proposes a measurement principle for determining the central position of a metallic ball in a 3-D space so that the position is beneficial to sense all directions of resultant acceleration of motion and gravity. The ball is housed and free to roll in a spherical shell. The distance of the ball from the front position of a proximity sensor of high-frequency oscillation type is collected always by an electric driver. We show the sensor outputs obtained by changing attributes of the ball in its material, configuration, and size. Three ellipsoids of revolution generated individually by three sensors in orthogonal arrangement make it clear to explain formulations to determine the central ball position. Our sensor head has an acrylic shell of inner radius 25mm and a steel ball of radius 24mm. Experimental results showed that the formulation is valid and the measurement error is dependent on shell's exactness in interior dimension.
  • 章 忠, 戸田 浩, 藤原 久永
    2004 年 40 巻 12 号 p. 1177-1185
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    In this study, we propose a 2-Dimensional Complex Discrete Wavelet Transform (2-D CDWT) that extends the 2-dimensional Complex Multi Resolution Analysis (CMRA) using the RI-Spline wavelet, and try to approximately realize shift invariance in image processing. We then apply the 2-D CDWT to Medical image de-noising and the inspection problem of textile surfaces. The main results obtained can be summarized as follows: 1) 2-dimensional shift variance which occurred using the discrete wavelet transform with a real mother wavelet has been improved by using the 2-D CDWT. 2) In the Medical image de-noising and the inspection problem of textile surfaces, the 2-D CDWT has better performance than the standard 2-D DWT and obtained very encouraging results.
  • 稲岡 秀検, 清水 優史, 石田 明允
    2004 年 40 巻 12 号 p. 1186-1192
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    In this study, a simple measurement method of unsteady flow in the pipeline is proposed. In this method, a cylindrical air chamber is arranged in the pipeline, and the unsteady flow is absorbed as a change in volume of the air chamber. The unsteady flow rate is measured by using only the pressure change in the air chamber caused by its volume change. The thermodynamic state in the air chamber is affected by the speed of the change in volume and/or the shape of the air chamber. In this paper, a simple experimental formula that describes the changes in amplitude and phase of pressure wave caused by the change of state in the air chamber is investigated by using the experimental results. In the experiment, the radius and the height of the cylindrical air chamber and the frequency of volume change were varied. And the thermodynamic state in the air chamber was widely ranged from isothermal change to the adiabatic change. The amplitude-ratio and phase-shift between the measured pressure wave in the air chamber and the adiabatic pressure wave that would exist for the adiabatic air chamber with same volume were calculated. A highly correlation between the amplitude-ratio/phase-shift and oscillate Fourier number were obtained. Here, the oscillate Fourier number is the dimensionless number determined from three experimental variables. Simple experimental formulas that describe the relationship between the oscillate Fourier number and the amplitude-ratio/phase-shift were obtained from these results. Adiabatic amplitude/phase in frequency domain were calculated by using these simple experimental formulas, and adiabatic pressure in time domain was obtained through inverse Fourier transform. The volume change was simply calculated using the adiabatic pressure, and then unsteady flow rate was estimated. In proposed method, good agreements were achieved between the measured and the estimated unsteady flow rate, and then the accuracies of these methods were discussed.
  • 山本 広樹, 青島 伸治
    2004 年 40 巻 12 号 p. 1193-1198
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    A calculation algorithm of quaternion spectral coefficients is described in this paper. Conforming to the definition, a normal arithmetic operation to find the quaternion spectral coefficients takes O (N2) multiplication when the data window size is N. Comparing with this, suggested algorithm can decrease the number of multiplication to O (2N). The algorithm makes use of the property of delay operation. Since the configuration to be required is simple, it may be suit for a real time operating system with the micro-controllers.
  • 田中 正吾, 原田 直樹
    2004 年 40 巻 12 号 p. 1199-1204
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    A frequency modulated continuous wave (FMCW) type electromagnetic wave radar is generally used to measure the distance of an object. The principle is that mixing of the transmitted and received wave signals of the radar makes a beat signal whose frequency corresponds to the distance. A frequency analysis of the beat signal thus enables the measurement of the distance. However, the sensing system until now has been mainly devoted to the measurement of the distance of one object.
    The paper proposes a sensing system which measures the locations of plural objects accurately. This is achieved by modeling the beat signal as the sum of several sinusoidal waves and estimates the distinct frequencies by applying the maximum likelihood method. The validity of the system is verified with experiments on two objects of a car and a man.
  • 田崎 良佑, 山崎 敬則, 大西 秀夫, 小林 政明, 黒須 茂
    2004 年 40 巻 12 号 p. 1205-1210
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, we propose higher speed and highly accurate weighing method of packages during crossing a conveyor belt. Continuous weighing means that the masses of discrete packages on a conveyor belt are determined in sequence. Through the new weighing method, a weighing scale (called a multi-stage conveyor belt scale) can be created so as to adjust the conveyor belt length to the product length. In a previous paper, the masses of products have been estimated successfully as the maximum values evaluated from the output smoothed signals. However, there have been still some crucial problems that the estimation errors were sometimes getting worse. One of causes has been due to the fact that the output signals had several peak values like a winding path. In this paper, our interest is directed to solve many technical problems when we put the multi-stage conveyor belt scale into practical use. Consequently, our weighing method proposed here is not sufficient for highly accurate weighing, but the limit of practicability has been verified by experiment.
