巻号一覧
42 巻, 2 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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金子 真, 徳田 寛一, 飯田 義親, 栗田 雄一, ケンフ ローランド, 川原 知洋, 石井 抱, 河野 進, 三嶋 弘, 塚本 秀利, ...2006 年 42 巻 2 号 p. 103-110
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper challenges the stiffness sensing of a human eye. Eye pressure is an important index for judging whether an eye suffers from glaucoma or not. However, eye pressure measurements provide us with meaningful data only under the assumption that every subject has an equal stiffness of his or her eye. The stiffness sensing of a human eye provides the answer on whether this assumption is correct or not. For this purpose, we developed a stiffness sensing system composed of both an air-jet supply and a high speed camera that has 5, 000[fps]. By using the system, we executed experiments and found that each subject has his or her individual eye stiffness. This suggests that the stiffness measurement is important for the precise diagnosis of glaucoma.抄録全体を表示PDF形式でダウンロード (4659K) -
近藤 博, 木村 修一, 本間 重雄2006 年 42 巻 2 号 p. 111-114
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーAlthough it is recognized that load cells should be installed at a stiff and flat place in case of measuring compressive load, the criterion of stiffness has not been prescribed explicitly. In this study, knocking tests were carried out using a cylindrical sensor type model cell installed at a statically stiff place correspond to non reflective condition and a dynamically stiff place to total reflective condition, and the results revealed that the output values of load cell are significantly influenced by the stiffness of setup location. Subsequently, effect of boundary conditions on the output values of load cell was investigated through a simulation technique based on the impedance method. It was shown the output values of load cell are greatly affected by the size of collision object in addition to the influence of setup location, and the ratio of output values for each reflection condition is proportional to about 0.48 power of the size of collision object.抄録全体を表示PDF形式でダウンロード (1098K) -
Januarius V. WIDIATMO, Katsuhiko HARADA, Masaru ARAI2006 年 42 巻 2 号 p. 115-122
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーAluminium point cells have been constructed on the basis of a new metal-filling method. High-purity aluminium (6N nominal), purchased as a single rod and as pellets, were used in the newly constructed cells. The new method for filling aluminium was customized for each cell according to the form of aluminium used. Measurements have been conducted on the newly constructed cells as well as on an existing one to evaluate any improvement that may be brought by the proposed cell design and metal-filling method. The measurements include temperature measurements during the solidification of aluminium within each cell from which its freezing curve is obtained, and direct comparative measurements among cells from which the difference in the aluminium point realized among the cells is determined. Both measurements indicate that the proposed method significantly reduces the uncertainty of fixed-point realization.抄録全体を表示PDF形式でダウンロード (1835K) -
細川 繁, 升本 喜就, 竹沢 進, 羽地 和彦2006 年 42 巻 2 号 p. 123-128
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーA Whale Ecology Observation Satellite (WEOS) was successfully launched on Dec. 14th 2002 as one of the piggyback payloads of H-IIA-4 launch vehicle. The functions of the attitude control system for the WEOS are detumbling and libration control by single axis magnetic torquer, and the earth pointing control by utilizing of gravity gradient torque.
According to the resources limitation, the WEOS adopted the gravity gradient attitude stabilization system instead of the three axis attitude control system, as the first trial in Japan. The gravity gradient attitude stabilization system is working well as planned. This paper describes the attitude control system of WEOS and its control results.抄録全体を表示PDF形式でダウンロード (4751K) -
冨田 健太郎, 浅井 徹2006 年 42 巻 2 号 p. 129-138
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper deals with stabilization of continuous-time systems whose control inputs take two distinct values. We consider to generate control inputs based on pulse-width-modulation (PWM) and derive a discrete-time system which governs the state transitions of the continuous-time system at sampling instants. Since PWM control inputs keep pulsating, stability of fixed points for the discrete-time system implies stability of limit cycles for the continuous-time system. Based on the discrete-time system, we show analysis results for the existence of the fixed point, local controllability and local stabilizability. Furthermore, we will propose methods to synthesize locally stabilizing state and output feedback controllers based on LMIs.抄録全体を表示PDF形式でダウンロード (2596K) -
島田 明, 篠原 優介2006 年 42 巻 2 号 p. 139-146
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper introduces a novel perfect tracking control method that is designed on MIMO vibration systems such as robot manipulators with elastic joints. Basically, perfect tracking control methdology with multi-rate feedfoward has been presented. We try to apply the techniques to the MIMO vibration systems. As a preparation, we introduce a condition that the control system requires to hold by. Further, the feedback compensators that include observers of which the inputs are the errors of the closed systems are introduced. Moreover, when we need positioning of not motor angle but joint angles directly, we utilize state space expression disturbance observers additionally. Further, design procedures of 2 type feedfoward compensators are presented. One is designed by using rigid models of manipulators and another is designed by using elastic models. Finally, simulation results related to two type of observers and feedfowards are shown.抄録全体を表示PDF形式でダウンロード (2016K) -
