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Volume 49, Issue 9
Displaying 1-10 of 10 articles from this issue
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Paper
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Toshihiro AONO, Akira KIYOMURA2013 Volume 49 Issue 9 Pages 817-822
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSOBD (On-Board Diagnosis) system is required in North America to prevent malfunction of automotive engine control systems and to keep emissions clean. Diagnosis of A/F (Air Fuel Ratio) sensor is one function of OBD system. In conventional methods, large amplitude vibration of fuel injection is required and the A/F sensors are diagnosed on the basis of their response to the vibration. In this paper, an A/F sensor diagnosis method without special fuel injection control is proposed. The proposed method detects changes in the A/F signal frequency which are caused by a decreased A/F sensor response. The change in the A/F signal frequency is detected on the basis of the fact that the gain of the differential filter is proportional to the input signal frequency. This method was evaluated using engine bench data. Even in the worst case, the required diagnosis was performed within 17 seconds.View full abstractDownload PDF (1236K) -
Kensuke HARADA, Tokuo TSUJI, Kazuyuki NAGATA, Natsuki YAMANOBE, Hiromu ...2013 Volume 49 Issue 9 Pages 823-831
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSThis paper proposes an object placement planner for a grasped object during pick-and-place tasks. The proposed planner automatically determines the pose of an object stably placed near a user assigned point on the surface of an environment. The proposed method first clusters the polygon model of both an environment and an object where each cluster is approximated by a planar region. The position/orientation of the object placed on the environment can be determined by selecting a pair of clusters from the object and the environment. We further impose several tests to determine the position/orientation of the object such as the convexity test, the cluster inclusion test and the stability test. We show that we can determine the position/orientation of the object for a pick-and-place task where the environment model is obtained from the captured point cloud.View full abstractDownload PDF (2280K) -
Hao GUO, Yuzo OHTA, Izumi MASUBUCHI2013 Volume 49 Issue 9 Pages 832-839
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSIn this paper, we propose a gain scheduled reference governor for control of systems with constraints on the state and/or input variables. We use the reference governor with outer feedback constructed via model following control method. We apply this control scheme to design of long seek control of hard disk drives. To achieve short seek time for long seek distance problems, we consider gain scheduling with the reference governor. With keeping the continuity of input, the control system switches feedback gains according to the location of the state. Moreover, we examine the usefulness of the proposed method by applying it to benchmark problems of hard disk drive control.View full abstractDownload PDF (1542K) -
Ayumi NAKAMURA, Shinichi FURUYA, Tatsushi GODA, Hiroyoshi MIWA, Noriko ...2013 Volume 49 Issue 9 Pages 840-845
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSThe purpose of the present study was to assess effects of daily piano practice on speed and accuracy. When they were asked to play the trained tone sequence as fast and accurately as possible, the maximum rate of keystrokes increased after the practice, indicating enhancement of finger movement speed. This was also the case when playing an untrained tone sequence with the left hand and untrained right hand as fast as possible. A retention test, being performed two months after the final practice session, revealed no apparent deterioration of the hand motor functions, suggesting robustness of motor memory acquired through the piano practice. Finally, provision of visual feedback regarding rhythmic accuracy of keystrokes facilitated the movement accuracy, which implicates a potential of the augmented feedback for improving piano performance.View full abstractDownload PDF (710K) -
Satoshi SATOH, Kenji FUJIMOTO, Masami SAEKI2013 Volume 49 Issue 9 Pages 846-854
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSThis paper concerns an optimal gait generation with respect to energy consumption by learning trajectory and adjusting robot parameters based on learning optimal control. In this method, learning optimal control of Hamiltonian systems, which unifies learning control and parameter tuning, plays a key role. It allows one to simultaneously obtain an optimal trajectory and tuning parameters for a plant system, which (at least locally) minimize a given cost function. The proposed method is applied to the compass gait biped on a shallow slope and the one with a torso on the level ground, respectively. Consequently, a passive dynamic walking is generated for the first case, and an energy-efficient walking trajectory is generated for the latter case.View full abstractDownload PDF (935K) -
