巻号一覧
51 巻, 4 号
選択された号の論文の8件中1～8を表示しています
- |<
- <
- 1
- >
- >|
論文
-
—福島県浪江町における放射線モニタリング飛行—佐藤 昌之, 村岡 浩治, 穂積 弘毅, 眞田 幸尚, 山田 勉, 鳥居 建男2015 年 51 巻 4 号 p. 215-225
発行日: 2015年
公開日: 2015/04/15
ジャーナル フリーDue to the tragic accident of radioactive contaminant spread from Fukushima Dai-ichi nuclear power plant, the necessity of unmanned systems for radiation monitoring has been increasing. This paper concerns the flight controller design of an unmanned airplane which has been developed for radiation monitoring around the power plant. The flight controller consists of conventional control elements, i.e. Stability/Control Augmentation System (S/CAS) with PI controllers and guidance loops with PID controllers. The gains in these controllers are designed by minimizing appropriately defined cost functions for several possible models and disturbances to produce structured robust flight controllers. (This method is called as “multiple model approach”.) Control performance of our flight controller was evaluated through flight tests and a primitive flight of radiation monitoring in Namie-machi in Fukushima prefecture was conducted in Jan. 2014. Flight results are included in this paper.抄録全体を表示PDF形式でダウンロード (8117K) -
田中 基康, 佐藤 順亮, 田中 一男, 松野 文俊2015 年 51 巻 4 号 p. 226-232
発行日: 2015年
公開日: 2015/04/15
ジャーナル フリーThis paper proposes a control method for multi-point contact of a redundant serial-link robot with collision avoidance between an object and the robot. A redundant robot can move with dexterity using redundancy, which is extra degree of freedom. We derive a kinematic model of the robot system and propose a controller using kinematic redundancy. The controller consists of the two parts. One is tracking desired positions and the other is avoiding collision. We analyze a feature of redundancy of the system and design the part for collision avoidance considering the feature. In our proposed method, the controlled points simultaneously track the desired trajectory by proposed method and the collision avoidance of each part is accomplished without trade-off between the parts using the feature of redundancy of the system. Simulation results show the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (1051K) -
小林 弘幸, 大村 卓矢, 山本 知仁2015 年 51 巻 4 号 p. 233-239
発行日: 2015年
公開日: 2015/04/15
ジャーナル フリーSpeech dialogue systems, such as Apple's “Siri,” have gradually become more widespread, and in the near future, a greater number of general users will have the opportunity to communicate with such systems. To facilitate this, it is necessary for the system to communicate more naturally with users, and to realize that both verbal and nonverbal information must be taken into consideration. In this research, using an available speech recognition platform, we have developed simple dialogue system that consider utterance timing and evaluated it. As a result, it is clarified that the mean error of generated pause duration is controlled within 20msec, and the proper fixed pause duration is turned to be 600msec in this system. Moreover, the evaluation of generative models of pause duration showed that the model that synchronized the utterance duration weakly or fixed pause duration (600msec) model tended to get best results.抄録全体を表示PDF形式でダウンロード (1285K) -
金 亨俊, 山川 宏2015 年 51 巻 4 号 p. 240-250
発行日: 2015年
公開日: 2015/04/15
ジャーナル フリーExisting rigid robot arms are often designed to have two or three joints in view of costs and manufacturing points. However at an initial design stage, the number of joints and lengths of arms should be designed more freely and adequately from the points of total efficiency and costs. This study aims at developing and providing a general and convenient method to obtain optimum number of joints and lengths of a rigid robot arm at initial design stage. The design of optimum joints and lengths, of course, depends upon trajectories, obstacles in working space, tasks and other many factors. At an initial design stage it is not so easy to determine optimum number of joints and lengths under consideration such many factors but is worthwhile to study on seeking for a possible method. Hence this study proposes a general design