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Volume 42, Issue 8
Displaying 1-21 of 21 articles from this issue
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Kazuyoshi KUBO2006 Volume 42 Issue 8 Pages 845-853
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSNew method for estimating instantaneous parameters of sinusoid from its differential domain samples is proposed. Assuming the signal under estimation as a sine-wave, the concrete algorithm for estimating parameters by algebraic operations is shown in this paper. Numerical experiments show that the algorithm enables us to perform high speed estimation, and has the desirable results as follows: (a) Comparing with the Fourier analysis and the time-frequency distributions such as the Wigner distribution, since the proposed method is not under constraints of the uncertainty principle, instantaneity in time domain and high resolution in frequency domain can be achieved, (b) Comparing with the method of calculating the original instantaneous frequency from pre-envelope of the signal via Hilbert transform, the proposed method can offer the true instantaneous frequency depending only on the instantaneous information of the signal, (c) Comparing with the Prony's method, this method gives more instantaneous parameters with higher resolution without dropping into ill condition. The proposed method gives estimates without trade-offs of choice of method options, without constraint of the sampling theorem, and with tolerance against quantization error in the differential domain samples. On the other hand, this method has defects of fragileness against sampling delays in the differential domain, and intolerance to the signals that are not sinusoids. For the proposed method introduces the differential domain sampling, and is based on the identification of sinusoid under original definition of frequency, the ultimate instantaneity in estimating parameters of sinusoid is achieved.View full abstractDownload PDF (2532K) -
Kenji SUGIMORI, Taketoshi IYOTA, Yongwoon CHOI, Kazuhiro WATANABE, Yuz ...2006 Volume 42 Issue 8 Pages 854-862
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSGeneral-purpose imagers have been developed into high resolution and high frame rate, and simultaneously attempted to apply to the measurement and the recognition of objects in various scenes, recently. However, with the rise of image data volume, the transfer-time of the data and the loads for image processing are also increased. In the cases of binary image processing frequently used as pre-processing for the applications of general-purpose imagers, efficient extracting only the information of interest makes the effectiveness higher in the whole image processing. From this point of view, we propose a Pixel Position Extraction (PPE) Method for efficient processing of binary image data using a general-purpose imager. By the proposed method, as the image data captured by imager is binarized, only the x and y coordinates in object domain of the binary image are extracted in real-time on hardware. Thereby, processing volume becomes proportional to the net pixel numbers in object domain regardless of the position of objects in the captured image and the resolution of an imager. By processing only the coordinate data of the pixels of interest in a binary image, the method completely eliminates the redundant processing which is caused by sequential scanning the pixels of background domain in a binary image on software. This paper describes the principle of the proposed method, its algorithm, the validation of data volume change by this method, and the overview of experimental prototype system. Finally, verification experiment by the comparison with the conventional disposal, and its results are discussed.View full abstractDownload PDF (4672K) -
Masashi NAKAMOTO2006 Volume 42 Issue 8 Pages 863-868
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents an alternative approach to calculate control parameters by using input and output data to VRFT (Virtual Reference Feedback Tuning) or FRIT (Fictitious Reference Iterative Tuning) which are proposed to design SISO control system. The proposed method is able to design a multivariable control system and also design a disturbance feedforward control system. Simulation and experimental results are shown.View full abstractDownload PDF (1464K) -
Hiromi SUZUKI, Toshiharu SUGIE2006 Volume 42 Issue 8 Pages 869-876
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with off-line reference shaping for closed loop systems with input and state constraints. We propose a method to generate reference signals which improve the tracking performance at the nominal while the constraints are not violated in the presence of uncertainties. As for the robust constraint fulfillment, the reference signal is represented as a combination of impulse and step signals. This combination is not unique and produces a new degree of freedom. This extra-freedom enables us to exploit the information on both impulse and step responses to reduce the conservativeness. Furthermore, the slack variables are introduced appropriately to reduce the number of constraint conditions. The effectiveness of the method is demonstrated by simulation.View full abstractDownload PDF (1743K) -
