計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
48 巻, 3 号
選択された号の論文の7件中1~7を表示しています
論文
  • 岡本 卓, 平田 廣則
    2012 年 48 巻 3 号 p. 125-133
    発行日: 2012年
    公開日: 2012/03/29
    ジャーナル フリー
    The chaotic optimization method is a global optimization method to solve unconstrained optimization problems. Its superior effectiveness has been confirmed through applications to optimization problems which have high dimensional and multi-peaked objective functions. However, the chaotic optimization method has a drawback in that a parameter called initial sampling parameter has to be tuned on each optimization problem. In this paper, we consider a chaotic optimization method without the initial sampling parameter tuning. In this method, first, a direction vector is extracted from a gradient vector. Then, the search point is moved to the direction. Its moving distance is decreased automatically so that search range is shifted from global search to local search. We also propose an initial sampling parameter estimation method. In this method, the initial sampling parameter is estimated from the search history, and the estimated parameter is exploited in the local search phase. We confirm effectiveness of the proposed method through numerical experiments.
  • 弓井 孝佳, 木村 憲明
    2012 年 48 巻 3 号 p. 134-140
    発行日: 2012年
    公開日: 2012/03/29
    ジャーナル フリー
    The amplitude-to-time conversion (ATT) technique is proposed as a detection method which can achieve a wide dynamic range and a high Signal to Noise ratio. Laser absorption measurement is known for its high sensitivity for a gas concentration. To enhance the sensitivity for detection, it is required that the minute attenuation in a direct signal is amplified. In order to verify the principle and evaluate the performance, a unique system is developed by the authors. As a result of the test, measurement of an amplitude attenuation of about 1/2,000,000 was successfully achieved. The system is compared to a 14-bit A/D converter, which has proved that its sensitivity is almost two hundred times the 14bit A/D converter.
  • 伊丹 哲郎
    2012 年 48 巻 3 号 p. 141-150
    発行日: 2012年
    公開日: 2012/03/29
    ジャーナル フリー
    Group of robots that works mainly in macroscopic systems is considered as a continuum. We need not mount specific sensors for mutual information among these robots. Increasing number of the robots makes it difficult to predict collective motion of the robots. To give a well organized strategy of designing the task, we describe these robots as that like fluid in continuum mechanics, where number density $f_1 (\vec{x},\vec{p}; t)$ of the robots located at around $\vec{x}$ with momentum around $\vec{p}$ at time $t$ is a main variable. Also we propose methods to move these robots by external potential energy $V(\vec{x};t)$. To specify a concept, we take a transportation system by group of robots. The objects located at $\vec{X}(t)$ that do not feel a potential $V(\vec{X}(t);t)$ can be transported by a collision with the robots moving aimlessly under the potential force $-\frac{\partial V(\vec{x};t)}{\partial \vec{x}}$. The new scheme of a design based on continuum mechanics is validated by direct method of dynamical development of the system in time.
  • 来山 茂央, 曽 智, 平野 旭, 辻 敏夫, 滝口 昇, 大竹 久夫
    2012 年 48 巻 3 号 p. 151-158
    発行日: 2012年
    公開日: 2012/03/29
    ジャーナル フリー
    Ventilatory signal is a kind of bioelectric signals reflecting the ventilatory conditions of fish, and has received recent attention as an indicator for assessment of water quality, since breathing is adjusted by the respiratory center according to changes in the underwater environment surrounding the fish. The signals are thus beginning to be used in bioassay systems for water examination. Other than ventilatory conditions, swimming behavior also contains important information for water examination. The conventional bioassay systems, however, only measure either ventilatory signals or swimming behavior. This paper proposes a new unconstrained and noninvasive measurement method that is capable of conducting ventilatory signal measurement and behavioral analysis of fish at the same time. The proposed method estimates the position and the velocity of a fish in free-swimming conditions using power spectrum distribution of measured ventilatory signals from multiple electrodes. This allowed the system to avoid using a camera system which requires light sources. In order to validate estimation accuracy, the position and the velocity estimated by the proposed method were compared to those obtained from video analysis. The results confirmed that the estimated error of the fish positions was within the size of fish, and the correlation coefficient between the velocities was 0.906. The proposed method thus not only can measure the ventilatory signals, but also performs behavioral analysis as accurate as using a video camera.
  • 福島 大志, 宮崎 文夫, 西川 敦
    2012 年 48 巻 3 号 p. 159-166
    発行日: 2012年
    公開日: 2012/03/29
    ジャーナル フリー
    We have newly developed a noncontact letter input interface called “Fingual”. Fingual uses a glove mounted with inexpensive and small magnetic sensors. Using the glove, users can input letters to form the finger alphabets, a kind of sign language. The proposed method uses some dataset which consists of magnetic field and the corresponding letter information. In this paper, we show two recognition methods using the dataset. First method uses Euclidean norm, and second one additionally uses Gaussian function as a weighting function. Then we conducted verification experiments for the recognition rate of each method in two situations. One of the situations is that subjects used their own dataset; the other is that they used another person's dataset. As a result, the proposed method could recognize letters with a high rate in both situations, even though it is better to use their own dataset than to use another person's dataset. Though Fingual needs to collect magnetic dataset for each letter in advance, its feature is the ability to recognize letters without the complicated calculations such as inverse problems. This paper shows results of the recognition experiments, and shows the utility of the proposed system “Fingual”.
  • 山本 祥寛, 三倉 将太, 岩城 敏, 永徳 真一郎, 中村 幸博, 茂木 学, 武藤 伸洋
    2012 年 48 巻 3 号 p. 167-174
    発行日: 2012年
    公開日: 2012/03/29
    ジャーナル フリー
    We propose a design and control of an air pillow system (IAAP: Impedance Adjustable Air Pillow), in which users can independently adjust its height and tactile sensation. The IAAP consists of a pressure sensor and a motor-driven piston-cylinder mechanism and an air bag. Because the IAAP does not contain any mechanical sensor and actuator inside the air bag, by using only the air pressure and the piston position, we propose an open-loop based impedance control method to set the target mechanical impedance of the air bag. To evaluate the basic validity of the proposed method, impedance setting tests have been conducted. To evaluate the usability of IAAP comparing with some commercially available passive pillows, sensory evaluation tests have been carried out on a group of subjects. As a result of these tests, we conclude the IAAP has a practical potential as a high-performance pillow.
  • ―定形条物体のリアルタイム位置検出と追従―
    芦澤 怜史, 黒宮 裕介, 安藤 大樹, 大道 武生
    2012 年 48 巻 3 号 p. 175-184
    発行日: 2012年
    公開日: 2012/03/29
    ジャーナル フリー
    The dismantling robot with water jet nozzle was developed. This robot needs accurate position sensing of the light gauge steel as called LGS for the water jet nozzle to follow the center of the LGS under lift-off fluctuation on real time. Solving the problem, the mechanism with two magnets was designed which can be rotated by magnet force. Here, vertical and horizontal magnet forces are also used. Vertical force applied to sense accurately the center of the LGS at starting point on off line. Horizontal force applied to sense roughly it on real time using displacement of two magnets. The test was done to find the sensing parameters and clear the application boundary. It showed two sensing processes are useful for accurate sensing and the proposed method was also useful for the robot scanning under lift-off change.
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