巻号一覧
41 巻, 10 号
選択された号の論文の13件中1～13を表示しています
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関森 大介, 宮崎 文夫2005 年 41 巻 10 号 p. 775-782
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, in order to realize an accurate localization for mobile robots, we propose a dead-reckoning system based on increments of the robot movements read directly from the floor using optical mouse sensors. The movements of two axes are measurable with an optical mouse sensor. Therefore, in order to calculate a robot's deviation of position and orientation, it is necessary to attach two optical mouse sensors in the robot. However, it is also assumed that a sensor cannot read the movements correctly due to the condition of the floor, the shaking of the robot, etc. To solve this problem, we arrange multiple optical mouse sensors around the robot and compare sensor values. By selecting reliable sensor values, accurate dead-reckoning is realized. Finally, we verify the effectiveness of this algorithm through several experiments with an actual robot.抄録全体を表示PDF形式でダウンロード (2537K) -
近藤 博, 木村 修一, 本間 重雄2005 年 41 巻 10 号 p. 783-786
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーGenerally, dynamic response of load cells are studied through a theory of vibration by identifying the loading portion with a mass (m) and the perceive portion with a spring (k). It has been pointed out consequently that output value of the cell becomes excessive due to sympathetic (resonance) phenomena when frequency of the input load becomes larger. Hereupon, dynamic response of test cell, modeled in a cylindrical perceive cell, was examined by numerical simulations which apply an impedance method founded on knocking test and wave theory. From the investigations, it was revealed that the dynamic response of load cell can be expressed by a model on primary decay system, and the magnitude of load should be underestimated as the frequency of input load becomes larger. These results are contrary to the usual common sense.抄録全体を表示PDF形式でダウンロード (1081K) -
岡田 徳次, 黒崎 賢一, バーンズ カーステン, ディルマン ルディガー2005 年 41 巻 10 号 p. 787-796
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーThis paper describes measurement of resultant acceleration of motion and gravity in 3D space based on sensing a metallic ball position on elastic layer located at inside of a spherical shell. Construction of different types of elastic layers by silicon rubber is introduced and their displacements against pressure are calculated by using the Hertz' law. Since the resultant acceleration makes the ball roll toward the direction to find a balanced position in the shell, center position of the metallic ball is the target to be pursued. The elastic layer is concentric to the shell and liable to distort so that three proximity sensors of high-frequency oscillation type can detect ball sink against pressure. We show measurement principle of extracting the acceleration by using characteristics of the sink versus pressure. Experimental results are shown and compared among various rubbers to have the most appropriate design of the sensor. These data are important for making specifications of the spherical acceleration sensor. We got practical data such that amount error less than -0.032∼+0.097[m/s2]; angular error less than 7.4[deg]; insensible range less than ±4.9[deg] with almost no vibration.抄録全体を表示PDF形式でダウンロード (4827K) -
〓 錦華, 大山 恭弘, 小林 裕之, 忻 欣2005 年 41 巻 10 号 p. 797-802
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents a new method of improving the disturbance rejection performance of a servo system by estimating an equivalent input disturbance. First, the concept of equivalent input disturbance is defined. Next, the configuration of an improved servo system employing the new disturbance estimation method is described. Then, a method of designing a control law employing the disturbance estimate is explained. Finally, the positioning control of a two-finger robot hand is used to demonstrate the validity of the method.抄録全体を表示PDF形式でダウンロード (1777K) -
畑中 健志, 鷹羽 浄嗣2005 年 41 巻 10 号 p. 803-812
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーThis paper develops a new reference management algorithm for constrained nonlinear systems with unmeasurable states. Instead of the state itself, the present method utilizes an ellipsoidal region in which the state is guaranteed to lie. Such a region can be obtained by using the set-valued observer due to Scholte and Campbell. The present method requires a solution of the optimization problem which may not be solved effectively. For ease of implementation, we introduce a relaxed problem which is always efficiently solvable. When neither noise nor disturbance are present and the reference is constant, we show sufficient conditions for the modified reference to be settled to the reference in a finite time, and consequently for the convergence of the state to the desired equilibrium. In the presence of noise and/or disturbance, we derive somewhat conservative conditions for the finite-time settling of the modified reference to the original one and for the convergence of the state to the neighborhood of the equilibrium. The effectiveness of the present method is demonstrated by a numerical example.抄録全体を表示PDF形式でダウンロード (1925K) -
下田 真吾, 久保田 孝, 中谷 一郎2005 年 41 巻 10 号 p. 813-820
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーAttitude of satellites can be controlled by using two reaction wheels. Since the dynamic constraint of attitude of a satellite with two wheels is non-holonimic, a maneuver path gives a lot of influence on attitude. In many cases, there exist prohibited directions that satellites must not point to due to the constraints of optical sensors directions etc. In these cases, the maneuver path planning and the feedback control are essential for the attitude maneuver using two reaction wheels. This paper proposes an control scheme for satellites considering maneuver path bu using two reaction wheels. In the proposed scheme, attitude of a satellite is projected on a unit spherical surface and a maneuver path is planned on the spherical surface. A feedback controller is designed using an area between a planned path and an actual path. The validity and effectiveness of the proposed method are shown by simulation results.抄録全体を表示PDF形式でダウンロード (2287K) -
