巻号一覧
40 巻, 2 号
選択された号の論文の19件中1～19を表示しています
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長谷川 晶一, 藤井 伸旭, 赤羽 克仁, 小池 康晴, 佐藤 誠2004 年 40 巻 2 号 p. 122-131
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new method for real-time rigid body simulations for haptic interfaces based on contact volume. Analytical methods for calculations of contact forces take too much time to keep fast update rates of haptic controls. In addition, they prohibit direct connection of haptic interfaces.
Penalty methods, which employ spring-damper model for calculations of contact force, are very fast per iterations. In addition, they permit direct connection of haptic interfaces. Therefore penalty methods are good for haptic interactions. However, previous penalty methods do not regard distribution of contact forces over contact area. They can't calculate normal and friction forces on face-face contacts correctly.
We suppose distributed spring-damper model on contact area to solve these problems. We analyze three dimensional shape of intersection part on polyhedral objects. Then, we integrate forces and torques of distributed spring-damper models.
We implement proposed simulator and compare it with point-based penalty method. It showed that only proposed simulator can simulate face-face contact and friction forces correctly. In addition, we connect a 6 DOF haptic interface to the simulator. Users can feel 6 DOF force feedback and input 6 DOF motion.抄録全体を表示PDF形式でダウンロード (3927K) -
横山 哲也, 棚橋 英樹, 川崎 晴久2004 年 40 巻 2 号 p. 132-138
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーWe propose the haptic display method with no intersection using 6-DOF haptic device. The method involves two algorizum, collision detection and preventing penetration. The collision detection using geometric intersection and the local minimum distance is respond multi contacts and non convex polygons. The preventing penetration is implement using simplex method in linear programing. We can feel haptics without interference between virtual objects. In the experiments, we confirm the advantage of the method.抄録全体を表示PDF形式でダウンロード (2397K) -
横小路 泰義, 木下 順史, 吉川 恒夫2004 年 40 巻 2 号 p. 139-147
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーA path-planning algorithm for encountered-type haptic devices that render multiple virtual objects in 3D space is proposed. To render multiple virtual objects with a single haptic device, the following two behaviors must be realized; (i) the device should move to the target object location in advance of the user's hand so that the user can encounter it; (ii) otherwise, the device should keep away from the user's hand, avoiding an unexpected collision. To realize such a consistent encounter, the user's hand motion must be tracked. The proposed algorithm determines the device location based on the minimum distance problem between a point (user's hand) and a convex polyhedron constructed from the reference points of multiple objects. A virtual control panel of automobiles was constructed using an encountered-type haptic device where the proposed path-planning algorithm was implemented. The validity of the proposed algorithm was confirmed and the required performances such as device speed and accuracy of hand tracking were evaluated.抄録全体を表示PDF形式でダウンロード (6441K) -
徳安 達士, 喜多村 直, 坂口 元一, 米田 正始2004 年 40 巻 2 号 p. 148-154
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーFor left ventricular plastic surgery, cardiac muscular elasticity around the ischemic regions are needed to determine the region where should be removed. A cardiac surgeon palpates the patient's cardiac muscle under running a heart-lung machine to diagnosis its elasticity and contractile stiffness, because the latest medical imaging techniques cannot give these information to the surgeons. Since the surgical efficiency and the treatment results depend on the intraoperative cardiac muscle palpation skill, the cardiac surgeons desire the training opportunity before and after the surgery. The training system we have developed is composed of a beating virtual heart and a haptic device, where the system user is able to touch the virtual heart and feel the cardiac elasticity. In this paper, we propose the virtual heart model which interacts with the haptic device manipulation in real time, and the validation results by the skillful cardiac surgeons are presented.抄録全体を表示PDF形式でダウンロード (5377K) -
毛筆技能への応用嶋田 宏史, 鈴木 達也, 早川 聡一郎, 大熊 繁, 藤原 文治2004 年 40 巻 2 号 p. 155-163
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーIn this paper, the cooperation of an operator and a slave manipulator with some autonomy is discussed and realized with focusing on the real-time skill transfer under the virtual environment. The operator manipulates the master device which has dynamical interaction with the virtual environment in our methodology. First of all, the concept of the task space separation, in which the task space is separated into a master space and a slave space, is introduced. Then, a so-called skill controller, which consists of the skill recognition and the skill generation, is implemented on the slave manipulator. As for the master space, the operator sends position data directly through the master device to the slave manipulator, and the slave manipulator is manipulated based on the received data. In the slave space, however, the slave manipulator manipulates autonomously based on the real-time recongition of the operator's skill and an appropriate selection and execution of the implemented skill. The usefulness of the proposed framework is demonstrated by handling a calligraphical writing task.抄録全体を表示PDF形式でダウンロード (3892K) -
