巻号一覧
42 巻, 11 号
選択された号の論文の11件中1～11を表示しています
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滑川 徹, 丸山 英人2006 年 42 巻 11 号 p. 1181-1187
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with a high performance and robust control scheme based on Generalized Internal Model Control (GIMC) Structure proposed by Kemin Zhou. We apply the GIMC structure to a magnetic suspension system and construct a high performance and high robust control system for an unstable electro-mechanical system. GIMC structure can switch two controllers which have high performance and high robustness respectively. We design two controllers by using the H∞ mixed sensitivity problem. Effectiveness of the GIMC structure is evaluated via some control experimental results.抄録全体を表示PDF形式でダウンロード (2109K) -
中山 学之, 山田 篤史, 藤本 英雄, 木村 英紀2006 年 42 巻 11 号 p. 1188-1197
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a balance control method for the tendon-driven type humanoid robots. Due to the mechanical softness of joints, tendon-driven type robots are easier to tip over than the conventional humanoid robots. Thus, this paper attempts to establish the globally asymptotic stable balance controller for them which can quickly start recovering the balance with keeping the zero moment point (ZMP) in the sole. The proposed controller estimates the external moment exerting on upper body online and generates the desired postural trajectories to compensate the estimated external moment by the gravitational moment. The, introduction of reflexive modification of the desired posture yields the balance recovery with less postural turbulence than the PID type balance controllers. The total system controlled by the proposed controller is equivalent to the one controlled by the trajectory tracking controller proposed by the authors previously for tendon-driven type arm robots 15). Therefore, the proposed balance controller can be integrated with the trajectory tracking controller easily so that it can manipulate the upper body along the desired trajectory with maintaining the balance. The global asymptotic stability around the balance posture generated by the controller is proven along the Lyapunov's direct method. To demonstrate the effectiveness and. feasibility of the controller, some computer simulations and experiment results are exhibited.抄録全体を表示PDF形式でダウンロード (2563K) -
イニシャルコスト問題への取り組み酒井 悟, 大須賀 公一, 前川 貴洋, 梅田 幹雄2006 年 42 巻 11 号 p. 1198-1207
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーAs a case study for initial cost problem, we realize new manipulation and perception for a heavy material handling agricultural robot with high-cost components reductions, which requires more robust controllers. A key point is a new combination of structure systems and control systems, not only one of the two. More precisely, first, we review and propose a new manipulator with a passive joint and a new camera configuration with only one camera. Second, we design robust controllers in gain-scheduling, μ-synthesis by using special characteristics of the robot in the presence of uncertainty, nonlinearity and constraint. Finally, we evaluate the validity by actual field experiments, which is the most important part of this paper. The manipulator and the camera configuration can not work well without the designed controllers. That is, the robust controllers reduce the initial cost.抄録全体を表示PDF形式でダウンロード (3583K) -
伊藤 玲, 池田 裕一, 長塩 知之, 木田 隆2006 年 42 巻 11 号 p. 1208-1215
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーIn the future space infrastructure, the missions of refueling and capturing of the inoperative spacecraft by the orbital servicing vehicle or the space robot is considered. To achieve them, the six degrees of freedom tracking control of the chaser spacecraft is required to approach the target spacecraft. Moreover, the stability of the connected system of the chaser and target must be ensured. In this paper we derive the conditions for the feedback gains that satisfy the stability of the spacecraft system before and after the capturing separately. These conditions are described by the matrix inequalities. Then, we solve these inequalities simultaneously to yield the feedback gains. The controller thus obtained is applicable to the stabilizing problem before and after the connection. The effectiveness of control laws is verified by numerical simulations.抄録全体を表示PDF形式でダウンロード (2252K) -
小笠原 伸二, 平元 和彦, 土岐 仁2006 年 42 巻 11 号 p. 1216-1223
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーIn this paper we deal with a simultaneous optimal design problem of mechanical/dynamical parameters and a control system for robot manipulators. The mechanical parameters are evaluated from an index of manipulability based on Jacobian matrix of the robot manipulators. We propose an LMI based optimization method for the mechanism of the manipulator whose Jacobian matrix is an affine function on the length of each link. Dynamical parameters are evaluated by a closed-loop performance controlled by an LMI based gain-scheduled controller. We propose a new simultaneous optimal design method of mechanical/dynamical parameters and gain-scheduled controller using a numerical design algorithm that consists of an iterative LMI approximation of nonlinear matrix inequalities.抄録全体を表示PDF形式でダウンロード (1809K) -
中村 幸紀, 小木曽 公尚, 安達 直世, 杉本 謙二2006 年 42 巻 11 号 p. 1224-1233