西田 豪, 山北 昌毅2005 年 41 巻 10 号 p. 821-828
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, a structure decomposition of disturbances for distributed parameter port-Hamiltonian systems is presented. The distributed parameter port-Hamiltonian system is defined by a Stokes-Dirac structure. The Stokes-Dirac structure has been extended to a structure of the distributed energy that is exchanged on the internal domain besides the supplied energy through the boundary. On the other hand, if the system exists on a contractible region: in other words, it has the same homotopy type as a one point, then the de Rham cohomology of contractible manifolds is trivial. Then any differential form on a contractible region can be decomposed into an exact form and a dual exact form. As a result, these forms correspond to the boundary energy structure and the distributed energy structure, respectively. First, we show that any disturbance can be decomposed into a boundary energy structure and a distributed energy structure. Next, the system representation is given through the decomposition. Finally, one physical example is presented.抄録全体を表示PDF形式でダウンロード (2080K) -
水本 郁朗, 道野 隆二, 公文 誠, 岩井 善太2005 年 41 巻 10 号 p. 829-837
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we will propose a design method for an adaptive controller for uncertain linear systems. Even when the controlled system has a higher order relative degree, the proposed method allows us to design an adaptive controller through a backstepping strategy of only one step. This method is useful in the case where only the output signal is available.抄録全体を表示PDF形式でダウンロード (1562K) -
呉 守利, 渡部 慶二, 村松 鋭一, 有我 祐一, 遠藤 茂2005 年 41 巻 10 号 p. 838-845
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーThis paper enlarges the stability range of time-delay control systems with delay mismatch. First, various time-delay control systems are described as a canonical form on the basis of internal model parametrization of controller. Second, The mechanism of narrow stability range for delay mismatch is clarified for the canonical system. It is shown that the 1-order Padé approximation of delay is necessary for removing the defect and enlargement of the stability range. The sufficient conditions are derived for enlargement of robust stability range. The design method of the controller is proposed on the basis of the conditions. Third, it is clarified that the 1-order Padé approximations of delay in predictor and in the controlled system yield to the same structure about robust stability and the proposed method is less conservative than the conventional robust control. Finally, the numerical examples illustrate that the stability range can be enlarged considerably.抄録全体を表示PDF形式でダウンロード (1942K) -
浅井 徹2005 年 41 巻 10 号 p. 846-855
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a general synthesis framework to attenuate disturbance responses which are caused due to switching. The objective function to be minimized is the worst-case L2 gain from the past disturbance to the future output. Moreover, we formulate the problem in a general manner so that controller switching is a special case. The compensation is composed by feedforward control inputs in addition to state assignment. A necessary and sufficient condition for synthesis is given in terms of LMIs. It follows that solutions can be obtained efficiently. The effectiveness of the proposed method is examined by using an example.抄録全体を表示PDF形式でダウンロード (2045K) -
Snakeboardと剛体システムへの応用成清 辰生, 三佐尾 和呂, 松田 淳2005 年 41 巻 10 号 p. 856-865
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーIn this paper feedback control problems of two types of the underactuated mechanical systems are addressed. One of these underactuated systems is snakeboard. The snakeboard is shown to be kinematically controllable. Since kinematically controllable implies small time locally configuration controllable (STLCC), the snakeboard is also STLCC. The other type of the underactuated mechanical system is rigid body. Hovercraft, underwater vehcle and spacecraft are examples of the rigid bodies. The rigid bodies are also shown to be kinematically controllable and STLCC. However, untill now for these systems feedback control problem of steering from a given configuration at rest to a desired configuration at rest has not been achieved completely. We propose an explicit feedback solution to this problem and illustrate the control strategies with application to the snakeboard, hovercraft and spacecraft. Several simulations show the validity of the proposed control strategies.抄録全体を表示PDF形式でダウンロード (2894K) -
栗塚 義人, 三宅 美博, 小林 洋平2005 年 41 巻 10 号 p. 866-875
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーMutual adaptation process in musical communication is often used for walking support, but this kind of supporting system has not been realized yet. The purpose of this research is to construct walking support system using a musical communication process. Our strategy is to extend Walk-Mate system, which realizes mutual adaptation process between human and virtual walker by exchanging step sound. We replaced this step sound to the music performance and showed the effectiveness in the experiment of walking support. The stability of gate cycle was improved in the both music performance condition and step sound condition. But in the music condition, the improvement of stability remained after the support walking. And the spectrum of gate cycle became similar to that of normal walking under the music condition. These results suggest the effectiveness of this proposed system for a walking support.抄録全体を表示PDF形式でダウンロード (4547K) -
小塚 智之, 山本 茂2005 年 41 巻 10 号 p. 876-878
発行日: 2005/10/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we consider a control problem for a linear plant which is controlled thorough a communication network. Montestruque and Antsaklis (2003) derived a necessary and sufficient condition for stability as a simple eigenvalue test in terms of the update time, the parameters of the plant and the model. We extend their result limited to state feedback to an output feedback controller and a simpler controller structure as well.抄録全体を表示PDF形式でダウンロード (426K)
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