Kohei OKUMURA, Masato ISHII, Eri TATSUMI, Hiromasa OKU, Masatoshi ISHI ...2013 Volume 49 Issue 9 Pages 855-864
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSIn spite of high demands in a lot of industrial fields, it is viewed as difficult to capture a stuff flying at the speed of hundreds [m/s] order same as acoustic velocity. A high-frame-rate camera (≈10000 [fps]) is often adopted to observe it. However, this method gives us only a short-lasting recorded data. Furthermore, a quite short exposure time (≈ 5 [µs]) and regionally concentrated illumination are required in order to cut down a motion blur. In this paper, a measurement means specialized for such a high-speed object is proposed. A high-speed gaze controller, called Saccade Mirror keeps its camera gaze casting the matter while soaring. We successfully obtained the longer images with brightness and a little motion blur.View full abstractDownload PDF (1646K) -
Daiki TANAKA, Fumihiko ASANO, Isao TOKUDA2013 Volume 49 Issue 9 Pages 865-874
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSIt was clarified that speeding-up of passive dynamic walking (PDW) of a combined rimless wheel (CRW) can be achieved by adjustment of the phase difference between the fore and rear legs. We discussed the mechanism from the viewpoint of overcoming the potential barrier, and pointed out that the trajectory of the whole center of mass (CoM) is significantly flattened according to the phase difference as one of the factors. This paper investigates the possibility of speeding-up of a CRW not by having the phase difference but by adding a passive wobbling mass that vibrates up and down in the body. Our expectation is that the wobbling mass would flatten the whole CoM trajectory to realize an efficient walking. First, we numerically show that the walking speed increases by the effect of the wobbling mass and that the gait efficiency changes with respect to the viscoelasticity. Second, we analyze the transition from anti-phase to in-phase phase oscillation focusing on the frequencies of the CRW and wobbling mass. We also show nonlinear characteristics such a high sensitivity to initial conditions and hysteresis phenomenon. Furthermore, the validity of the simulation results is verified using an experimental CRW machine.View full abstractDownload PDF (1843K) -
Takashi SHIGEMASA, Yasunori NEGISHI, Yasushi BABA2013 Volume 49 Issue 9 Pages 875-879
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSThis paper discusses a multivariable Model Driven(MD)-PID control system design method for multiple-input and multiple-output process by using inverted decoupler and MD-PID control systems with PD feedback and also discusses its control properties. Numerical examples show the effectiveness on setpoint tracking, disturbance regulation, decoupling and desireable behavior at manual operation of a loop.View full abstractDownload PDF (732K) -
Tomohiro OHSUGA, Motoshi TANAKA, Yoshitsugu NIIYAMA, Hiroshi INOUE2013 Volume 49 Issue 9 Pages 880-886
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSAs a fundamental study on quantifying subjective evaluation by eye movement information, a relationship between eye fixation time and subjective evaluation was discussed. Firstly, a view point measurement system to extract eye fixation in opinion tests with pictures was developed. In the system, linear projection transform and adaptive α-Trimmed mean filters were used to detect eye positions on a picture and reduce noise in view point measurements, respectively. The eye fixation was detected when the change of the eye position in less than 2° was kept for more than 150ms. Secondly, eye fixation and its time were measured when pairs of food pictures were displayed and one picture corresponding to an opinion “Like” or “Dislike” was subjectively selected. Results show the eye fixation time for a picture evaluated as the opinion “Like” or “Dislike” becomes longer than that for the other picture (not evaluated), which indicates a feasibility of detecting a difference of subjective evaluation by the eye fixation time.View full abstractDownload PDF (1529K) -
—A Model-free Approach Based on Simultaneous Perturbation Stochastic Approximation—Ichiro BABA, Shun-ichi AZUMA, Toshiharu SUGIE2013 Volume 49 Issue 9 Pages 887-894
Published: 2013
Released on J-STAGE: October 16, 2013
JOURNAL FREE ACCESSThis paper addresses the benchmark problem of controller design of hybrid electric vehicles, which has been recently proposed by JSAE and SICE. As a solution, we propose a model-free design method based on the simultaneous perturbation stochastic approximation. The proposed method achieves approximately 44 percent improvement compared with the existing controller.View full abstractDownload PDF (1137K)
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