method where a trajectory itself is taken as design variables beside number of joints and lengths of robot arms because a trajectory is considered as one of prominent factors to effect on such two measures energy and manipulability are adopted as objective functions. Then an optimum problem is formulated as multi-objective optimum design problem. This problem is difficult to solve by conventional optimization methods, thus it is solved by multiple loops based on Genetic Algorithm (GA). Based on the proposed method, numerical examples in 2- and 3-dimensional spaces are demonstrated. Model experiments are also carried out. All those results are examined, and show the validity and effectiveness.抄録全体を表示PDF形式でダウンロード (2282K) -
遠藤 孝浩, 川﨑 晴久, 中川 志信, 山下 誠治, 土屋 陽太郎, 石榑 康彦2015 年 51 巻 4 号 p. 251-259
発行日: 2015年
公開日: 2015/04/15
ジャーナル フリーThis paper presents the design, control, and characteristics of a new type of haptic interface named side-faced-type multi-fingered haptic interface. The proposed side-faced-type multi-fingered haptic interface, consisting of a five-fingered haptic hand and an arm, can present three-directional forces at a user's five fingertips. By locating the interface on the side of the user's body, the interface allows the user to grasp a small virtual object using multiple fingers. Further, to realize the haptic display by the interface, a control system has been developed. Finally, several experiments have been carried out to investigate the validity of the developed interface. These results show the great potential of the side-faced-type multi-fingered haptic interface.抄録全体を表示PDF形式でダウンロード (2238K) -
中村 久栄2015 年 51 巻 4 号 p. 260-266
発行日: 2015年
公開日: 2015/04/15
ジャーナル フリーShort-circuit faults in windings due to the deterioration of insulation is one of the most common faults in motor drive systems. An easy and effective fault diagnosis method is urgently required to ensure a highly reliable operation. This paper proposes a new means of identifying a stator slot in which a short-circuit fault has occurred. This study first analyzed the phenomenon after the occurrence of a short-circuit fault in winding. As the result, the magnetic field in the stator of motor was found to have changed after the occurrence of the short-circuit fault and it was clear that a change of magnetic field was affected by the frequency of voltage applied to the winding. Based on this phenomenon, a new method of identifying slots in which a short-circuit fault has occurred is proposed. Next, in order to measure the magnetic flux density emanating from windings inserted each slot, a small magnetic flux density sensor is prototyped. Finally, by using this sensor, magnetic flux density of each slot directly above are measured, the effectiveness of proposed method is verified.抄録全体を表示PDF形式でダウンロード (1089K) -
浦邊 研太郎, 内藤 諒, 小木曽 公尚2015 年 51 巻 4 号 p. 267-273
発行日: 2015年
公開日: 2015/04/15
ジャーナル フリーThis paper validates a mathematical model of McKibben pneumatic artificial muscle (PAM) systems which has been presented. Using PAMs manufactured by ActiveLink, FESTO and Kanda Tsushin Kogyo, it illustrates the validation results of whether to simulate their behaviors.抄録全体を表示PDF形式でダウンロード (1185K) -
高木 翼, 石澤 広明, 児山 祥平, 新村 正明2015 年 51 巻 4 号 p. 274-279
発行日: 2015年
公開日: 2015/04/15
ジャーナル フリーIn recent years, the demands for vital sign measurement system have been increasing, such as home health care for elderly people, or self-health management for healthy people. In this study, we aimed at the development of a non-invasive wearable device to measure vital sign. We use a Fiber Bragg Grating (FBG) sensor as pulse wave sensor. A FBG sensor is the optical fiber. Therefore, a FBG sensor has a lot of features. Its characteristics are suitable for the measurement of vital signs at all times. We fix FBG sensors to different two points of the body surface and acquired pulse wave. We calculated the systolic blood pressure by using Pulse Transit Time (PTT) which is arrival time lag of pulse wave. We have confirmed the validity of the principle of systolic blood pressure measurement by FBG sensors.抄録全体を表示PDF形式でダウンロード (1081K)
- |<
- <
- 1
- >
- >|