巻号一覧
41 巻, 8 号
選択された号の論文の12件中1～12を表示しています
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森田 康之, 新川 和夫, 東藤 貢2005 年 41 巻 8 号 p. 625-629
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーThe thermal deformations of electronic package, Stacked-MCP (Multi Chip Package), were measured by phase-shifting moiré interferometry. This technique was developed using a wedged glass plate as a phase shifter to obtain the displacement fields with the sensitivity of 30nm/line. Digital image processing was also introduced to determine the thermal strain distributions quantitatively in the whole observation areas. Thermal loading was applied from room temperature 25°C to two states of elevated temperature 75°C and 100°C. The thermal strains were then investigated with the two states. The results showed that the normal strains concentrated around the two silicon chips. And concentration of the shear strain occurred at the end of the lower chip.抄録全体を表示PDF形式でダウンロード (3335K) -
金子 真, 溝井 敏幸, 石井 抱2005 年 41 巻 8 号 p. 630-636
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーThis paper discusses the way for estimating a dynamic contact force between a flexible beam and an environment by utilizing a high speed vision with an official frame rate of 1[kHz]. We utilize the equation of motion of flexible beam while a force is given at the end of the beam. The contact force can be estimated by solving the inverse problem where the contact force is estimated by measuring the shape of the beam by a high speed vision. We show that the contact force can be evaluated by knowing both the fixed point at base and another point on the beam. By utilizing the developed system, we also confirmed the basic idea experimentally.抄録全体を表示PDF形式でダウンロード (3073K) -
Mohammad Abdul MANNAN, Toshiaki MURATA, Junji TAMURA, Takeshi TSUCHIYA2005 年 41 巻 8 号 p. 637-644
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, a new self-tuning proportional and integral (PI) controller based on fuzzy logic is proposed to improve the performance of conventional PI speed control of induction motor (IM) taking core loss into account. A new parameterization technique to tune the proportional and integral gains of PI controller is adopted by using a single parameter (h) from the knowledge of pole placement technique. To tune the parameter h depending on the operating points, a simple fuzzy logic system is designed where only one input, one output variables, three membership functions for each input-output variable, and three fuzzy rules are used. Since the poles of PI speed controller are placed in negative real values by using the proposed parameterization technique, the speed controller always works in stable region. Moreover, the overshoot and steady state error problems are also overcome by changing of h based on the proposed fuzzy system under the variations of load torque and parameters. The performance of proposed fuzzy-logic-based self-tuning PI controller has been demonstrated through the simulations. The simulation results confirm that the excellent desired speed is achieved against the variations of load torque and parameters without any overshoot and steady state error by using the proposed system.抄録全体を表示PDF形式でダウンロード (1549K) -
提案する2種類のマルチレート制御系の比較検討藤本 博志, 川上 文宏, 近藤 正示2005 年 41 巻 8 号 p. 645-651
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, two multirate repetitive controllers with switching schemes are proposed, namely, repetitive intersample disturbance rejection (RIDR) and repetitive perfect tracking control (RPTC). First, in order to develop RIDR, multirate intersample disturbance rejection algorithm is reviewed which was proposed by authors for general digital control systems with restricted sampling frequency. Second, RPTC method is proposed to reduce the computation cost for system with many disturbance modes, in which the multirate control is introduced to overcome unstable zero problem of discrete-time plant. Third, both for RIDR and RPTC, the novel scheme of repetitive feedforward control is proposed based on switching mechanism, which enables the rejection of periodic disturbance without any sacrifice of the closed-loop characteristics. Finally, the proposed methods are applied to high-order repeatable runout (RRO) rejection problem of hard disk drive (HDD). The advantages and disadvantages of these approaches are demonstrated through simullations and experiments both for the single-mode and multiple-mode disturbance models.抄録全体を表示PDF形式でダウンロード (1860K) -
伊藤 正英, 戸田 尚宏2005 年 41 巻 8 号 p. 652-659
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we present a motion planning method for a certain class of underactuated manipulators, in which avoidance for singular points of the feedback linearization is achieved by the optimal control. Manipulators with a last joint which is unactuated and revolute are subject to second-order nonholonomic constraints. Applying the feedback linearization to them, the motion has been planned by employing a polynomial interpolation. However, there may exist singular points of the transformation in the planned trajectory. We design a performance index involving penalty terms that prevent the state of the system from singular points themselves or approaching to them. Numerical examples are given to show the validity of the proposed method.抄録全体を表示PDF形式でダウンロード (1800K) -
平田 研二, 太田 快人2005 年 41 巻 8 号 p. 660-667
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with obtaining necessary and sufficient conditions for fulfilling specified state and control pointwise-in-time constraints of systems with unknown but norm bounded uncertainties. The results are generalizations of the maximal output admissible set theory to the case of a certain class of uncertain systems. The uncertain systems investigated in this paper are written in terms of linear fractional transformations of nom-final dynamics and admissible perturbations. A set of admissible perturbations consists of stable, time varying memoryless and possibly nonlinear operators. This paper proves that a finite characterization of the maximal output admissible set is possible.抄録全体を表示PDF形式でダウンロード (1522K) -
