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Volume 42, Issue 10
Displaying 1-11 of 11 articles from this issue
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Makoto KANEKO, Roland KEMPF, Yuichi KURITA, Yoshichika IIDA, Idaku ISH ...2006 Volume 42 Issue 10 Pages 1093-1099
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSNon-contact tonometers, which apply an air jet to a human eye, are frequently used to measure the inner eye pressure. By augmenting the measurement system with a high speed camera, the displacement of the eye's surface caused by this air jet was monitored. The evaluation of the motion reveals two separate modes of the motion: the bending motion of the tip of the cornea and a movement of the whole cornea's surface. It was found that the second mode shows a strong correlation with the subject's age. It is thought to be a sign for the aging of the human eye.View full abstractDownload PDF (3824K) -
Akira OHMURO, Yuh YAMASHITA, Masasuke SHIMA2006 Volume 42 Issue 10 Pages 1100-1106
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a design method of adaptive observers for distributed parameter systems of parabolic type. For a distributed parameter system with unknown coefficients described by an evolution equation in Hilbert space, transformations of the state derives an input-output representation with filtered values. An adaptive law and a state observer are obtained, where the convergence of parameter error is evaluated by using the Lyapunov function. Under the assumption of persistency of excitation, parameter-error convergence to zero is guaranteed.View full abstractDownload PDF (1328K) -
Hiroaki YAMAGUCHI2006 Volume 42 Issue 10 Pages 1107-1116
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper introduces and describes a new type of wheeled locomotor which we refer to as a “four-steering, planar five-bar linkage-walker.” This wheeled locomotor is a nonholonomic mechanical system, and it consists of five links, five rotational joints, and four steering systems. The five links coupled by the five joints form a closed loop. The four steering systems are attached to four of the five links. Each of the four links has its own steering system at its middle point. The wheeled locomotor transforms the rotations of the five joints into its movement by using the four steering systems. This means that the wheeled locomotor makes undulatory locomotion in which it transforms the change of its internal shape into the generation of its net displacement. Especially, we assume a virtual joint at one of the ends of the first link. The virtual joint couples the first link and a virtual link which has a virtual axle at its middle point and which has a virtual steering system at its tip. We prove that, by assuming such virtual mechanical elements, it is possible to convert the kinematical equation of the wheeled locomotor into five-chain, single-generator chained form in differential geometry. Based on chained form, we derive a path following feedback control method which makes the wheeled locomotor follow a straight line. The validity of the mechanical design of the wheeled locomotor, the transformation of its kinematical equation into chained form, and the path following feedback control method is verified by computer simulations.View full abstractDownload PDF (2168K) -
Chiharu SAKAI, Takashi TERASAWA, Akira SANO2006 Volume 42 Issue 10 Pages 1117-1125
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a simple mathematical model of MR damper with a small number of model parameters, which can express its hysteresis effect of nonlinear dynamic friction mechanism of the MR fluid. The adaptive identification algorithm is also proposed in which the uncertain model parameters and internal state variable can be estimated in an online manner. The proposed model has an advantage that by using its inverse model the necessary input voltage to the MR damper can be analytically determined so that the desirable damper force calculated by bilinear H∞ controller is generated to suppress vibration of a structure in an adaptive manner. Experimental results validate the proposed adaptive modeling and control schemes in vibration isolation of four-story quake-absorbing structure.View full abstractDownload PDF (2963K) -
Wataru KASE, Yasuhiko MUTOH2006 Volume 42 Issue 10 Pages 1126-1132
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, it will be discussed the indirect MRACS for discrete-time MIMO systems to overcome the problem of the interactor. It will be shown that no iterations will be necessary to derive the interactor. In indirect method, it is necessary to solve the design equation after deriving the interactor. For this calculation, it will be presented the method based on the state space representation, which will be also suitable for on-line calculations. Simulation results which confirm the validity of the proposed method will be also presented.View full abstractDownload PDF (1704K) -
Xin XIN, Masahiro KANEDA2006 Volume 42 Issue 10 Pages 1133-1142
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper addresses a swinging up control problem for a 3-link planar robot in the vertical plane, whose first joint is passive (unactuated) and the rest are actuated. By considering links 2 and 3 as a virtually composite link and performing a coordinate transformation of the joint variables of joints 2 and 3, this paper constructs a novel Lyapunov function based on the transformation, proposes an energy based swinging up control law, and analyzes the motion of the robot. For any initial state of the robot, this paper provides a necessary and sufficient condition for non-existence of any singular point in the control law for all future time, and shows how to choose the control parameters such that the state of the robot will eventually approach either any arbitrarily small neighborhood of the upright equilibrium point, or the downward equilibrium point. Moreover, this paper shows that the downward equilibrium point is unstable for the closed-loop system. To validate the theoretical results, this paper provides simulation results for the 3-link robot whose parameters are obtained from a human gymnast.View full abstractDownload PDF (2457K) -
