巻号一覧
40 巻, 5 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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田中 正吾, 中山 正行2004 年 40 巻 5 号 p. 481-486
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThe authors previously developed an accurate pipe length measurement system based on a dynamic system theory applied to the stationary waves in the pipe. In manufacturing fields, however, the system can not always be directly applied to the pipes with open ends, because extremely large noises outside the pipes invade into the pipes and cause successive phase shifts in the stationary waves.
The paper proposes a method which realizes an accurate pipe length measurement under such a noisy environment by selecting an optimal data window and also the optimal modes.抄録全体を表示PDF形式でダウンロード (904K) -
川原 知洋, 徳田 寛一, 金子 真2004 年 40 巻 5 号 p. 487-492
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes the co-axis non-contact impedance sensor composed of a laser displacement sensor and air force supply nozzle whose axes are coincident with each other, while conventional sensors have some intersection angle between two. One of key components is the high-speed solenoid valve, by which we can achieve the response of 1[msec] standing-up time. Utilization of such a high-speed valve enables us with the reference valve instead of measured one for force. The experimental results show nice coincidence between both experiments and estimations. Finally, we apply impedance estimation to foods for confirming the effectiveness of the proposed sensor.抄録全体を表示PDF形式でダウンロード (3320K) -
山川 雄司, 井出 裕, 野田 善之, 山崎 敬則, 神村 一幸, 黒須 茂2004 年 40 巻 5 号 p. 493-501
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper concerns a new design method of robust controllers which achieve robust stability as well as adequate disturbance rejection and tracking performance. In a previous paper, the robust PID controller has been designed for a plant which was commonly approximated by a first-order lag plus deadtime system. The PID parameters obtained by solving a two-disk type mixed sensitivity problem have been modified by contrast to those tuned by the traditional Ziegler-Nichols rule. The previous results showed that the proposed PID controller was effective enough for practical applications. In this paper we redesign a robust controller for the same plant with changes in characteristics of the plant through H∞ control theory. A practical and systematic design method for the H∞ compensator is proposed. This paper demonstrates a practical applicability of the H∞ compensator to a typical plant in process industries comparing with the control performance obtained by the robust PID controller.抄録全体を表示PDF形式でダウンロード (1914K) -
鈴木 秀俊, 坂本 登2004 年 40 巻 5 号 p. 502-508
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーIn this paper an angular velocity observer for the motion of n-dimensional rigid body is proposed. To describe the motion of rigid body, the Hamiltonian formulation is employed and no local coordinate is specified on Lie group SO(n). Based on this approach, it is possible to focus on the intrinsic property of the system such as energy dissipation and to show closed-loop stability, a separation principle, which has been conjectured but not yet been shown.抄録全体を表示PDF形式でダウンロード (1514K) -
森田 晋, 大塚 敏之2004 年 40 巻 5 号 p. 509-517
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents a simple method to generate a gait tragectory of a compass type biped walking model. The method relies on the symmetric characteristics in the dynamics of the model. The motion genertated by this method resembles that of Passive Dynamic Walking phenomenon, as the motion consists of a free motion phase and an impact event taking place one after another. The two differs in the point that the method is constructed against a level surface, while Passive Dynamic Walking occurs on a shallow slope. The method will be introduced through a brief discussion on the dynamical property of the model, followed by a simulation example.抄録全体を表示PDF形式でダウンロード (3433K) -
長瀬 賢二, 中島 明, 早川 義一, 傍嶋 幸之助2004 年 40 巻 5 号 p. 518-527
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper considers grasping and manipulation of an object by two-fingered robot hand with soft finger-tips. Each finger has two degrees of freedom, and the motion of the object is assumed to be in a plane. We first provide a formulation of the soft finger-tips, and derive the equations of motion of the whole system. For the system, we propose a method to regulate the motion of the object and the internal force with the information of the hand, the finger-tips and the object. We also consider the case where the information concerning the finger-tips and the object is replaced by its estimates from the information of the hand. In this case, we show that the motion of the object and the internal force is converged with some steady-state error caused by the estimation error. Numerical simulations and experiments are shown to prove the efficiency.抄録全体を表示PDF形式でダウンロード (2660K) -
田中 刈入, 小口 俊樹, 川田 誠一2004 年 40 巻 5 号 p. 528-535
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThe present paper considers a sliding mode control (SMC) of retarded nonlinear systems in the presence of perturbations. First we propose a new SMC scheme for multivariable retarded nonlinear systems. Secondly we consider the effect of uncertainties and disturbances under the proposed controller and derive a matching condition on perturbations by means of the equivalent control approach. Thirdly we derive a stable condition of the sliding motion of systems with more general perturbations by using Lyapunov-Razumikhin function approach and show a design procedure of the sliding surface satisfying the condition. Effectiveness of the proposed method is tested by an illustrative example.抄録全体を表示PDF形式でダウンロード (1882K) -
新中 新二2004 年 40 巻 5 号 p. 536-545
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new sensorless vector control method for salient-pole permanent magnet synchronous motor. The proposed method is directly based on a new principle called as the “mirror-phase characteristics” and can have the following attractive features and high-performance. 1) It is insensitive to all of motor parameters such as stator resistance, stator inductance and rotor magnet flux. 2) It is also insensitive to saturation phenomena of stator flux. 3) It is so simple that it can be implemented with no additional hardware. 4) It can allow 250% rated torque at standstill, under which strong flux saturation usually occurs. 5) It can allow very low speed control. The observed minimum speed ratio to the rated speed under the rated motoring or regenerating load is 1/1800. 6) Notwithstanding the very low speed performance, it can operate up to the rated speed. 7) It accepts instant injection of the rated load even for zero-speed control, 8) It accommodates a load with huge moment of inertia. The high performance and usefulness of the newly proposed “mirror-phase vector control” method are verified through extensive experiments.抄録全体を表示PDF形式でダウンロード (6461K) -
石田 大二郎, 中山 雄一郎, 嶋 誠司, 川村 貞夫2004 年 40 巻 5 号 p. 546-553
