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Volume 52, Issue 2
Displaying 1-5 of 5 articles from this issue
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Paper
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—An Approach Based on a Linear-like Representation—Koji ARAKAWA, Yasuaki OISHI2016 Volume 52 Issue 2 Pages 53-59
Published: 2016
Released on J-STAGE: February 18, 2016
JOURNAL FREE ACCESSDesign of a dynamic quantizer is considered for a nonlinear system having a linear-like representation. The proposed method is an extension of the method of Sawada and Shin to a nonlinear system and is flexible enough to incorporate a constraint on the control input. The design is reduced to a parameter-dependent linear matrix inequality, which can be solved with the sum-of-squares technique. The proposed method is applied to a simple nonlinear system and gives a dynamic quantizer whose performance is superior to that of a static quantizer.View full abstractDownload PDF (609K) -
Yasuyuki SATOH, Naoki NISHIDA, Hisakazu NAKAMURA2016 Volume 52 Issue 2 Pages 60-67
Published: 2016
Released on J-STAGE: February 18, 2016
JOURNAL FREE ACCESSHigh precision position control of robot manipulators is a fundamental and important control problem. In this paper, we propose a homogeneous finite-time P-PI controller for joint angle control of robot manipulators, and then propose a finite-time P-PI controller for end-effector position control. Further, we prove that the proposed controllers guarantee finite-time stability if the desired position is a locally asymptotically stable equilibrium. Finally, we confirm the effectiveness of the proposed method by experiments.View full abstractDownload PDF (957K) -
Keisuke FUKUDA, Tetsuo SAWARAGI, Yukio HORIGUCHI, Hiroaki NAKANISHI2016 Volume 52 Issue 2 Pages 68-76
Published: 2016
Released on J-STAGE: February 18, 2016
JOURNAL FREE ACCESSIn this study, a novel method of safety analysis for safety management in train maneuvering is proposed based upon a systemic accident model, in which a train maneuvering activity by a train driver is regarded as a system of interrelated functions to be attained. Our method is based upon an original idea of Functional Resonance Analysis Method (FRAM) that was proposed by Hollnagel (2004), and our proposal attempts to identify how an unsafe event did happen as a result of interactions of deviated functions. For this purpose, at first a representation scheme for structuring interrelationships among train drivers' task components is provided. These interrelationships are derived from sources of drivers' instruction manuals, rules, regulations, etc. and are represented as interrelated networks of functions. Then, for a particular unsafe event that was actually happened in the past, our scheme is applied to represent the underlying maneuvering task and it is shown how the normal task procedures turned out to be an unsafe event through the propagations of primitive and local deviations towards the other part of the task. In this way, our method can replay a scenario of how the unsafe event did happen, and in addition to that, is able to detect latent hazards that did not actually happen but might happen when some conditions underlying at the event were to change from the original case.View full abstractDownload PDF (2193K) -
Yuuki ABIKO, Yuta HIDAKA, Satoshi IWAKI2016 Volume 52 Issue 2 Pages 77-85
Published: 2016
Released on J-STAGE: February 18, 2016
JOURNAL FREE ACCESSTo support natural communication by bedridden persons with upper limb disabilities, we propose a hands-free pointing system that enables seamless indication of PC and real objects. An “air-pillow interface,” conventionally developed by the authors, can measure head motions to control a cursor on a PC display and can simultaneously control the direction of a laser pointer on a pan-tilt actuator near the user's head. The user moves the cursor with the head motion interface, and when the cursor reaches the end of the display, the cursor will jump out to the real world as a laser beam. We experimentally confirm the validity of the proposed method and evaluate the operating performance by throughput values with regard to pointing ability for PC and real objects.View full abstractDownload PDF (1755K) -
Akira KOJIMA, Kotaro HASHIKURA2016 Volume 52 Issue 2 Pages 86-92
Published: 2016
Released on J-STAGE: February 18, 2016
JOURNAL FREE ACCESSAn H∞ filtering problem for a system driven by uncertain previewable signals is discussed, and a design method of an H∞ filtering law is presented. The problem pertains to general H∞ control problems which enable to deal with typical controller design regarding the uncertainty of future forecast. The solvability condition of the filtering problem is characterized by the solution of algebraic Riccati equation, and some interpretations are provided on the features of the resulting filtering law.View full abstractDownload PDF (733K)
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