Akarawit LIMPIYAMITR, 太田 快人2005 年 41 巻 8 号 p. 668-675
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーThe concept of positive invariance is involved in several problems in control theory, such as constrained control, disturbance rejection and robustness analysis. This paper considers the two types of positively invariant set, so called maximal output admissible set and reachable set, determined for linear continuous-time systems. There are two main contributions provided: the first result is to clarify the duality relations between maximal output admissible sets and reachable sets. The second issue is to show that the aforementioned positively invariant sets for linear continuous-time system are included in those for the corresponding Euler approximated discrete-time systems and those for the modified sampled models. The inclusions hold monotonically in the case of discrete-time systems, discretized by different sampling periods. Furthermore, the volume of approximated positively invariant set is recovered at any accuracy as sampling period is decreased.抄録全体を表示PDF形式でダウンロード (1871K) -
水野 毅, 村下 正人, 高崎 正也, 石野 裕二2005 年 41 巻 8 号 p. 676-684
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーThis paper investigates the applicability of pneumatic actuator to active vibration isolation system using negative stiffness. First, a control method of realizing negative stiffness with an pneumatic actuator is derived based on a single-degree-of-freedom model. Its efficacy is verified in a fabricated single-axis apparatus. Then a zero-compliance mechanism is realized by connecting a suspension with negative stiffness and a suspension with positive stiffness; both the suspensions use fabricated pneumatic actuators. Next, such zero-compliance mechanism was also achieved in a developed three-axis active vibration isolation system using the pneumatic actuators. The dynamic characteristics of the system to direct disturbance were estimated experimentally.抄録全体を表示PDF形式でダウンロード (3582K) -
曲谷 一成, 金子 裕紀, 原田 哲也, 平原 義朗, 簗島 謙次2005 年 41 巻 8 号 p. 685-691
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーThere are approximately 300, 000 visually impaired persons in Japan. Most of them are old and cannot make appropriate use of their white cane. Therefore, it is imperative to develop some instruments that support the independent activities of the visually impaired.
In this paper, we will discuss an instrument developed by us, which enables the visually impaired to walk independently in an indoor space. This instrument consists of a map information system and a navigation system. Optical beacons and a receiver for these beacons are used in the map information system. The optical beacons are set on the ceiling and emit the position code as an infrared signal. The receiver receives this signal from the beacons and notifies map information to the user by a pre-recorded voice. This navigation system can follow a colored guideline that is set on the floor. In this system, a color sensor installed on a white cane senses the colored guideline, and by vibration, the system informs the visually impaired that he/she is walking along the guideline.
Three normal subjects and two low-vision subjects who were blindfolded with an eye mask were tested with this system. All of them were able to walk along the guideline. The performance of the map information system was good. Therefore, we have concluded that our system will be extremely valuable in supporting the activities of the visually impaired.抄録全体を表示PDF形式でダウンロード (4785K) -
伊藤 雅紀, 河本 満, 大西 昇, 向井 利春2005 年 41 巻 8 号 p. 692-701
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a method for separating the mixture of moving sound sources. When sources move, mixing matrix varies and its variation is dependent on the delay from a source to microphones. When the variation of the deley is large, it is hard to solve blind separation of moving sources. Therefore, in order to eliminate the delay between microphones, directional microphones are used and they are placed at the same point toward different directions. As a result of experiments in the real environment, the proposed method could lessen the drop of the performance which was caused by the movement of sources.抄録全体を表示PDF形式でダウンロード (2673K) -
小林 洋平, 三宅 美博2005 年 41 巻 8 号 p. 702-711
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーIt is difficult problem to make a human like ensemble system. In this research, we analyzed the rhythm interaction between performers by measure the hutting time and hitting cycle of keyboard performance. From the analysis, we discovered importance of two effects, which are hitting lag and hitting lag variation between performers. We modeled its dynamics by non-linear phase oscillator, which has two kinds of interaction mechanism, which represents the effect from hitting lag and the effect from hitting lag variation. We evaluated this system with human performer and discovered that the coupling constant of each model determine the dynamics of performance and the balance of these two interactions is important to realize human like ensemble. Finally we show the best parameters of the models and realize human like ensemble system.抄録全体を表示PDF形式でダウンロード (3196K) -
不破 勝彦, 神藤 久2005 年 41 巻 8 号 p. 712-714
発行日: 2005/08/31
公開日: 2009/03/27
ジャーナル フリーIn initial value compensation for model switching controller, zeros of the transfer function which are a representation of zero-input dynamic behavior at mode switching are relocated. In this note, a class of these assignable zeros is shown.抄録全体を表示PDF形式でダウンロード (460K)
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