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49 巻, 4 号
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—昆虫型ロボットへの搭載—野中 昂平, 柏原 稔樹, 鈴木 健司, 高信 英明, 三浦 宏文2013 年 49 巻 4 号 p. 411-416
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーThis paper describes a contact-type air flow sensor inspired by crickets' sensillar seta. The sensor consists of a metal cantilever and an insulation layer. Air flow bends a hair connected to the cantilever, which causes the deflection of the cantilever and the contact with the substrate. Wind tunnel tests showed that the airflow sensors were able to detect wind velocity ranging from 0.1m/s to 1m/s depending on the length of the cantilever. A hexapod miniature robot with two airflow sensors of different lengths were fabricated using MEMS techniques. A thin brass plate was patterned and etched according to the developed shape of the robot, and the sensors were integrated on the brass plate. The plate was then folded to assemble the 3D robot body. The robot successfully walked in two different ways depending on the wind velocity.抄録全体を表示PDF形式でダウンロード (2019K) -
和田 正義, 亀田 藤雄, 斎藤 征道2013 年 49 巻 4 号 p. 417-424
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーThis paper presents a study on steering control algorithm for a joystick car drive system. The joystick drive system allows a handicapped person to drive a car by using a joystick with small force and short stroke. However, a wrong joystick operation, such as a sudden and wide steering, when a vehicle running in a very high speed results in a car accident quite easily. The other hand, quite sensitive steering control is required around the center of steering angle when a car runs along a straight line. When parking a car, a large steering angle provides easier parking maneuvering to a driver. To realize these requirements and solve some problems, we propose a steering control method with variable steering sensitivity and steering limitation based on a vehicle velocity. First, a dynamic model of a car running with rotation to define a risk for rollover of a car. From the dynamic model, we get limitation of steering angles as a function of the vehicle velocity. The limitation function is verified by the drive test taken by the real van running on the public road including highway and parking lot. The control method is successfully implemented on a microcomputer based controller for the joystick car drive system.抄録全体を表示PDF形式でダウンロード (2406K) -
佐伯 正美, 和田 信敬, 佐藤 訓志2013 年 49 巻 4 号 p. 425-431
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーEstimate of the l2 gain of systems by using a transient response is essential for unfalsified control. We have proposed an l2 gain estimation method using a filter-bank for efficient falsification for linear time-invariant systems, and developed a data-driven loop shaping method for off-line PID tuning. Estimate of the l2 gain is also essential for model validation, where the extension theorem gives the theoretical basis. In this paper, we clarify the property of our filter bank method comparing with the extension method, and the l2 gain estimates by these two methods are compared in accuracy, efficiency, and robustness against noise by numerical experiments.抄録全体を表示PDF形式でダウンロード (733K) -
西村 悠樹, 田中 幹也, 若佐 裕治2013 年 49 巻 4 号 p. 432-439
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーThis paper shows that there is no one-dimensional Wiener process making the origins of deterministic affine systems become locally asymptotically stable with probability one. We clarify that Khasminskii's stochastic Lyapunov functions (SLFs) are not equivalent to deterministic Lyapunov functions (DLFs), and claim that Bardi and Cesaroni's almost Lyapunov functions (ALFs) are the same as DLFs with probability one. We also summarize randomization problems briefly, and explain why deterministic systems become Stratonovich-type stochastic systems by randomization with one-dimensional Wiener processes. Then, we prove that the origins of the randomized systems are not locally almost surely asymptotically stable if the original systems are not locally asymptotically stable. Further, we compare asymptotic stability with probability one ensured by global SLFs with almost sure asymptotic stability ensured by local/global ALFs via linear stochastic systems and its computer simulations.抄録全体を表示PDF形式でダウンロード (886K) -
臼井 温, 近藤 克哉2013 年 49 巻 4 号 p. 440-448
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーThis paper addresses a tracking problem of the golf swing from a video sequence. A particle filter is widely used for the problem. However, it is not easy to achieve good performance result for golf swing tracking problem by using conventional particle filter. To overcome the problem, we combine a Pictorial Structure Model (PSM) as a global pose estimation, with a particle filter approach. In particular, the proposed method enhances the recovery performance of lost track by the global pose estimation. The proposed matching method consists of four steps. First, the golf player's position is found by using the person detector. Second, a pose estimation algorithm using silhouette features is applied for the global pose estimation. Third, left arm of the golfer is tracked by using PSM. Finally, the grip of the golfer is tracked by particle filter. Some experimental results demonstrate that the proposed method works out more accurately than the standard particle filter in tracking of uncontrolled golf swings.抄録全体を表示PDF形式でダウンロード (3502K) -
南部 隆夫2013 年 49 巻 4 号 p. 449-454
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーDynamic feedback control schemes in stabilization of linear parabolic systems are based on a result in mid 70's under the static feedback scheme. We show here a new feature of pole assignment that some choice of eigenvalues badly influences the stability property: An algebraic growth rate is added to the system in such a choice.抄録全体を表示PDF形式でダウンロード (298K) -
藤原 正浩, 篠田 裕之2013 年 49 巻 4 号 p. 455-460