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーControl systems in which signals are transmitted over a network have been attracting great attention recently. In such systems, transmission delay varies irregularly due to congestion of the network. This results in control performance degradation. In order to solve this problem, this paper proposes an observer design method for the systems with time-varying transmission delay. Using a time-stamp of each received packet, the method switches observer gains to estimate the present state of the plant. Then, the observer design is reduced to stabilization of a switched estimation error system. Linear matrix inequalities (LMIs) make it possible to design the observer multiple gains so that the stability of the error system is guaranteed even if the gains are switched randomly. Furthermore, the performance of the gain switching observer is improved by specifying decay rate of a Lyapunov function for the error system. Finally, numerical and experimental examples illustrate the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (2018K) -
柏木 正隆, 大住 晃, 渡邊 雅彦, 高津 知司2006 年 42 巻 11 号 p. 1234-1243
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーA state space model is derived for the water quality equation which describes the behaviors of the BOD and DO concentrations in a river. The water quality equation is given by a couple of second-order linear differential equations with forced terms due to multiple pollutions. Their characteristic equations have both stable and unstable elementary solutions; hence the solutions given by the state space representation should be carefully investigated in order to reflect the natural boundary conditions. Analysis, control and estimation of the self-purification of polluted rivers are investigated with simulation studies.抄録全体を表示PDF形式でダウンロード (2172K) -
飯間 等, 黒江 康明2006 年 42 巻 11 号 p. 1244-1251
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーIn general reinforcement learning algorithms, a single agent learns to achieve a goal through many episodes. If a learning problem is complicated, it may take much computation time to obtain the optimal policy. Meanwhile, for optimization problems, multi-agent search methods such as genetic algorithms and particle swarm optimization are known to be able to find rapidly a global optimal solution for multi-modal functions with wide solution space. This paper proposes a swarm reinforcement learning algorithm (SWARLA) in which multiple agents learn through exchanging information each other. Furthermore, this paper proposes three strategies to exchange the information: the best action-value strategy, the average action-value strategy and the particle swarm strategy. The proposed algorithm is applied to a shortest path problem, and its performance is demonstrated through numerical experiments.抄録全体を表示PDF形式でダウンロード (1651K) -
平野 旭, 辻 敏夫, 滝口 昇, 大竹 久夫2006 年 42 巻 11 号 p. 1252-1259
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーParamecium exhibits an avoiding reaction when it senses repellent chemicals. Also, on sensing attractants, it accelerates its swimming velocity and remains in the area. Such a chemotactic response is called chemotaxis, that is the necessary mechanism to survive in complex natural environment. This paper proposes the computer model of Paramecium, Virtual Paramecium, based on biological knowledge, in order to understand the complex relationship between the Chemotactic behavior and the internal processing in cell. Simulation experiments demonstrate that the Virtual Paramecium can approximately realize the chemotactic behavior of actual Pramecium based on the information processing in cell.抄録全体を表示PDF形式でダウンロード (2171K) -
江口 徹, 周 金, 平澤 宏太郎, 古月 敬之, マルコン シャンドル2006 年 42 巻 11 号 p. 1260-1268
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーIn recent years, double-deck elevator systems (DDES) where two cars are connected in a shaft has been developed for the rising demand of more efficient transport of passengers in high-rise buildings. DDES has specific behaviors due to the connection of cars and the need for securing comfortable riding, so its group control becomes more complex than conventional single-deck elevator systems (SDES). Meanwhile, a graph-based evolutionary method, Genetic Network Programming (GNP) has been applied to elevator group supervisory control systems, and its effectiveness is clarified. GNP can consider the specific behaviors of DDES in its node functions easily and execute an efficient rule-based group control optimized evolutionary. In this paper, a new group control system for DDES using GNP is proposed, and its optimization and performance verification are done through the simulations. First, optimization of GNP for DDES is executed. Second, the performance of the proposed method is verified by the comparison with conventional methods, and the obtained control rules are studied. Finally, the performance improvement by the proposal is evaluated in terms of SDES capacity.抄録全体を表示PDF形式でダウンロード (2068K) -
田中 正吾, 岡本 昌幸2006 年 42 巻 11 号 p. 1269-1271
発行日: 2006/11/30
公開日: 2009/03/27
ジャーナル フリーThe paper proposes a detection method of cavities under runways, constructed with reinforced concrete, using an electromagnetic wave (radar). The method can measure the depth and thickness of the cavities accurately modifying the signal propagation model for concrete structures which the authors developed before.抄録全体を表示PDF形式でダウンロード (1296K)
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