Kazuyuki KON, Hiroaki FUKUSHIMA, Fumitoshi MATSUNO2006 Volume 42 Issue 8 Pages 877-883
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a distributed model predictive control (MPC) method for unicycles in formation with collision avoidance constraints. The proposed method first stabilizes the system by using a feedback linearization, and then a collision avoidance method based on MPC is applied to the linearized system. One of the features of the proposed method is that each vehicle sequentially solves its optimal control problem at different time step. Unlike other MPC collision avoidance methods in which all vehicles solve optimal control problems at every time step, only one vehicle can solve its optimization problem at one time step. The effectiveness of the method is also investigated by numerical examples and experiments.View full abstractDownload PDF (2087K) -
Yoshiyuki NODA, Ken'ichi YANO, Satoshi HORIHATA, Kazuhiko TERASHIMA2006 Volume 42 Issue 8 Pages 884-893
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a sloshing suppression (liquid vibration damping) control of liquid container transfer with tilting. In this transfer system, liquid in the container is poured into a tray by tilting the container while the container is transferred. A natural frequency of sloshing caused by the transfer is varied at each time. Therefore, an estimation method of the natural frequency and a sloshing suppression control in liquid container transfer with tilting are proposed in this paper. The natural frequency is estimated at each time by using Time-Frequency-Analysis. In this paper, several methods in Time-Frequency-Analysis are tried to estimate the natural frequency. Then, the sloshing suppression control is designed by using the estimated sloshing natural frequency. The designed control system has the time varying notch filter corresponding to the estimated sloshing natural frequency. The effectiveness of the proposed control system is shown through experiments using a liquid container transfer system.View full abstractDownload PDF (2860K) -
Hisakazu NAKAMURA, Yuh YAMASHITA, Hirokazu NISHITANI2006 Volume 42 Issue 8 Pages 894-901
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper focuses on the problem of stability of homogeneous systems with dilation. First, we propose ‘homogeneous eigenvalue’ for the homogeneous systems. Next, we analyze stability of the homogeneous systems using the homogeneous eigenvalues, and we show that the positive homogeneous eigenvalues imply instability. Finally, we show effectiveness of the proposed method by examples.View full abstractDownload PDF (1888K) -
Manabu KANO, Koichi FUJIWARA, Shinji HASEBE, Hiromu OHNO2006 Volume 42 Issue 8 Pages 902-908
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe most important contribution of this work is to provide a new quantification method for product quality. A qualitative quality variable can be quantified by using a conventional method, e.g., good=1 and bad=0. However, this quantification method is useless for operating condition optimization, because the quantified variable does not have any physical meaning and thus the desired quality cannot be specified. On the other hand, the proposed method can relate operating condition to product yield by integrating principal component analysis (PCA) and liner discriminant analysis (LDA), and thus it enables us to specify the desired product quality and optimize the operating condition. In addition, a data-driven methodology for improving product quality and yield is proposed. Referred to as Data-Driven Quality Improvement (DDQI), the proposed method can cope with qualitative as well as quantitative quality variables, determine the operating conditions that can achieve the desired product quality, optimize the operating condition under various constraints, and thus can provide useful information to improve product quality. The usefulness of the proposed quantification method and DDQI is demonstrated through an illustrative case study.View full abstractDownload PDF (2343K) -
Manipulated Variables Selection for Quality ControlKoichi FUJIWARA, Manabu KANO, Shinji HASEBE, Hiromu OHNO2006 Volume 42 Issue 8 Pages 909-915
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new process control and monitoring system for quality imprgvement, referred to as hierarchical quality improvement system (HiQIS), is proposed. HiQIS consists of data-driven quality improvement (DDQI), Run-to-Run (R2R) control, local control, and multivariate statistical process control (MSPC). The main features of HiQIS are: 1) to build a statistical quality model, 2) to analyze the cause of quality variation, 3) to select a few variables to be manipulated, 4) to optimize the operating condition, and 5) to realize the desired quality even if there is modeling error and disturbances. A typical problem encountered in real applications is product quality variation, which occurs even if operators attempt to keep operating conditions at constant. In addition, from the practical viewpoint, it is difficult to change many operating condition variables simultaneously. Therefore, in the present work, quality variation analysis and manipulated variables selection are mainly focused on. The usefulness of HiQIS and the proposed methods are demonstrated through a case study.View full abstractDownload PDF (1971K) -
