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Volume 45, Issue 3
Displaying 1-8 of 8 articles from this issue
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Measurement
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Yoji MASUI, Takanori MIYOSHI, Kazuhiko TERASHIMA2009 Volume 45 Issue 3 Pages 137-143
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSIn this paper, a novel method to realize high-speed dimensional inspection of 3D shapes is proposed, by means of a bilateral vibration touch probe that outputs feedback voltage in accordance with its position. Dimensional inspection can be performed by both of measuring several characteristic points, and of interpolating by least square method. A method of measurering the specified several characteristic points is used for shortening the measurement time, where it is assumed that rough positions of the characteristic point are provided. A new method using the bilateral vibration touch probe for dimensional inspection is proposed, and the effectiveness of the proposed method is demonstrated by experiments.View full abstractDownload PDF (786K)
Control
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Ichiro MARUTA, Toshiharu SUGIE2009 Volume 45 Issue 3 Pages 144-152
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper proposes a new approach for the projection type iterative learning control (ILC) with an application to identification of continuous-time systems. First, this paper gives a framework to perform ILC without resetting the initial condition at each iteration, which can be achieved by introducing the dynamics into the system representation in the finite-dimensional signal subspace. Second, it is shown how to identify the system parameters based on the proposed ILC. The method does not require us to wait for the equilibrium state patiently or reset the system forcibly in the identification process. Furthermore, a class of gain decreasing filters are introduced. Combination of these results gives us the estimates which converge to the true system parameters against measurement noise. A numerical example is given to demonstrate these properties of the proposed method.View full abstractDownload PDF (768K) -
Hiroshi OKAJIMA, Nobutomo MATSUNAGA, Shigeyasu KAWAJI2009 Volume 45 Issue 3 Pages 153-159
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSElectric automobiles with four in-wheel moters have been developed in recent year. By using dynamic differential force between wheels, lateral motion of the automobile can be controlled with yaw moment. This framework is known as “Direct Yaw-moment Control (DYC)”. In many previous works of DYC methods, yaw-moment is used for increasing the stability. However, maneuverability has not been discussed. In this paper, a novel DYC controller is proposed that gives the neutral steering, where neutral steering is a good evaluation index of maneuverability of automobiles. The proposed controller is derived based on the output zeroing control. The effectiveness of proposed method is shown by numerical example.View full abstractDownload PDF (453K) -
Shinji HARA, Yutaka HORI, Tae-Hyoung KIM2009 Volume 45 Issue 3 Pages 160-167
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper studies a formation stability analysis scheme of a distributed cooperative control for target-enclosing operations by multiple homogeneous dynamic agents. To this end, we first present an on-line path generator design method based on a cyclic pursuit scheme. Then, we provide the stability condition which the developed path generator should satisfy. This condition is derived based on a simple stability analysis method for hierarchical large-scale linear systems with a generalized frequency variable. The formation control scheme combined with a cyclic pursuit based distributed on-line path generator satisfying the derived stability condition guarantees the required global convergence property with theoretical rigor. Further, in order to show its distinctive features clearly, we present how to analyze global formation stability for a class of multi-agent systems where each agent is modeled as a second-order system and is locally stabilized by the PID controller. A simulation example illustrates distinctive features of the proposed method and the achievement of a desired pursuit pattern.View full abstractDownload PDF (854K) -
Mamoru SAITO, Takeshi HATANAKA, Masayuki FUJITA2009 Volume 45 Issue 3 Pages 168-176
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper investigates an optimal search problem under the assumption that a target to be found appears randomly and stays for a fixed time interval. We first formulate the search problem as an optimization problem to maximize the probability of finding the target while reducing the control energy consumption, and provide a solution to this problem. In this paper, we moreover derive the expectation value of how many times the target appears without being found and a necessary and sufficient condition for the agent's behavior to converge to a periodic trajectory. The effectiveness of the proposed method is demonstrated through a numerical simulation.View full abstractDownload PDF (551K)
System and Information
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Yosuke KURIHARA, Keigo MISAWA, Kajiro WATANABE, Kazuyuki KOBAYASHI2009 Volume 45 Issue 3 Pages 177-182
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThe development of electronics devices yields circuits which operates with low power consumption. This paper is aimed at describing a novel power supply system to such the devices. The energy levels diverged by mechanical vibration, pressure drops by regulators, thermal diverged, are low in the mechanical field but high enough to operate the electronics devices above. Here we describe a novel energy collecting method from pressure regulators in which high pressure is regulated to constant low pressure. In the regulation, energy is diverged. The method converts gas flow to rotation by a pneumatic motor and generates electric power by a generator connected with the motor. An LP gas regulator under normal use in a house, diverges about 30W energy. The devices developed here collected about 9W energy which is enough high for operating electronics devices around LP gas including intelligent gas meter.View full abstractDownload PDF (645K)
System Integration
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Sho TAMURA, Shoichi MAEYAMA2009 Volume 45 Issue 3 Pages 183-189
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSRescue robots have been actively developed since Hanshin-Awaji (Kobe) Earthquake. Recently, the rescue robot to reduce the risk of the secondary disaster on NBC terror and critical accident is also developed. For such a background, the development project of mobile RT system in the collapsed is started. This research also participates in this project. It is useful to use the image pointing for the control interface of the rescue robot because it can control the robot by the simple operation. However, the conventional method cannot work on a rough terrain. In this research, we propose the system which controls the robot to arrive the target position on the rough terrain. It is constructed the methods which put the destination into the vector, and control the 3D localizated robot to follow the vector. Finally, the proposed system is evaluated through experiments by remote control of a mobile robot in slope and cofirmed the feasibility.View full abstractDownload PDF (865K) -
Kiyotaka FUKUMOTO, Osamu FUKUDA, Masayoshi TSUBAI, Satoshi MURAKI2009 Volume 45 Issue 3 Pages 190-197
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSQuantification of muscle volume can be used as a means for the estimation of muscle strength. Its measuring process does not need the subject's muscular contractions so it is completely safe and particularly suited for elderly people. Therefore, we have developed a flexible measuring system for muscle volume using ultrasonography. In this system, an ultrasound probe is installed on a link mechanism which continuously scans fragmental images along the human body surface. These images are then measured and composed into a wide area cross-sectional image based on the spatial compounding method. The flexibility of the link mechanism enables the operator to measure the images under any body postures and body site. The spatial compounding method significantly reduces speckle and artifact noises from the composed cross-sectional image so that the operator can observe the individual muscles, such as Rectus femoris, Vastus intermedius, and so on, in detail.
We conducted the experiments in order to examine the advantages of this system we have developed. The experimental results showed a high accuracy of the measuring position which was calculated using the link mechanism and presented the noise reduction effect based on the spatial compounding method. Finally, we confirmed high correlations between the MRI images and the ones of the developed system to verify the validity of the system.View full abstractDownload PDF (1172K)
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