巻号一覧
44 巻, 11 号
選択された号の論文の13件中1～13を表示しています
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福岡 豊, 貝原 俊也2008 年 44 巻 11 号 p. 847
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーPDF形式でダウンロード (95K) -
貝原 俊也, 指尾 健太郎, 神野 亘俊2008 年 44 巻 11 号 p. 848-854
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーIn our Virtual Enterprise (VE) model, each enterprise autonomously decides production planning based on an original strategic criterion under bounded information sharing as reality. So it is difficult to draw up a globally optimised production plan as a whole. In this study, we propose a methodology based on Augmented Lagrangian Decomposition Coordination (ALDC) and apply it into collaboration mechanism amongst enterprises in VE environment. We analyse this VE model by comparing with other conventional VE models, such as Branch and Bound method based model (BB model) and Contract Net Protocol based model (CNP model).抄録全体を表示PDF形式でダウンロード (4635K) -
河原林 雅, 安田 恵一郎2008 年 44 巻 11 号 p. 855-862
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーIn this paper, using Particle Swarm Optimization (PSO) and Radial Basis Function Network (RBFN), a new framework of practical optimization, Integrated Optimization System, is proposed. PSO is used as a globally optimization method, and RBFN is used as a numerical modeling method for approximating a response surface for sample points from a simulator or sensing system in order to reduce the number of accesses to a simulator. On the basis of numerical simulation results using some typical benchmark problems, it is shown that the proposed integrated optimization system enables to obtain a relatively good solution with drastic reduction of the number of function calls for evaluating of performance index values of systems.抄録全体を表示PDF形式でダウンロード (14771K) -
伊藤 誠2008 年 44 巻 11 号 p. 863-870
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーThis paper discusses how to reduce driver's over-reliance on a rear-end collision warning system when an ACC system is active.We propose “gdeceleration meter” which shows the maximum deceleration rate in the last several seconds.By looking at this meter after a relatively rapid deceleration, a driver may understand how the last deceleration was close to the deceleration limit.We conducted an experiment on a driving simulator and showed that driver's reaction to the rapid deceleration of the lead vehicle was not delayed by using the deceleration meter even when a warning was missed.This result suggests that the deceleration meter is effective to manage the risk of rear-end collisions due to over-reliance on the warning system.抄録全体を表示PDF形式でダウンロード (11219K) -
ビープ音刺激の音圧が覚醒効果に及ぼす影響國分 志郎, 植野 彰規, 内川 義則2008 年 44 巻 11 号 p. 871-877
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーInfluence of sound pressure level of beep stimulation was quantitatively analyzed and discussed for8subjects in terms of ability for raising vigilance level and for keeping the subjects awake. An acceleration characteristic of saccadic eye movement was used as a vigilance index, and calculated in real time to impose the stimulation of70, 80or90dB when the vigilance index dropped below a predetermined threshold. The results showed following;(1) increasing rate of the vigilance index caused by the90dB stimulation was significantly higher than that by the70dB stimulation,(2) the increasing rate immediately after the simulation was the highest in the90dB condition, however no significance was confirmed among the conditions,(3) although the90dB stimulation showed longest duration of arousal effect, it was not longer than that of the80dB stimulation. Since significant drops of the vigilance index were observed7s (or longer) after the90dB stimulation in two subjects, further investigation seemed necessary for the rebound phenomenon against the90dB beep stimulation.抄録全体を表示PDF形式でダウンロード (15083K) -
堀口 智洋, 大籠 研介, 渡辺 弘樹, 桝田 晃司2008 年 44 巻 11 号 p. 878-885
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーWe have developed a human interface for medical doctor to control a remote diagnosis robot by a controller in tele-echography. We have completed signal and image communication between the robot and controller. The remote doctor was able to sense restitution force on patient's body surface by introducing bilateral control method. However, not only the position of the ultrasound probe but also the positional relationship between the probe and body surface were difficult to understand because all information for the doctor was on the remote monitor. Therefore we have reconstructed all the environment of the patient's body shape and the probe to be visualized as computer graphics (CG) using OpenGL. To evaluate delay time, the both positions of the probe and the actual handle were visualized on the same GUI window. To calculate the distance between the probe and the patient for safe control of the robot, precise shape of body surface was measured by detecting contact force on body and was reconstructed by introducing Delaunay triangulation method. We have also designed the console window including echogram, patient scene and CG with automatic control of image quality by considering contact force. We have confirmd operativity of the interface through actual remote diagnosis of tele-echography.抄録全体を表示PDF形式でダウンロード (22427K) -
香川 高弘, 宇野 洋二, 神谷 俊光, 河村 耕造2008 年 44 巻 11 号 p. 886-895
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーA legged locomotor device for paraplegics have been attempted to improve their ADL (Activity of Daily living) and to prevent some complications. A stride control of the system based on the user's intension is important to coordinate the voluntary movements of the user and the assisted movements of the paralyzed legs. In this paper, we propose a human interface with a walker to control the stride length of a legged locomotor device. Assuming that an intended stride is equal to a distance of the preceding movement of the walker, we developed a human interface estimating the movement distance of the walker, where the distance is calculated by polynomial fitting for the acceleration of the movement. In order to evaluate the performance of the proposed human interface, we carried out the experiments for simultaneous measurements of the distance of the walker and the acceleration signal. In this paper, we report the following results;(1) consistency of a stride length and the preceding movement distance of the walker,(2) estimation accuracy by polynomial fitting method, and (3) feasibility of the adjustment of stride length using the proposed method. These results suggest that the proposed human interface is effective to adjust the stride length of a legged locomotor device.抄録全体を表示PDF形式でダウンロード (8674K) -
