巻号一覧
46 巻, 10 号
選択された号の論文の6件中1～6を表示しています
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論文
計測
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古瀬 達彦, 日浦 慎作, 佐藤 宏介2010 年 46 巻 10 号 p. 589-597
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーIn this paper, we propose a method to accurately measure the shape of objects by suppressing indirect reflection such as interreflection or subsurface scattering. We use a modulation with M-sequence shifted along the line of the slit light to be accurately detected on the captured image in two ways. This method has two advantages; one is the characteristics of propagation of higher spatial frequency components and the other is geometric constraint between the projector and the camera. Prior to the measurement, epipolar constraint is obtained through calibration, and then the phase consistency is evaluated to suppress the interreflection. The value of cross-correlation is used to suppress the dilation of the light caused by the subsurface scattering.抄録全体を表示PDF形式でダウンロード (3702K)
制御
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都築 卓有規, 山下 裕2010 年 46 巻 10 号 p. 598-606
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーThe purpose of this paper is to solve a global asymptotic stabilization problem for a nonlinear control system on a manifold with a complete metric. As well known, a system on a noncontractible manifold is not globally asymptotically stabilizable via a continuous feedback law. This problem results from the existence of multiple singular points of such a controlled system. It is shown that if all singular points can be assigned to a subspace of the extended state space using a dynamic compensator and a continuous feedback except for at most one jump, then the augmented system becomes globally asymptotically stable. Moreover, a method for stabilization is developed using a dynamic compensator and a global control Lyapunov function for an input-affine system. Finally, we propose a method for constructing the control Lyapunov function for a system such that the dimension of the coefficient matrix of the input is equal to the dimension of the state.抄録全体を表示PDF形式でダウンロード (594K) -
信貴 洋平, 加納 学, 長谷部 伸治2010 年 46 巻 10 号 p. 607-614
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーThe maintenance of model predictive control (MPC) systems is one of the major problems identified by industrial process control engineers. Since performance deterioration is usually caused by changes in process characteristics, effective re-modeling is the key to success. Obviously, not all sub-models have to be reconstructed; thus, it is crucial to identify sub-models that have significant plant-model mismatch. In the present work, a novel method is proposed for significant plant-model mismatch detection from routine closed-loop operation data on the basis of the statistical test concept. The effectiveness of the proposed method is demonstrated through case studies targeting distillation and reaction processes. The results clearly show not only that the proposed method can detect sub-models that have significant mismatch but it is superior to the other methods based on multivariate analysis.抄録全体を表示PDF形式でダウンロード (773K) -
石崎 孝幸, 加嶋 健司, 井村 順一2010 年 46 巻 10 号 p. 615-622
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーIn this paper, we propose a model order reduction method for a class of high-dimensional cascade system and it is derived by making use of the fact that the input-output properties of the system approach that of a diffusion system, described by partial differential equations, at a certain continuum limit. Reduced systems preserve the diffusional structure and the stability of the original system. In addition, the upper bound of the error caused by the order reduction is derived.抄録全体を表示PDF形式でダウンロード (791K)
システム・情報
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浦久保 孝光, 前川 聡, 上田 哲也, 玉置 久2010 年 46 巻 10 号 p. 623-631
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーRecently, various types of spherical robots that can roll and move on the ground have been developed. We are now developing a spherical robot that can roll and, in addition, rotate around the vertical axis simultaneously. By using the added degree of freedom, the attitude of the robot can be changed arbitrarily even when the robot rolls along a specified path on the ground. This paper proposes an optimal trajectory planning method for the robot that moves along a straight line on the ground. The trajectory that connects an initial attitude and a final attitude is obtained by finding the optimal contact point trajectory on a spherical surface.抄録全体を表示PDF形式でダウンロード (1458K)
システムインテグレーション
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溝口 善智, 多田隈 建二郎, 長谷川 浩章, 明 愛国, 石川 正俊, 下条 誠2010 年 46 巻 10 号 p. 632-640
発行日: 2010年
公開日: 2011/11/03
ジャーナル フリーTo achieve the skilful task like the human, many researchers have been working on robot hand. An interaction with vision and tactile information are indispensable for realization of skillful tasks. In the existing research, the method using a camera to get the vision information is often found. But, near the object surface, vision has a weak point of the occlusion. In this research, we seamlessly detect from near to contact and achieve a reliable grasp through the integration of proximity, tactile and slip sensor in a three-fingered hand, and propose an appropriate grasp strength control derived from slippage information during grasping. As a practical task, Pick & Place was adopted, and was successful in implementation under the conditions of 1) weight/shape/friction conditions are unknown and 2) placement error exists. Although the sensor group did not necessarily provide a high accurate information, it showed sufficient effectiveness through its appropriate usage.抄録全体を表示PDF形式でダウンロード (2173K)
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