巻号一覧
49 巻, 8 号
選択された号の論文の10件中1～10を表示しています
- |<
- <
- 1
- >
- >|
論文
-
小屋 裕太郎, 中田 崇行, 包 躍, 荒木 貢2013 年 49 巻 8 号 p. 737-746
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーThe factory which manufactures cloth textile product needs an automatic detection defect detection system to improve efficiency. As the conventional method, the method of irradiating a laser beam, the method of using a statistical model in an image processing, the method of using the difference of an image, and the method of depending on wavelet transform are proposed. However, the method of irradiating a laser beam cannot be used for cloth partially with uneven thickness. Furthermore, when an image was blurred by oscillation of a machine and cloth, the method of using a photographed image had the problem to which detection precision falls. This method had detected the device behind the cloth as a defect if thickness of the cloth is thin. These conventional methods were difficult to use for inspection of the moving cloth being weaved. This paper proposes a new method of detecting the defect of cloth automatically. First, the image of cloth photographed by a camera is divided into a block at equal intervals. Then a defect is detected by filtering two kinds of filters to the luminance average value in a block. The proposal method uses the brightness sum of the block set by the configuration of the defect. Since the difference of the brightness sum of the defective part and the normal part is clear, the proposal method can respond to both the defect to which the hole of cloth spreads, and the defect in which cloth is thin. Moreover, since the proposal method uses the filter which has resistance in a small noise and large noise, this method can detect only the defective part, without detecting the device behind the thin place of cloth. It was confirmed at the production plant that the defect of the cloth textile product during manufacture can be certainly extracted by the proposal method.抄録全体を表示PDF形式でダウンロード (5666K) -
竹内 智朗, 香川 利春2013 年 49 巻 8 号 p. 747-754
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーIn gas pressure regulators for natural gas distribution, unstable behaviors such as hunting could result in pressure anomalies. Therefore the quantitative evaluation of stability is very important. In conventional method, evaluation of the stability of regulator requires to develop mathematical model of all regulator elements. However, developing the mathematical model is not so easy because of variety of mechanical structure of regulator and it is feared that parameter measurement error and modeling approximations can be accumulated. In this study, we propose to apply a frequency response test to regulator. The devices for frequency response test has been developed and several test were performed to quantitatively evaluate the stability of regulators by the frequency response test. And the results confirmed the usefulness of applying the frequency response test to regulators.抄録全体を表示PDF形式でダウンロード (2980K) -
衣笠 一樹, 石川 将人, 大須賀 公一2013 年 49 巻 8 号 p. 755-762
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーIn this paper, we propose a robotic model of a casterboard, which is a commercial variant of skateboards with twistable footplates and passive inclined caster wheels. We then derive its mathematical model in the form of nonlinear state equation; this system is of much interest from both mechanical and control points of view as a new challenging example of nonholonomic mechanics. Based on an observation in the preceding works concerning locomotion control for nonholonomic systems, we propose a locomotion control method with sinusoidal periodic control to realize forwarding and turning locomotion. The proposed idea is examined by simulations and physical experiments using the prototype robot developed by the authors. Moreover, we also examine influence of the parameters in sinusoidal reference signals on the robot's behavior.抄録全体を表示PDF形式でダウンロード (1603K) -
濱野 晃, 丸田 一郎, 杉江 俊治2013 年 49 巻 8 号 p. 763-769
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーThis paper proposes a new identification method for continuous-time SISO linear time-invariant models, which does not require the prior knowledge about the system order. First, an appropriately filtered input/output signal is projected onto a finite dimensional signal subspace. Then, based on the projected data, the system order is determined through a nuclear norm minimization which takes account of both model simplicity and output prediction accuracy. Numerical examples are given to demonstrate the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (1857K) -
北島 創, 片山 硬, 伊藤 誠2013 年 49 巻 8 号 p. 770-779
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーThis paper describes a method to diagnose both driver's situation awareness (SA) and behavior based on actual rear-end collision and near-miss data. Characteristics of driver's reaction and brake operation are investigated with risk evaluation indices concerning rear-end collision. The result shows that driver's inappropriate SA and behavior can be observed both before and after the initiation of the brake operation. Therefore, it can be claimed that a driver assistance system should continue to monitor the driver behavior even after the initiation of the brake operation because driver's inappropriate behavior tends to occur during brake operation. On the basis of the analyses, the paper proposes a framework of diagnosis of driver's behavior and discusses the design of a driver assistance system to avoid a rear-end collision.抄録全体を表示PDF形式でダウンロード (2361K) -
