All issues
Volume 8 (1972)
- Issue 6 Pages 629-
- Issue 5 Pages 513-
- Issue 4 Pages 389-
- Issue 3 Pages 261-
- Issue 2 Pages 125-
- Issue 1 Pages 1-
Volume 8, Issue 4
Displaying 1-15 of 15 articles from this issue
- |<
- <
- 1
- >
- >|
-
Ippei HATAKEYAMA, Yasutake SAEKI, Akira NAGATA1972 Volume 8 Issue 4 Pages 389-397
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAs the first step of the cybernetic studies on the muscular movement, the proprioceptive reflex was analysed mainly on the basis of classic control theory. The fundamental proprioceptive reflex arc has two groups of proprioceptor, the muscle spindle (MS) in intrafusal muscle fibre and the tendon organ (TO) in the tendon of extrafusal muscle fibre.
From the location of each receptor, it is considered that MS is a length detector and TO is a tension detector.
At first, the linear analysis was undertaken on the reflex system composed of the muscle (which produces an active force and has series and parallel visco-elastic elements), external load (which includes spring, mass and damper) and the nervous system (receptors, afferent nerves, motor centre efferent nerves).
The stability of the system was examined by the Hurwitz's criterion, and it was indicated that by the increase of the gain of the MS loop (changes in active force: change in muscle length) the system tends to be unstable, while the increase of the TO loop (change in active force: change in muscle tension) improves the system's stability and increases the damping in transient response.
It was clearly shown that the so-called “clasp knife phenomenon”, a kind of flip-flop, cannot be produced by physiological character of TO as believed by most physiologists but the positive feedback loop of some species of MS (the second kind of receptors and group II afferent fibres) is the cause of this phenomenon. Some of the muscle spindles have marked differential character which improves the stability of the system.
Furthermore, other various physiological factors which had not yet been explicated were thus elucidated. We have made also the nonlinear system analysis and got a good agreement with the linear system analysis about the important points.View full abstractDownload PDF (1895K) -
Gen-ichiro KINOSHITA, Masahiro MORI1972 Volume 8 Issue 4 Pages 398-405
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper discusses the Mach phenomenon in the skin and proposes a method of an artificial tactile pattern recognition. Moreover, the geometrical relationship between the stress distribution and the threshold distribution in an artificial finger is described.
The skin has two principal layers, the surface epithelium or epidermis, and the underlying corium or derma. Beneath the latter is the subcutaneous tissue. In this paper, the two layers and the subcutaneous tissue are treated approximately as one layer of subcutaneous tissue.
When the external pressure is applied to the skin model, the tissue being compressed exhibits an elastic response and a large deformation. As the stress in the skin stimulates the nerve ending, we can calculate the stress concentration and the output of nerve ending. It is introduced from the facts described above that the Mach phenomenon is due to the stress concentration and effect of lateral inhibition.
On the other hand, it was already reported that the simple tactile sense model with a variable threshold was provided in the method of an artificial tactile pattern recognition. In this paper, the area size of pattern which is defined by relationship between the stress distribution and the threshold distribution is discussed in the simple tactile sense model.View full abstractDownload PDF (1511K) -
Hideo MIKI, Kei HARA, Takayuki HASHIMOTO, Shunji SAKAI1972 Volume 8 Issue 4 Pages 406-413
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn accordance with whether a human operator has memorized or not the future values of system input, his pursuit tracking tasks are classified here into the precognitive pursuit tracking task and the non-precognitive one, respectively.
Under this classification, the operator's control characteristics such as the lag time, the tracking ability, the frequency characteristics and the transinformation in the precognitive pursuit tracking task are compared with those in the non-precognitive one.
The experiments are carried out as follows. In the first experiment, a human operator memorizes a certain system input by following the input at each trial repeatedly. In the second experiment, in order to examine how far the operator has memorized the system input, he recollects the memorized input without the actual observation. The operator's control characteristics in the precognitive pursuit tracking task are investigated in the last experiment, in which the operator follows again the system input with observing the actual system input, and the characteristics are compared with those in the non-precognitive one.
The results are as follows.
(1) Though a human operator has a memory limitation, he will be able to memorize the system input almost perfectly.
(2) Human operator's control characteristics in the precognitive pursuit tracking task remarkably differ from those in the non-precognitive one.View full abstractDownload PDF (1032K) -
Hiroshi TAMURA1972 Volume 8 Issue 4 Pages 414-421
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper gives a classification of the control action of a man in a manual control system furnished with CRT display and hand-driven controllers, performing compensatory tracking to step input. Two types of controllers, i.e. the continuous controller of non-homing type and the three states switch controller (-1, 0, 1) are compared.
The control action to a step input can be divided into three processes, the initial process, the control process and the stabilizing process.
The initial process, beginning from the onset of input and lasting till the initiation of correct control movement to the input, is a certain latent period and occassionally includes a fault initial controller movement.
The control process begins at the initiation of correct control movement and lasts until the most part of the error imposed by the step input is compensated.
After the compensation of the error starts the stabilization process, which is due to keep the error in the desired level stably.
The control mode of a man in the control and stabilizing processes changes with the order and type of the plant to be controlled and with the controller.