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーA wearable force display system using laminated passive elements is proposed in this paper. The laminated passive elements for wearable systems have already developed [4]. However, the performance of the elements is not clear when these are utilized as elements of a force display. In this paper, the force display ability in the case that a human operator touches an object in virtual world is investigated at first. At second, to wear the force display system a method without using an exoskeleton structure is proposed basing on measurement data of the stiffness on human skins. Finally, a partial wearable system in which only sensors and passive elements are wearable and a perfect wearable system are developed based on the proposed methods. From the experimental results, it is confirmed that the total weights and volumes of the developed force displays are enough small and the developed wearable systems can be effectively utilized for a force display if the human motion is considerably slow.抄録全体を表示PDF形式でダウンロード (4848K) -
武藤 剛, 三宅 美博2004 年 40 巻 5 号 p. 554-562
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーAt welfare facilities, a therapist and elderly person are able to realize a suitable walk support relation through a cooperative walk. We have called the mutual adaptation process on walk support "Co-emergence process", and have preceded the walk support machine based on this process. In this paper, we analyzed the Co-emergence process of the cooperative walk between humans as a model. As a result, we found two kinds of characteristic control processes for it. One is the process to control the leg's motions, which relate the rhythm generation mechanisms on the spinal nerves. It was clarified that this process realizes the entrainment between the footstep rhythms of the subjects. The other is the control process of the footsteps' coherence between the subjects, which relate the mutual relation between the motion of arm and leg. Additionally it became clear that the process is connected with the attention mechanism of the high level function of the brain and synchronize their timing between the subjects on 10 to 30 second time scales. Thus these results suggest that the Co-emergence processes of the cooperative walks are realized by the two kinds of control processes that are based on the existence of the attention, and realize the Co-emergence of the suitable cooperative walk.抄録全体を表示PDF形式でダウンロード (3349K) -
山本 知仁, 三宅 美博2004 年 40 巻 5 号 p. 563-572
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThere is a musical communication in a cooperative performance such as a jazz session or orchestra. Players develop relationship or new musical expression with the communication. Such the communication has been analyzed from two aspects. One is musical rhythm such as tempo, and the other is physiological rhythm such as respiration. In this study, we analyzed the relationship between two aspects at the same time to investigate the mechanism of musical communication. The results revealed that (a) the degree of synchronization of music had positive correlation to the time course of the difficulty of music score, and the degree of the synchronization of respiration had negative correlation to the time course of the difficulty, (b) there was a musical interaction between players, and new music tempo pattern emerged based on it, (c) the degree of synchronization between music and respiration had negative correlation to the time course of the difficulty of music score. To interpret these results, we hypothesized that players paid more attention in difficult music part, and proposed the new communication model that consisted of musical level, physiological level and attention level.抄録全体を表示PDF形式でダウンロード (2534K) -
西口 憲一, 吉河 章二2004 年 40 巻 5 号 p. 573-581
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーTo autonomously determine the attitude of a spacecraft by a star sensor without a rate sensor, it is necessary to detect and track stars even when the attitude change rate of the spacecraft, i.e., the body rate, is high. A high body rate causes a motion blur and decreases the signal-to-noise ratio (SNR) of stars, making stable detection of many stars difficult. In this paper, in order to overcome this difficulty we propose a star detection method using the recursive maximum filter (RMF). Though the RMF was originally proposed for the detection of small moving targets with low SNR from an IR image sequence, we show that it also works well for images from a star sensor. In a star sensor image, both bright and dim stars exist at the same time. In the proposed method, bright stars are detected and masked in each image as a preprocessing step. Then, by applying the RMF to the masked image sequence, the background noise is suppressed and dim stars are gradually enhanced, until at last they can be detected by thresholding. By using this method, the present upper limit of the body rate (1deg/s) for star tracking will be approximately doubled.抄録全体を表示PDF形式でダウンロード (5009K) -
西 竜志, 篠崎 竜一, 小西 正躬2004 年 40 巻 5 号 p. 582-589
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーA simultanenous optimization of planning among multi-companies has been widely required from the viewpoint of supply chain management. In a practical situation, a near optimal plan for supply chain planning of the multi-companies should be created by the negotiation and/or coordination among the companies without sharing the confidential information such as inventory costs, set up costs and due date penalties for each company. In this paper, we propose a framework of a distributed optimization of supply chain planning using an augmented Lagrangian decomposition and coordination method. The proposed method can derive a feasible solution without using the procedure of heuristic generation of feasibile solutions. From the computational experiments, it has been shown that the average gap between the solution derived by the proposed method and an optimal solution is within 1% of the peformance index even though only the local information is used to derive a solution for each company.抄録全体を表示PDF形式でダウンロード (1867K) -
八島 真人2004 年 40 巻 5 号 p. 590-598
発行日: 2004/05/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents randomized manipulation planning for re-orientation of an object in order to achieve dexterous manipulation by a robotic multi-fingered hand. A key issue is to develop an efficient algorithm to search for feasible trajectories of a manipulation system between two arbitrary grasps. The reasons for this are that aspects inherent in manipulation planning have high dimensional search spaces and complicated contact constraints. The present manipulation planning technique is based on the random generation of subgoals for object orientations and the connection between subgoals. The generation of a random orientation, which should take into account the physical features of a rigid body orientation in a three-dimensional space, is also discussed. Furthermore, simulation examples for manipulation planning are presented and discussed.抄録全体を表示PDF形式でダウンロード (2453K)
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