  • 理論と実験
    ダオ ミンクアン, 劉 康志, 大形 明弘
    2004 年 40 巻 12 号 p. 1211-1219
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    The control of position and orientation angle of 4-wheeled cars is the central part in the development of automatic parking systems which is going to play an important role in ITS. There have been many approaches to this problem from a viewpoint of application of nonholonomic control theory. But there are still some practical problems such as steering angle limitation that need to be addressed. In this paper, a method is proposed to deal with the steering control with a steering angle limitation. The basic idea is to contruct a circle family and let the car approach the circle family that leads to the destination asymptotically. Both theoretical and experimental results are described.
  • 吉満 俊拓, 小山 紀, 香川 利春
    2004 年 40 巻 12 号 p. 1220-1226
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, a flow rate servo system composed of an isothermal pressure vessel and a solenoid valve controlled an on-off method is proposed. In this method, the pressure fluctuation caused by switching action of valve cannot be avoided. However, this pressure fluctuation enables to examine the output flow rate by calculation. Therefore, it can be realized the dynamic flow rate servo system by yielding a desired flow rate directly.
    The accuracy and responsibility of the dynamic flow rate servo system employing the solenoid valve and the isothermal pressure vessel are shown. And for the evaluation of this system, floating position control of the sphere ball is a “spout” toy for child and the control needs very delicate control of flow rate is tried. The method for suppressing the pressure fluctuation, which arises by the switching of solenoid valve, is proposed.
  • 岡本 圭介, 小澤 誠一, 阿部 重夫
    2004 年 40 巻 12 号 p. 1227-1235
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    When training samples are given incrementally, neural networks often suffer from the catastrophic interference, which results in forgetting input-output relationships acquired in the past. To avoid the catastrophic interference, we have proposed Resource Allocating Network with Long-Term Memory (RAN-LTM). In RAN-LTM, not only a new training sample but also some memory items stored in long-term memory are used for training based on a gradient descent algorithm. In general, the gradient descent algorithm is usually slow and can be easily fallen into local minima. In this paper, to alleviate these problems, we introduce a linear regression approach into the learning of RAN-LTM, in which its centers are not trained but selected based on output errors in an incremental fashion. In this approach, the regression is carried out for not only a training sample and memory items but also pseudodata that are selected around the centers of hidden units based on the complexity of an approximated function. This selection reduces the total number of pseudodata at each learning step; as a result, fast incremental learning is realized in RAN-LTM. Since only memory items are stored in memory, the proposed RAN-LTM does not need so much memory capacity when the incremental learning is carried out. This property is useful especially for small-scale systems. To verify these characteristics of RAN-LTM, we apply it to several function approximation problems, in which the performance in approximation accuracy, learning time, and needed memory capacity are investigated by comparison with some conventional models. Moreover, when extending the learning domain with time, the increase trends in learning time and needed memory capacity are investigated. From the experimental results, it is verified that the proposed model can learn fast and accurately, and that it needs rather small memory capacity so far as the learning domain is not too large.
  • 坂根 彰, 辻 敏夫, 田中 良幸, 佐伯 昇, 河本 昌志
    2004 年 40 巻 12 号 p. 1236-1242
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    This paper proposes an innovative technique to monitor vascular conditions by using the biological signals, such as electrocardiogram, arterial pressure, and pulse oximetric plethysmogram. A second order linear model with damping is used to describe the nonlinear viscoelastic relationship between the blood pressure waveform and the transillumination plethysmographic waveform. The validity of the proposed method is then discussed by monitoring vascular conditions during surgical operations with arterial wall impedance. It has been demonstrated that the estimated impedance properties of arterial wall correspond to events during a surgical operation.
  • 菅原 佳城, 尾形 和哉, 早川 義一
    2004 年 40 巻 12 号 p. 1243-1245
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    Recently it is becoming popular to utilize energy functions for controller design, and IDA-PBC method is one of them. In this paper, we apply IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) method to flexiblelink manipulator and derive a general class of controller under some assumptions on modified system.
  • 志水 清孝
    2004 年 40 巻 12 号 p. 1246-1248
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    This paper is concerned with high gain output feedback of nonlinear affine system with multi input and multi output. It is assumed that the system has the relative degree one and its linearized system is the minimum phase. The high gain feedback theorem is proved intelligibly based on the Lyapunov theorem. At a time its proof explains how to choose the gain values for output feedback control.
  • 蜷川 繁
    2004 年 40 巻 12 号 p. 1249-1251
    発行日: 2004/12/31
    公開日: 2009/03/27
    ジャーナル フリー
    We investigated the evolution of a subsumption architecture for an autonomous mobile robot by genetic algorithms in the two types of environment. The robot could reach the goal within several generations on average in both environments.
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