Koichi FUJIWARA, Manabu KANO, Shinji HASEBE, Hiromu OHNO2006 Volume 42 Issue 10 Pages 1143-1149
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the present work, a new regression method based on wavelet analysis and multivariate analysis is proposed. Referred to as wavelet coefficient regression (WCR), the proposed method can build a statistical model that relates operation profiles with product quality in a batch process. In WCR, selected wavelet coefficients of operation profiles are used as input variables of a statistical model, and thus time-related information such as timing of manipulation can be successfully modeled. In addition, by integrating multivariate analysis and wavelet analysis, WCR can cope with correlation of input variables. As a result, WCR enables us to build an accurate statistical model of a batch process. On the basis of WCR, a data-driven method for improving product quality in a batch process is also proposed. The proposed method can determine operation profiles that can achieve the desired product quality and optimize the operation profiles under a given performance index and various constraints. The usefulness of the proposed WCR and quality improvement method is demonstrated through a case study of lysine production based on a semi-batch fermentation process.View full abstractDownload PDF (1765K) -
Toshiyuki YASUDA, Kazuhiro OHKURA2006 Volume 42 Issue 10 Pages 1150-1157
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA behavior acquisition mechanism based on reinforcement learning (RL) for an autonomous multi-robot system (MRS) is extended to improve the robustness in this paper. An important fundamental topic for a MRS is how to design an on-line behavior acquisition mechanism that is capable of developing a set of roles for coordinated behavior as well as assigning them to each robot in a timely manner in a physical environment. From this point of view, a robot controller is constructed with RL that has the mechanism of segmenting continuous state space and continuous action space simultaneously and autonomously to extend the adaptability to non-Markovian environment. This RL developed in our research group is called Bayesian-discrimination-function-based Reinforcement Learning (BRL). Although BRL is proved to be effective to develop a globally stable behavior to achieve a task for a MRS, it has the tendency of being brittle against disturbance after successful learning. This problem is generally called over-fitting. This paper shows an approach to extending BRL for overcoming this problem. This extended BRL is examined by three arm-type autonomous robots, the task of which is lifting an object without tilting it. The experiments conducted illustrate the robust performance of the proposed method by developing various types of cooperative behavior as a result of autonomous specialization.View full abstractDownload PDF (4383K) -
Development of Operator Support System for Rotary Crane Considering Positioning and Sway-SuppressionKen'ichi YANO, Masahiro YAMADA, Kazuhiko TERASHIMA2006 Volume 42 Issue 10 Pages 1158-1167
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe fundamental motion of a rotary crane is consisted of rotation, boom hoisting and load hoisting. The rotary crane is mainly being used in factories, construction sites, harbor and so on. However, the rotary crane has a problem such that load sway generated by the influence of acceleration of the carriage, centrifugal force, disturbance like a wind. The purpose of this paper is aiming at construction of the operation support system that everyone can control easily. In this system, it becomes possible to operate a crane at the arbitrary speed which an operator desires, and it is suppressing the vibration of a load automatically, when an operator operates a joystick. Straight line transfer can be performed on a rotary crane. The effectiveness of the control system is shown by simulations and experiments.View full abstractDownload PDF (2818K) -
Yasushi ISHIDA, Kiyotaka KISHINO, Masaaki BANNAI2006 Volume 42 Issue 10 Pages 1168-1174
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSemiconductor production lines are run all the year round and the electrical load is large. Thus their airconditioning load and operating hours are on the rise. Consequently, the operational cost accounts for a significant proportion of their production cost. Facilities that feed chilled water to cleanrooms are run for many hours, with a high loading factor, such that both their energy requirements and CO2 emissions can be cut drastically by redesigning the existing plant. This report introduces a package of energy-saving concepts that have been successfully implemented in the refrigerating plant for a cleanroom dedicated to manufacturing semiconductors to promise reduction in both the life-cycle cost (LCC) and life-cycle CO2 (LCCO2). We have found that new energysaving facilities and maintenance routines and frequencies could be optimized to reduce the LCC by 172 million yen and LCCO2 emissions by 14, 050t-C02 over a 10-year period.View full abstractDownload PDF (2676K) -
Manabu INOUE, Fuminori KOBAYASHI, Minoru WATANABE2006 Volume 42 Issue 10 Pages 1175-1180
Published: October 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSNormal PLL (Phase Locked Loop) compares phases of reference and input at the time of their positive transition. We propose a new PLL using phase interpolation based on a counter with a high-frequency internal clock. The PLL can compare phases more than once a cycle of reference and input, thus reducing jitter and improving responsiveness. Also we optimize implementation of phase interpolation, to improve circuit size and maximum operating frequency, even if the circuit compares phases many time a cycle.View full abstractDownload PDF (1418K)
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