佐野 明人, 西 恒介, 宮西 英樹, 藤本 英雄2004 年 40 巻 2 号 p. 164-171
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーIn the bilateral teleoperator systems, transferring tactile information from a slave to a human operator is very important in order to improve the presence in the master side. The coiled nerve structure of the Meissner corpuscles can separately detect stretch and shear deformation of the skin that is caused by various frictional conditions. Based on this property, a biomimetic coiled tactile sensor involved in the non-uniform elastic skin has been developed in this study. In this paper, it is confirmed that this novel sensor can measure a friction coefficient just after the contact, a center of contact, and an incipient local slip. Furthermore, the lifting of the slippery tapered object by the pinch grip is dealt with as a precision task. In the experiment of teleoperation through the network, the human subject could adequately regulate the coordination between the grip force and the vertical lifting force by utilizing the frictional information from the tactile display.抄録全体を表示PDF形式でダウンロード (5059K) -
山川 聡子, 藤本 英雄2004 年 40 巻 2 号 p. 172-179
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーIn many cases, the scaling method and its scaling ratio in a master-slave system are selected only according to the mechanical or physical characteristics of the system. However, if the human abilities are ignored in scaling methods, the range of the displayed information may be unsuitable for the perception abilities of operators and they may miss important information. In this paper, a scaling method is proposed based on human abilities of perception such as differential limen and magnitude estimation. We derive the necessary conditions for the scaling method so that operators can perceive the changes of stimuli generated at the slave side and can feel the same change rate of stimuli as the rate of practical stimuli observed at the slave side. These necessary conditions are derived under the assumptions that Weber's law and Stevens's law, which are famous laws in the field of psychology, are satisfied. The abilities of perceiving force at fingertips are measured and the measurement results confirm these assumptions. The proposed scaling method is examined by using the measurement data.抄録全体を表示PDF形式でダウンロード (2730K) -
Jong-Hae KIM, Soichiro HAYAKAWA, Tatsuya SUZUKI, Kazuaki HIRANA, Yoshi ...2004 年 40 巻 2 号 p. 180-188
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper develops a new framework to understand the human driving behavior based on the expression as a Hybrid Dynamical System (HDS) focusing on the driver's stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides three three-dimensional visual information. In our modeling, the relationship between the measured information such as distance to the stop line, its first and second derivatives and the braking amount are expressed by the Piece-Wise Polynomial System (PWPS) model, which is a class of HDS. The key idea to solve the identification problem is to formulate the problem as the Mixed Integer Linear Programming (MILP) with replacing the switching conditions by binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control law’ according to the distance to the stop line. Our proposed approach enables us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driving behavior.抄録全体を表示PDF形式でダウンロード (3490K) -
松丸 隆文, 工藤 新之介, 遠藤 久嗣, 伊藤 友孝2004 年 40 巻 2 号 p. 189-198
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper examines the preliminary-announcement and display function of human-friendly robot's following action and intention, especially about the direction of motion and the speed of motion for mobile robot which moves on a 2-dimentional plane. We proposed 2 types of methods: the method indicating a state just after the moment (lamp and party-blowouts) and the method displaying from the present to some future time continouously (beam-of-light and projector). Simulation system has been developed to confirm the effectiveness of the preliminary-announcement and display. Effctiveness can be evaluated by the mobile robot chasing. The mobile robot moves about at a random speed in a random direction. Subject person moves the operation robot by using joystick with looking at the preliminary-announcement on the mobile robot. So the method to display (lamp/blowout/beam) and the timing to announce (0.5-3.0 [s] before the actual motion of the robot) are evaluated numerically with the position/direction gap. The data is processed not only as the average and the standard deviation but also with the two-way ANOVA and t-screening. It was examined on a translation and a rotation separately and then on a 2-dimentional plane.