山本 秀典, 加藤 博光, 鮫嶋 茂稔2013 年 49 巻 8 号 p. 780-786
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーRecently, in the fields such as power, transportation and industry, it is strongly required to speed up improvement and rebuilding of systems in order to promote efficiency of business in the whole company that includes information and control systems. But already various heterogeneous middleware are installed in control systems and information systems. And they have static heterogeneity and dynamic heterogeneity. In this paper, we describe the technique of middleware cooperating by solving their heterogeneity for interconnecting and information sharing among heterogeneous systems from control systems to information systems. In addition we describe an example of applying our technique to a smart grid system.抄録全体を表示PDF形式でダウンロード (1230K) -
坂井 大斗, 福島 宏明, 松野 文俊2013 年 49 巻 8 号 p. 787-794
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーMost existing studies for multiple mobile robots assume that robots can distinguish between other robots and obstacles. However, there would be many cases in which it's not easy for mobile robots to do that in practice. In this paper, we propose a control algorithm for multiple mobile robots without distinguishing between robots and obstacles. This algorithm does not use velocity information of other robots. We also show that the proposed algorithm using such restricted information guarantees similar properties to the existing algorithms on cohesion, velocity matching and collision avoidance in the group. In addition, unlike many previous researches, we demonstrate effectiveness of this algorithm by not only simulations but also experiments. In experiments, since robots don't need to distinguish between other robots and obstacles, laser range finders are used to detect objects around the robot.抄録全体を表示PDF形式でダウンロード (1141K) -
篠原 正俊, Sam Ann Rahok, 井上 一道, 尾崎 功一2013 年 49 巻 8 号 p. 795-801
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーIn mobile robot's localization, it is well known that odometry can provide a reliable accuracy in short term navigation and a very high sampling rate. However, odometry produces cumulative error because of uneven terrains or wheel slippage and this error increases proportionally with the distance traveled by the mobile robot. Therefore, it is necessary to augment odometry with other sensors to improve its accuracy. This paper proposes an estimation method of mobile robot orientation using an environmental magnetic field (magnetic field that occurs in the environment). A three-axis magnetic sensor is utilized to scan the environmental magnetic field to build a magnetic database on a grid map called “a magnetic map” with the mobile robot operated with a joystick on a desired route. The mobile robot then estimates its orientation by comparing the magnetic sensor readings with the magnetic data stored in the magnetic map. However, even if the proposed method can improve the accuracy of the odometry, positioning error still remains as a major problem in long term navigation. In this work, a localization method using Monte Carlo Localization (MCL) based on a Light Detection and Ranging (LIDAR) is utilized to fix the positioning error at the areas where landmark can be observed. The experimental results showed that the mobile robot could localize robustly in any environments with the proposed method.抄録全体を表示PDF形式でダウンロード (1431K) -
田ノ畑 裕幸, 貝原 俊也, 藤井 信忠2013 年 49 巻 8 号 p. 802-807
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーIn recent production system, transportation among processing machines should be included to generate effective schedules. In this study, we focus on Lagrangian Decomposition and Coordination (LDC) method, as one of the distributed cooperative scheduling methods, and apply it to job shop scheduling problem with the transportation. We propose a new method using LDC to solve the production and transport vehicles scheduling problem, in this paper. In the proposed method, firstly we solve Lagrangian relaxation problem and obtain the completion time of each job. Secondly, we apply a heuristic which allocates transport tasks to vehicles, and decides routes of vehicles in the list scheduling which generates a feasible schedule. We show the effectiveness of the proposed method in several simulation experiments.抄録全体を表示PDF形式でダウンロード (941K) -
原田 正範2013 年 49 巻 8 号 p. 808-815
発行日: 2013年
公開日: 2013/08/27
ジャーナル フリーThis paper presents a Jacobi-pseudospectral (PS) method for directly estimating covectors of the optimal control problem. The covector mapping theorem (CMT) denotes connection between covectors of the minimum-principle and the Karush-Kuhn-Tucker (KKT) multipliers. The CMT for both the Legendre-PS method and the Chebyshev-PS method are proved already. However, applicability of the Jacobi-PS method which including these specific orthogonal polynomial methods has not been studied. The proposed method shows that by applying the weighted interpolants, the Jacobi-PS with the weights of high-order Gauss-Lobatto formulae also satisfy the CMT. Hence, the direct solution by this method automatically yields the covectors by way of the KKT multipliers that can be extracted from a nonlinear programming problem solver. Numerical examples demonstrate that this method yields accurate results compare to the indirect method.抄録全体を表示PDF形式でダウンロード (822K)
- |<
- <
- 1
- >
- >|