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーThis paper proposes a method to measure the surface compliance distribution of an object from a remote position. The sensing system can be applied to various purposes including modeling and virtualizing an object with haptic information for haptic broadcasting where many users can touch and feel the real object freely at the same time using their own haptic displays. Our measurement system is composed of an ultrasound phased array generating acoustic radiation pressure on the remote object surface and a laser displacement sensor. The surface compliance is evaluated by the ratio of the surface displacement to the applied force. This system enables high-speed scanning of a spot pressurization point on a surface. We set up a system to examine the feasibility of the method. The distribution of the surface compliance comparable to the human skin was successfully measured for a flat object surface in the experiments.抄録全体を表示PDF形式でダウンロード (1171K) -
前田 真也, 三宅 徳朗, 金 亨燮, タン ジュークイ, 石川 聖二, 村上 誠一, 青木 隆敏2013 年 49 巻 4 号 p. 461-468
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーRecently, CAD system has been introduced as a visual screening method in medical field. Also, temporal subtraction method, which enhances temporal changes such as the abnormalities on the image, is implemented as one of technique for CAD by subtracting previous image from current one. Image registration techniques are required for the temporal subtraction method. If the accuracy of image registration is insufficiently, normal structure elements which should be removed are remained on subtraction image. In this study, a novel image registration method for temporal subtraction technique on thoracic MDCT images has been developed to reduce the subtraction artifacts by using intensity gradient information. The proposed method has been applied to thoracic MDCT images, and its efficiency has been indicated.抄録全体を表示PDF形式でダウンロード (1566K) -
中村 友昭, 荒木 孝弥, 長井 隆行, 岩橋 直人2013 年 49 巻 4 号 p. 469-478
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーIn this paper, we propose a nonparametric Bayesian framework for categorizing multimodal sensory signals such as audio, visual, and haptic information by robots. The robot uses its physical embodiment to grasp and observe an object from various viewpoints as well as listen to the sound during the observation. The multimodal information enables the robot to form human-like object categories that are bases of intelligence. The proposed method is an extension of Hierarchical Dirichlet Process (HDP), a kind of nonparametric Bayesian models, to multimodal HDP (MHDP). MHDP can estimate the number of categories, while the parametric model, e.g. LDA-based categorization, requires to specify the number in advance. As this is an unsupervised learning method, users do not need to give any correct labels to the robot and it can classify objects autonomously. At the same time the proposed method provides a probabilistic framework for inferring object properties from limited observations. Validity of the proposed method is shown through some experimental results.抄録全体を表示PDF形式でダウンロード (2059K) -
松本 出, 西 竜志, 乾口 雅弘2013 年 49 巻 4 号 p. 479-487
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーCluster tools are used to process a variety of silicon wafers for the fabrication of microelectronic components. The dual-armed cluster tool system consists of several loadlock modules, processing devices, and dual-armed robots for transferring wafers between them. In order to improve total throughput of cluster tools, deadlock avoidance scheduling is highly required for various types of wafer flow patterns or various equipment configurations. In this paper, we propose a Petri net decomposition approach to deadlock avoidance scheduling for dual-armed cluster tools for semiconductor manufacturing. A timed Petri net model is introduced to represent scheduling problems for dual-armed cluster tools. In order to obtain a deadlock-free schedule, we develop a deadlock avoidance control policy that restricts the marking to prevent unmarked siphons. The developed control policy is combined with the Petri net decomposition approach to generate a better feasible solution. Computational results show the effectiveness of the proposed method combined with the deadlock avoidance policy.抄録全体を表示PDF形式でダウンロード (792K) -
小池 雅和, 千田 有一, 池田 裕一2013 年 49 巻 4 号 p. 488-496
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーActive control methods are used to suppress vibrations in a pneumatic isolation table. To suppress vibration for large displacements, it is necessary to switch the control input instantaneously to the maximum or minimum input values. Therefore, active control by quantized control input generated using the on-off valves is suitable. To obtain high performance, it is necessary to consider the quantized action by on-off valves and the input time-delay that arises from loss of pressure. An important factor is that the quantizer used in this system is a non-linear quantizer. Although conventional methods can be applied to the system including the non-linear quantizer, it is highly possible that a performance of disturbance attenuation deteriorates compared to when using a linear quantizer. Therefore, a control method that can be applied to the system including the non-linear quantizer and can give high performance is proposed in this study. Furthermore, the proposed method is applied to a pneumatic isolation table and its performance is verified through numerical simulations and experiments.抄録全体を表示PDF形式でダウンロード (954K)
ショート・ペーパー
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小坂 学2013 年 49 巻 4 号 p. 497-498
発行日: 2013年
公開日: 2013/04/26
ジャーナル フリーThe proof of Nyquist's criterion for stability requires the assumption that frequency s goes along the closed contour enclosing the right-half complex plane in a clockwise direction. This paper presents a new proof that does not require the assumption.抄録全体を表示PDF形式でダウンロード (234K)
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