In the control process, two types of control modes are observed. The one, named the linear mode (L), is observed for the plants of the lower order (1st & 2nd). For the higher order plants (2nd & 3rd), the bang-bang mode (BB) is dominant.
In the stabilizing process, four modes are observed. Firstly, the damped bang-bang mode (DB), secondly the steady state bang-bang mode (SB), thirdly, the bang-zero mode (B0) and lastly, the spike mode (SP).
The DB mode is found when the continuous controller is used. The SB mode is observed with the both types of controllers. The B0 mode is found when a 0-type plant is controlled by the 3 states switch. The spike mode is observed only when the 3 states switch is used.
The DB and SP modes are dominant in the trained subjects, while the less trained subjects are apt to use the SB or B0 mode in the stabilizing process.View full abstractDownload PDF (1167K) -
Kokichi NITTA, Hiroshi OKITSU, Takayuki SUZUKI, Yosuke KINOUCHI1972 Volume 8 Issue 4 Pages 422-430
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWith the rapid improvement of thyristor elements, it has become a frequent practice to drive a DC series motor by the chopper power supply. The static and dynamic performances of a DC series motor driven by the chopper power supply must be different from those driven by the pure DC power supply.
In this paper, firstly the theoretical analysis of the static performance of a DC series motor operating with the thyristor chopper is presented. Especially, the general equation on the speedtorque characteristic is derived. The calculated results from it are compared with the measured ones. Secondly we obtained the dynamic characteristic of the motor subjected to small variations around the working point of supply voltage and load torque. Consequently we found that the transfer function of the DC series motor is approximated practically by the form of first order lag and that experimental values agree well with the calculated result.View full abstractDownload PDF (919K) -
Yoshiaki TADOKORO, Takeshi ANAYAMA1972 Volume 8 Issue 4 Pages 431-439
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a method for the construction of the analogue shift register suitable for sampled-data systems. The magnetic cores are capable of isolating the input circuits from the output circuits, and have high reliability in a wide range of environmental conditions. As explained in this paper, the analogue delay elements which are basic units for the shift register are constructed by these cores.
An analogue delay element consists of one core and one flip-flop circuit. This type of delay element is superior to the push-pull type using two cores, because it circumvents the problem of core matching. The input signal is divided into its polarity and absolute value. They are shifted by the binary shift register using flip-flop circuits and by the delay elements using cores, respectively. The errors occurred in the core are compensated by the preset method in which the adaptive value is written-in to the core before the write-in of the signal, and its value can be adjusted for the compensation of errors in every delay element. This method can reduce the number of the cores to half and simplify the adjustment of the readout and write-in characteristics of the delay elements as compared with the push-pull method. As a result, this delay element is simple in construction and has an accuracy of 0.025%.
The difference analyzer is constructed as an application of this shift register. It is made clear that this device is suitable for the study of sampled-data systems.View full abstractDownload PDF (1838K) -
Haruo OGIWARA1972 Volume 8 Issue 4 Pages 440-447
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSNew noncontact velocity measuring systems are proposed. The theory and the experimental results are described. These systems are composed of LASER, the spatial filters, and the photo-detectors. The spatial filters are combined to pass a single spatial frequency μ0 from the random pattern of measuring object transparency distribution. When the object moves at the velocity v, the output spectrum of the photo-detector is the narrow band random signal and its center frequency is μ0v. By measuring the center frequency, the object velocity is known.
In this paper, the random pattern of the object is assumed to be the two dimensional gaussian random process and the general relation between the power spectrum of the photo-detectors' output and the transparency distributions of the spatial filters is analyzed. After this relation, it is discussed how to make spatial filters to pass a single spatial frequency.
The theory of this paper can describe the characteristics of the system, called the “LASER doppler velocimeter”, systematically. As the results of this theory, the system performance is greatly improved by using a special photo-detector array instead of a single photo-detector. The signal to noise ratio and the range of velocity measurement are also improved.
The experimental results concerning the center frequency and the spectral width are in accordance with the theory. The standard deviation of the velocity measurement was 0.5%.
These systems are good at low velocity and extremely local velocity measurement.View full abstractDownload PDF (1724K) -
Osami SAITO, Hiroshi TAKEDA, Koki FUKUSHIMA1972 Volume 8 Issue 4 Pages 448-456
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents the unified method of the sensitivity analysis of optimal filters and optimal regulators, and the duality principle in view of the sensitivity analysis.
First, the effect of parameter errors to the optimal filter is considered. Linear differential equations are derived for the covariance matrix of the estimate error in a sub-optimal filter with introducing the inpulse response matrix which relates the actual estimate error with random inputs of the system.
Next, the optimal regulator is constructed as the linear combination of the function generator of optimal inputs and the controlled system, then the linear differential equations for the performance index of a sub-optimal regulator are analogously derived. So it is clarified that there exists the duality of a sub-optimal filter and a sub-optimal regulator.