王 蕊, 渡部 慶二, 村松 鋭一, 有我 祐一, 遠藤 茂2006 年 42 巻 2 号 p. 147-155
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper presents a new concept of the robust control, which is named by phase-compensated robust control. The mechanism of robust stability is analyzed by internal model parametrization (IMP). To overcome the conservativeness of the traditional methods based on the small gain theorem, the phase compensation is introduced. The robust stability condition is derived for the new control scheme. The simple design method is proposed.抄録全体を表示PDF形式でダウンロード (1613K) -
羽田 昌敏, 山田 大介, 辻 敏夫2006 年 42 巻 2 号 p. 156-163
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a new method to derive equivalent inertia of human-machine systems taking contact and constraint conditions into account. First, it is theoretically demonstrated that the inertia tensor in a generalized frame of the human can be transformed, with Jacobian and contact constraint matrix, into any frames on the object he/she is manipulating. Next, constraint inertia of the human-machine system is newly defined by using orthogonal complementary projection to the null space of the constraint conditions of the human and the object. Then the proposed equivalent inertia of a driver-steering-seat system is simulated under several contact and constraint conditions. The result gives a significance of drivers' steering strategy from a mechanical point of view, and a possibility to evaluate the human posture interacting the object by using the equivalent inertia.抄録全体を表示PDF形式でダウンロード (4521K) -
Ibrahim ZUNAIDI, Norihiko KATO, Yoshihiko NOMURA, Hirokazu MATSUI2006 年 42 巻 2 号 p. 164-173
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーIntensively changed environment will greatly influence the mobile robot movement. In this research, we propose the method how to evaluate the difficulties of moving while the mobile robot travel in that condition. The robot will move in unknown environment to find the best path using geographical information analysis. Image inputted by camera are analyzed and geographical elements are recognized, and the geographical information is embedded in environmental map. The geographical information was transformed into 1-dimensional evaluation value that expressed the difficulty of movement for the robot. The robot goes toward the target goal searching for the path that minimizes the evaluation value at every sampling time. Then, the path is updated by integrating the exploited information and the prediction on unexploited environment. The experiment results, confirm the effectiveness of the proposed algorithm on the robot's reaching the goal successfully are presented.抄録全体を表示PDF形式でダウンロード (4177K) -
松丸 隆文, 島 和義, 福山 聡, 伊藤 友孝2006 年 42 巻 2 号 p. 174-182
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーThe aim of this research is to establish the quantitative evaluation method for lifting task and to clarify the safety posture and optimal motion. This paper examines the motion from three kinds of start-on posture with the acceptance rate. Operation-A starts from the pose-A in which the knee is extended to the maximum. Operation-B starts from the pose-B in which the knee is flexed to the maximum and the upper body is raised as much as possible. Operation-C starts from the pose-C in which the knee is flexed at almost right-angled and the upper body is raised. The acceptance rate is the estimated population rate who can permit the joint moment during the lifting operation, based on the presumed moment and the coefficient of variation of the acceptable marginal moment on each joint. The compressive force on lumbar vertebrae computed from the L5/S1 joint moment at 85[%] of the acceptance rate (about Av.-1SD) has not been over the standard value of a previous research. So we have set 85[%] as the safety standard acceptance rate, then we settled judging-A (over 95[%], recommended), judging-B (85-95[%], should note), and judging-C (under 85[%], should modify). Although the ankle joint on operation-A and the knee joint on operation-B is judged as C rank, every joint on operation-C shows high acceptance rate. So the validity of operation-C has been clarified quantitatively.抄録全体を表示PDF形式でダウンロード (2275K) -
高木 史朗, 宮崎 文夫, 森 亮介2006 年 42 巻 2 号 p. 183-188
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper presents an implementation of a ball catching task using a monocular vision-based mobile robot. We have proposed a motion strategy for catching a ball flying in three-dimensional space. This strategy has its roots in the field of experimental psychology but is more powerful and concentrated on a robot. A practical trajectory control law is derived for a non-holonomic mobile robot to track and catch a ball. This control law educes the full potential of the motion strategy: mere a monocular vision-based mobile robot, coping with the problem due to its non-holonomic constraint, successfully catches a ball.抄録全体を表示PDF形式でダウンロード (2524K) -
有本 卓, 吉田 守夫, 裴 芝薫, 岸 康敏2006 年 42 巻 2 号 p. 189-196
発行日: 2006/02/28
公開日: 2009/03/27
ジャーナル フリーFormulation of a mathematical model expressing motion of a pair of robot fingers with hemi-spherical ends grasping a 3-D rigid object with parallel and flat side surfaces is presented. By referring to the fact that human grasp in precision and in a dynamic and stable manner is realized by opposable forces between the thumb and another finger (index or middle finger), a simple control signal is proposed and shown to realize stable grasping in a dynamic sense without using object information or external sensing. Stability of grasping with force/torque balance is analyzed on the basis of a new concept named “stability on a manifold”.抄録全体を表示PDF形式でダウンロード (2061K)
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