登美 直樹, 郷古 学, 近藤 敏之, 伊藤 宏司2008 年 44 巻 11 号 p. 896-904
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーIn daily life, humans must compensate for the resultant force arising from interaction with the physical environment. Recent studies have shown that humans can acquire a neural representation of the relation between motor command and movement, i.e. learn an internal model of the environment dynamics. In this paper, we investigate motor adaptation of human arm movements to external dynamics. In the experiment, we examine whether humans can learn an internal model of a “mixed force field”(V+P) which is sum of a “velocity-dependent force field”(V) and a “position-dependent force field”(P). The experiment results show that the subjects did not learn the internal model of V+P accurately and they compensated the loads by using impedance control. Our results suggest that humans use impedance control when internal models become inaccurate because of the complexity of external dynamics.抄録全体を表示PDF形式でダウンロード (11841K) -
阿久津 俊彦, 木竜 徹, 牛山 幸彦, 村山 敏夫2008 年 44 巻 11 号 p. 905-910
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーWe measured the knee joint angles and surface EMG signals during skiing, using a werable type measurement unit. Judging from every cycle of knee bending exercise, we analized only the most active intervals in measured EMG signals to evaluate muscle fatigue turn-by-turn. Then, we evaluated the time-series of muscle-activityrelated and knee-joint-angles-related indices within a trial and among trials during skiing exercise, comparing with the results during squat exercise. The results showed that the experts sustained the posture even through muscle fatigue occurred and that intermediate experts sometimes showed alternation of agonist muscles to prevent muscle fatigue. These features during skiing were also observed during repetitive squat exercise. Accordingly, study on several muscles with knee joint angles during squat exercise could be effective to evaluate the influence of muscle fatigue on performance during alpine skiing exercise.抄録全体を表示PDF形式でダウンロード (5329K) -
齊藤 護, 田崎 勇一, 井村 順一2008 年 44 巻 11 号 p. 911-918
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーThis paper addresses a new type of optimal control problem for obstacle avoidance, where the observation of the allowable state region, the selection of the state waypoints of the controlled plant, and its motion between the waypoints are simultaneously optimized. In particular, the problem on the observation, that is, the problem of optimizing the available information on the allowable state region subject to information amount constraints, is formulated, and then an approximate solution method of the whole problem is presented. It is shown by simple simulations that the proposed method is useful.抄録全体を表示PDF形式でダウンロード (14913K) -
成清 辰生, 中川 雅史, 川西 通裕2008 年 44 巻 11 号 p. 919-926
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーA mobile manipulator is expected to play an important role both in the production process of factory and in a medical care system of welfare business. To come up to this expectation, a mobile manipulator is required to simultaneously track to both the desired position trajectory and force trajectory. These tracking performances are attained by hybrid position/force control. In this paper, we propose a new adaptive control scheme for a mobile manipulator. The proposed adaptive control scheme consists of adaptive tracking control to desired position/force trajectories and robust control for unknown bounded disturbance. Effectiveness of the proposed control scheme is demonstrated by numerical simulation.抄録全体を表示PDF形式でダウンロード (5284K) -
圧力情報を利用したオブザーバによる追従性能の向上金盛 且洋, 清田 将五郎, 蛯原 義雄, 萩原 朋道, 岡崎 安直, 小松 真弓2008 年 44 巻 11 号 p. 927-935
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーThis paper is concerned with trajectory tracking control of a two-axis arm driven by pneumatic artificial muscles, in which it is important for the plant output to track general reference inputs other than step signals. To comply with this control objective, this paper applies the plant-variable-optimal (PV-optimal) servo system derived in the framework of two-degree-of-freedom optimal control, and shows that trajectory tracking can be achieved with high accuracy by taking the intrinsic features of the arm into account in the design. That is, we first apply a minor feedback loop based on the pressure measurements about the pneumatic muscles, and then derive a plant model taking account of the relationship between the link angles and pressure measurements. We then adjust the weighting matrices for the PV-optimal servo system according to the physical meaning of the plant state, and design an observer that uses pressure measurements as well as link angle measurements. It is demonstrated with experiments that trajectory tracking with high accuracy can be achieve with such design procedures.抄録全体を表示PDF形式でダウンロード (4988K) -
森 禎弘, 黒江 康明, 森 武宏2008 年 44 巻 11 号 p. 936-945
発行日: 2008/11/30
公開日: 2013/02/25
ジャーナル フリーRecently there have been increasing research interests in synthesizing gene networks and several studies have been done. The motivations of those studies are two ways. One is that the construction of gene networks having desired properties is a complementary approach to investigating mechanism and functions of gene networks. The other is that the construction of gene networks could be the first step to tackling the control problem of living cells. In this paper, we propose a synthesis method of gene networks by network learning. The problem is to determine parameters of a gene network such that it possesses given gene expression pattern sequences as desired properties. The proposed method is applicable to the synthesis problem of a wider class of gene networks. The method is general enough to be able to apply to several types of synthesis problems by slight extensions. In fact, the method is extended so as to solve several types of synthesis problems: the synthesis problem of gene networks which possess several desired expression pattern sequences such as multiple expression pattern sequences, a cyclic expression pattern sequence and a stable cyclic expression pattern sequence, and the synthesis problem of controller gene networks. Several numerical experiments illustrate the performance of the proposed method.抄録全体を表示PDF形式でダウンロード (5059K)
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