Finally, the sensitivity coefficients of the performance index are defined and the sensitivity equations are obtained. It is shown that the performance loss for small parameter errors is negligibly small.View full abstractDownload PDF (1011K) -
Nobuo FUJII, Yoshiyuki SAKAWA1972 Volume 8 Issue 4 Pages 457-465
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, smoothing problems are treated for linear continuous systems where measurements are corrupted by colored noise. Three types of smoothing problems, i.e., fixed interval, fixed point, and fixed lag smoothing problems are discussed. The stochastic differential equations which the smoothed estimates must satisfy, and the error covariance equations are derived on the basis of the principle of orthogonal projection.View full abstractDownload PDF (909K) -
Yasuhiko TAKAHARA1972 Volume 8 Issue 4 Pages 466-472
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper a realization theory is discussed in the framework of the general systems theory.
Concepts of a general time system, an input-output response and an abstract dynamical system are introduced based on those by Mesarovic1), 3), 6), and a realization problem in the general systems theory is formulated as one to convert a given system representation in the form of an input-output response into that of an abstract dynamical system.
A necessary and sufficient condition of the realization for a general time system and that for a general stationary system are given in this paper.
The results are represented in a form fairly different from that of the classical ones. However, it will be shown in the succeeding paper that the classical results can be derived from the present ones when a general linear time system is considered. The present results will be also used in another paper to derive a canonical representation for a general time system.View full abstractDownload PDF (970K) -
Application to Design of Tubular Reactor with Catalyst DeactivationNaonori NISHIDA, Eiichiro TAZAKI1972 Volume 8 Issue 4 Pages 473-479
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA performance sensitivity is presented from the viewpoint of system uncertainties for the optimization problems in a class of distributed parameter systems.
Necessary condition for the performance sensitivity which is defined as the maximum decrease in the value of the objective function caused by hypothetical worst parameter variations is derived by application of the maximum principle to a system with distributed parameters.
A design method is derived for obtaining the optimal performance sensitivity by applying the min-max criterion in the game-theoretical sense.
The method is successfully applied to the design and control of a tubular reactor with catalyst deactivation.
It is shown that an optimal reactor which has a low sensitivity to process parameter variations can be designed by the proposed method.View full abstractDownload PDF (931K) -
Yoo YONEZAWA, Kenjiro YASUMATSU1972 Volume 8 Issue 4 Pages 480-488
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with an application of digital computer with great faculties, and deals with computer control for multivariable systems disturbed by random noise, which is of considerable practical importance.
The algorithm proposed in the paper has two main functions: the one is the estimation of state variables disturbed by random noise, and the other is the decoupling of multivariable system. To estimate the state variables, Kalman-Bucy filter is introduced, and for decoupling of multivariable system the modal decoupling and the decoupling by feedback of observed state-vectors are used.
This algorithm is applicable to the observer with delay and the system with multirate sampling.
The usefulness of the proposed algorithm is illustrated by numerical examples.View full abstractDownload PDF (895K) -
Masao ITOH1972 Volume 8 Issue 4 Pages 489-498
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWhen we study the motion dynamics or navigation control systems of vehicles, it is frequently necessary to transform some vector quantities in the dynamic equations, i.e. linear velocities, angular velocities of the vehicles, from the moving axis coordinate (the body axis coordinate) to the reference axis coordinate (the earth axis coordinate) or vice versa.
Generally, the method to convert the above-mentioned vector quantities is the one due to the modified Euler angles. The other is the method to calculate the instantaneous direction cosines between the moving axis and the reference axis which are caused by the relative rotating motion of the both axes.
In case of computing the fundamental equation of the direction cosine method by analog or digital computers, the solutions tend to diverge from the law of square and orthogonality of direction cosines due to integrating twice in a closed loop.
Hutter and others proposed a compensating term to compute fundamental equations by an analog computer. A few years ago, the authors presented alternative compensating methods in addition to that of Hutters and showed some actual results obtained by an analog computer.
The present paper describes coordinate transformations by digital computation with alternative compensating terms, and indicates that the results obtained in digital computation show much better accuracy than that of analog computer. Therefore the present method would surely be applicable to the real-time digital simulation to study the motion dynamics or a navigation control systems of vehicles.View full abstractDownload PDF (950K) -
Yoshikazu SAWARAGI, Tohru KATAYAMA, Satoru FUJISHIGE1972 Volume 8 Issue 4 Pages 499-507
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the sequential state estimation for linear discrete-time systems with the interrupted observation mechanisms. The interrupted observation process is expressed in terms of the Markov chain taking on the values of 0 or 1. On the basis of the Bayesian approach, the approximate minimum variance estimator is derived for the case where the transition probabilities of the Markov chain are known priori.
An adaptive estimator algorithm is also established when the values of the transition probabilities are unknown, but fixed throughout the time interval of operation. Unlike the usual Kalman filter algorithm, all the estimators derived here are nonlinear with respect to observations and the associated covariance equations are directly related to observations. Digital computer simulations are carried out to compare the performance of the estimator presented here with that of the best linear estimator due to Nahi.View full abstractDownload PDF (1025K) -
Shunshiro OONISHI, Konosuke AKITA1972 Volume 8 Issue 4 Pages 508-509
Published: August 30, 1972
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (187K)
- |<
- <
- 1
- >
- >|