Shuichi KUROGI, Takeshi NISHIDA, Yasuhiro FUCHIKAWA2006 Volume 42 Issue 8 Pages 916-925
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSo far, the competitive associative net called CAN2 has been developed to utilize the competitive and associative schemes for learning to achieve efficient piecewise linear approximation of nonlinear functions. Although the conventional online learning methods for the CAN2 have been shown effective, they basically are for infinite number of training data. Provided that only a finite number of training data are given, however, the batch learning scheme seems more suitable. We here present a batch learning method to learn a finite number of training data efficiently by means of combining competitive learning, associative learning and reinitialization using asymptotic optimality. Finally, we apply the present method to learning to approximate sevaral artificial benchmark functions and show that the batch CAN2 calculates faster and achieves smaller MSE (mean square error) than the conventional online CAN2, and it has several advantages superior to the SVR (support vector regression).View full abstractDownload PDF (2275K) -
Yoichiro MAEDA, Takayasu MATSUURA, Masaharu MIZUMOTO2006 Volume 42 Issue 8 Pages 926-933
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this research, we regard a deadlock phenomenon in the multi-agent robot toward the destination while avoiding plural obstacles as a local minimum solution in a search problem and attempt to avoid this problem efficiently by the chaotic vibration. We have already proposed a deadlock avoidance method by using the network of chaotic elements. In this paper, we propose the modified method that can avoid deadlocks efficiently, by changing singleton values of fuzzy rules that described the action in an individual agent in accordance with the intermittency chaos with the modified logistic map. Furthermore we performed the simulation to confirm the efficiency of the proposed method by comparing with the modified Bernoulli system.View full abstractDownload PDF (3014K) -
Tetsuro FUNATO, Daisuke KURABAYASHI2006 Volume 42 Issue 8 Pages 934-940
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe structural features of a system deeply affect on the attribute of the system and the function. The effect of this phenomenon can be found in wide area, such as WWW and animal brains. In this paper, a method for controlling the behavior of system by manipulation on the structure is dealt using coupled non-uniform van der Pol (VDP) oscillators. At first, we describe a simple characteristic between the a of oscillators and the convergent states by two kind of oscillators. Secondly, controlling method is built with this disposition. Then, the process of changing the states is mathematically analyzed. Finally, several characteristics for more oscillators are described.View full abstractDownload PDF (1429K) -
Fujio IKEDA2006 Volume 42 Issue 8 Pages 941-948
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents an efficient numerical method to realize discrete models of fractional derivatives and integrals which imply derivatives and integrals of arbitrary real order. This approach is based on a class of Stieltjes integrals transferred from the Riemann-Liouville definition. It is to calculate on inhomogeneous sampling periods which are getting longer as the operation points go back toward the initial time. It leads to the effective quality which has low computational costs and enough accuracy. The calculation times and precision of the proposed procedure are compared with those of a conventional procedure for a practical numerical simulation and the effectiveness of this procedure is verified.View full abstractDownload PDF (1635K) -
Masakazu TAKAHASHI2006 Volume 42 Issue 8 Pages 949-958
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a method for Computer Validation (CV) for Programmable Logic Controller (PLC) based Pharmaceutical production facility Control Software (PCSW). CV is defined as “Established evidence that provides a high degree of assurance that a specific process consistently produce a product meeting its pre-defined specifications and quality attributes” In the case of PCSW development, it is difficult to execute CV because of below problems: “not to develop upper level documents”, “difficulty of correspondence between tests that are executed in actual PCSW developments and that are required by CV”, “difficulty of tracing design information”. In this paper, we clarified correspondence between CV process and PCSW development process, and standardized PCSW design information. Furthermore we developed template of development documents and design information database. Consequently we could resolve above problems and execute adequate CV.View full abstractDownload PDF (2599K) -
Kei SENDA, Shinji FUJII2006 Volume 42 Issue 8 Pages 959-965