We have found that the method displaying from the present to some future time continuously (beam) is easy to understand. But some amount of length of the displayed path in necessary, which means an appropriate timing depending on conditions. The optimal timing for indicating a state is almost 1.0-1.5 [s] before. If the time difference is too much long, the position/direction gap become large due to the poor memory and the operational mistake. If that is too short the operation will be late owing to the reaction delay. Moreover it seems that human being tends to understand some information with a transforming object than with a changing-color object, and continuous changing is easier to understand than distributed changing.抄録全体を表示PDF形式でダウンロード (7315K) -
Yutaka UCHIMURA, Nobuyuki YAMASAKI, Takahiro YAKOH, Kouhei OHNISHI2004 年 40 巻 2 号 p. 199-206
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper presents a new network device named Responsive Processor, plus its message handler, which is a basic protocol for the device. These are designed for a real-time control application such as a robot control. By using the Responsive Processor and message handler, we developed a bilateral robot system that transfers haptic impression over the network.
First, we describe the network system requirements from the view of real-time control. Then, we introduce the main features and functions of the Responsive Processor. Implementation of the message handler, which is designed to maintain real-time performance, is described in detail. Benchmarks for using the message handler with the Responsive Processor are also shown.
We also introduce a bilateral robot system, which transfers haptic impression over the network by the Responsive Processor. The robot manipulator is equipped with a newly devised transmission system, which is free from static friction. The experimental results conducted on the bilateral robot system verified real-time performance of the entire system.抄録全体を表示PDF形式でダウンロード (5198K) -
山本 知仁, 藤井 倫雅, 三宅 美博2004 年 40 巻 2 号 p. 207-209
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーIn this study, to investigate the mechanism of interaction between a player and a listener, we measured the performance and respiration of a player and the handclap and respiration of a listener. The results suggested that synchronization between music rhythm and handclap rhythm and synchronization between both respiration rhythms were changed by tempo structure of music. From the results, we proposed the new model that consisted of double control loop.抄録全体を表示PDF形式でダウンロード (542K) -
榎本 隆二, 都築 卓有規, 島 公脩2004 年 40 巻 2 号 p. 210-219
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーFor a given gradient-like Morse-Smale controlled (GLMSC) system with a certain kind of symmetry, we show the design procedure of an isotopy of feedback control laws for obtaining a GLMSC system with another topological structure. We discuss the transition process between GLMSC systems with the given Morse indices for hyperbolic singular points by using the theory of transition matrix in the Conley index theory, specify the design policy of the isotopy and apply it to an example of a single pendulum system with an input torque.抄録全体を表示PDF形式でダウンロード (2113K) -
太田 快人, 国武 隆2004 年 40 巻 2 号 p. 220-228
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper studies the L2 gain analysis problem of linear parameter varying systems. The primal/dual framework is exploited, and the duality theorem for an abstract linear programming problem with constraints described by an unbounded operator is established. If the system matrices are smooth in the scheduling parameter, the dual variables can be chosen from a separable space. This allows finite dimensional approximation without duality gap. Furthermore, when the system matrices are piecewise affine in the scheduling parameter, the problem can be cast as finite-dimensional LMI optimization problems.抄録全体を表示PDF形式でダウンロード (1680K) -
山本 直樹, 津村 幸治, 原 辰次2004 年 40 巻 2 号 p. 229-238
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーIn this paper we propose a framework to handle controlled quantum dynamics, which is represented as a matrix form. The objective of this paper is to derive a corresponding vector form to which many results of the standard control theory can be applied. To this end, we introduce some tools to transform the dynamics. These tools do not only play a fundamental role in the transformation, but also are considered to provide effective calculations for future work including system analysis.抄録全体を表示PDF形式でダウンロード (1924K) -
受動性に基づく手法の拡張池田 裕一, 木田 隆, 長塩 知之2004 年 40 巻 2 号 p. 239-246