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSMost applications of reinforcement learning are based on off-line simulations with models because they needs long time to learn in real environment. But, the models have some errors or variations from the real environment. Hense, the learning results must be modified by on-line learning in real environments. Therefore, it is important to learn the modifications by fewer computational efforts. For the purpose, this paper proposes a Partial Modification Algorithm (PMA) based on Sherman-Morrison formula, which is related to partial inverse matrix computations. The PMA implements efficient modification in learning for variations in cost or state transition probability or action selection probability. We apply the proposed method to some problems associated with optimal controls. Numerical simulations show that the proposed method is more effective than existing methods.View full abstractDownload PDF (1894K) -
Michinori HATAYAMA, Jun-ichi MEGURO, Jun-ichi TAKIGUCHI, Takumi HASHIZ ...2006 Volume 42 Issue 8 Pages 966-973
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThrough the experience with disaster and recovery support activities obtained as a result of the Great Han-shin Earthquake, we recognized the importance of spatial temporal database management. So our purpose is development of rescue support system on the basis of spatial temporal information system. In this paper, we have developed specifications for spatial temporal information. Firstly, conceptual model for spatial temporal information is proposed. Spatial temporal primitives of which the conceptual model is composed include trajectory type. Secondly, a way to describe this model on KIWI+ format, whichi is the simple topology and spatial temporal-open database schema and 3 step application schemas for management of mobile rescue robot information are explained. Finally, implementation experiment using mobile robot which have RTK-GPS/INS(Inertial Navigation Systems) and ODV (Omni-Directional Vision) have been carried out to check the effectiveness of our proposed spatial temporal GIS specification.View full abstractDownload PDF (2514K) -
Masamori UMEGAE, Hidekazu KAJIWARA, Takayuki TANAKA, Shun'ichi KANEKO2006 Volume 42 Issue 8 Pages 974-981
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe considered that a passive walk machine was an object controllable by the periodic control input, and developed the robot QuPPI (Quasi Passive walking robot by Periodic Input) which is a 4-pair-of-shoes passive walking machine with a torque unit actuator. By the periodic control input, we aimed at realizing a stable walking on slope and flat ground. We derive a graph of the motion and the optimal control timing in order to establish the energy control system. Experimented results using a prototype system show that the proposed control effective for QuPPI to achieve robust and efficient walking.View full abstractDownload PDF (3203K) -
Yousuke SUZUKI, Takayuki TANAKA, Maria Q. FENG, Shunji MOROMUGI2006 Volume 42 Issue 8 Pages 982-990
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA robust torque estimation system is developed for soft sensor suits embedded with Electromyogram (EMG) and a variety of sensors for measuring human muscle activities. The sensor suits serve as a man-machine interface for human power amplification. This paper focuses on the EMG part of the sensor suits to study the fundamental issue of torque estimation based on the sensor readings. A robust torque estimation system is developed in this study based on neural networks, where an universal database, rather than individual database for each operator, is proposed and as a result, the calibration time is dramatically decreased. The proposed system can also compensate for sensor positioning errors and individual differences.View full abstractDownload PDF (4460K) -
Influence of Two-dimensional Upstream Pipe Condition, Flowconditioners and Remounting of TransducersHiroshi SATO, Yoshiya TERAO, Masaki TAKAMOTO, Yuki YAMAUCHI, Shin HASE ...2006 Volume 42 Issue 8 Pages 991-993
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn ultrasonic flowmeter has a possibility of replacing flow nozzle and orifice meter as a main feedwater flowmeter in nuclear power stations. This paper describes the examination about the influence of the two-dimensional upstream condition, flowconditioner and remounting of transducers using a cramp-on type ultrasonic flowmeter.View full abstractDownload PDF (1117K) -
Kikuhito KAWASUE, Takeshi KUMAMOTO2006 Volume 42 Issue 8 Pages 994-996
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSBy rotating coupled mirrors around the optical axis of a Micro scope with CCD, a measuring point draws a spiral streak. Three-dimensional information, such as position and velocity, can be obtained by analyzing the spiral streak.View full abstractDownload PDF (437K) -
Misoroku SORAI, Atsuo MURATA2006 Volume 42 Issue 8 Pages 997-999
Published: August 31, 2006
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe distortion of psychological time estimation was discussed. Even under the situation without goal setting and real-time feedback, we found that the distortion of psychological time estimation in a VDT task was modified with the elapse of physical time.View full abstractDownload PDF (596K)
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