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーIn this paper, we consider attitude control of flexible spacecraft via passivity-based control method. Although passivity-based control is known as one of the promising control methods for flexible spacecraft, it has the limitation in the control performance since the control law is static output feedback with scalar gain. Therefore, we extend it to the control law having matrix gains, in order to facilitate fine-tuning capability for control performance. Based on the results, we further extend it to the dynamic controller without velocity measurement. Effectiveness of the control methods is verified by simulations.抄録全体を表示PDF形式でダウンロード (3038K) -
小木曽 公尚, 平田 研二2004 年 40 巻 2 号 p. 247-256
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a reference management technique for closed-loop systems with state and control constraints. The management rule is represented in the form of a piecewise state affine function obtained from an explicit solution to a multi-parametric quadratic programming problem, which explicitly considers not only a constraint fulfillment but also a tracking performance. Therefore, it can be realized that successive and optimal management of a given constant reference is online. However, as our approach theoretically has no robustness for modeling errors and noises, we performe its experimental validation using a real position servomechanism and show results of the effectiveness and practicability. Additionally, from the aspect of its implementation we also illustrate the experimental responses in the case that each sampling time of the local closed loop system and our reference governor is different, and state an issue about a reference governor in the future.抄録全体を表示PDF形式でダウンロード (2851K) -
川村 洋平, 氏平 増之, 青島 伸治, 伊藤 史人, アクメトフ ダウレンＦ．2004 年 40 巻 2 号 p. 257-266
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーA diesel engine with a misfiring cylinder is likely to break down in a short time when the engine is used without maintenance. The authors have developed a method of detecting the occurrence of cylinder misfiring and specifying the misfiring cylinder by using wavelet analysis and statistical analysis on the r.m.s. values of two kinds of acceleration waveforms. This detection method is considered superior to traditional methods, which require several accelerometers, especially in terms of simplicity. Since the devolopment of the method, research has been conducted on semi-automatic processing of measured signals and signal transmission from the worksite to a remote office. Field tests confirmed that 1×105 points of dynamic data could be transmitted through the mobile multimedia network within 15min, and the time for signal processing was within 15min. Final determination on the condition of a diesel engine in heavy machinery could be achieved within 30min. Shortened processing time is expected by improvement of the processing software.抄録全体を表示PDF形式でダウンロード (5466K) -
森田 和元, 関根 道昭, 益子 仁一, 岡田 竹雄2004 年 40 巻 2 号 p. 267-274
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーGenerally, when a driver looks at an in-vehicle display device, the driver will often repeatedly look at the display device for short durations while glancing back at the road for safety rather than look once for a long time. In this study, authors investigated the influence of driving load on the characteristics of information acquisition method by having 11 subjects drive a passenger car while they repeatedly read display information on a test course. The results indicate that while driving a car in a leeway condition the psychological load during the time not looking at the display device (i.e. the time between repeated readings) does not greatly disturb the information acquisition performance.抄録全体を表示PDF形式でダウンロード (2910K) -
佐藤 和也, 三島 義雄, 鶴田 和寛, 村田 健一2004 年 40 巻 2 号 p. 275-277
発行日: 2004/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper concerns with an adaptive friction compensation method based on notion of H∞ optimality. An adaptive Neural-Network (NN) based controller is given, where the NN is used to parameterize the nonlinear characteristic function of the dynamic LuGre model. An approximation error in NN is regarded as exogenous disturbance to the system. Consequently, in the resulting control system, the L2 gains from the disturbance to generalized outputs are made less than prescribed positive constants. Experimental results are shown to illustrate the effectiveness of our proposed method.抄録全体を表示PDF形式でダウンロード (1066K)
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