巻号一覧
9 巻, 1 号
選択された号の論文の18件中1～18を表示しています
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芝 亀吉, 杜沢 達美1973 年 9 巻 1 号 p. 1-8
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーIt is known that when the mean free path of the gas molecule is sufficiently large compared with the thickness of the surface layer surrounding a body placed in the gas, the heat loss by thermal conduction through the gas is proportional to the pressure. Therefore in a low pressure region, the temperature rise of a constantly heated body in the gas depends upon the pressure. The thin-plate vacuum gauge here reported is based on the above mentioned phenomenon.
The vacuum gauge examined is composed of a thermopile attached to a thin long rectanguler mica plate, with a heating wire near one end of the plate. The measurable range with the unwrapped sensing part seems to be almost the same as that with a usual gauge of thermal conductivity type. The range with the wrapped sensing parts is ca 5×10-4∼1×102 Torr. The vacuum measurement is done by a temperature difference less than 30 degrees.抄録全体を表示PDF形式でダウンロード (1034K) -
渡辺 博巳, 森下 昂, 児玉 淳一, 奥田 滋1973 年 9 巻 1 号 p. 9-15
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーWhen the pulsating torque of an electric motor is measured by an apparatus using a transfertype torquemeter, the measured value is not the absolute value of the pulsating torque generated by the motor but the torque transferred to the load from the motor. Therefore, the measured values of the pulsating torque by the apparatus vary with the mechanical constants of the apparatus and the frequency of the pulsating torque, even if the amplitude of the pulsating torque is constant.
This paper deals with the conversion of the measured value obtained by the apparatus into the absolute value of the pulsating torque. When the mechanical part of the apparatus is represented by an analog electric circuit whose circuit constants are the function of the mechanical constants of the apparatus and the frequency of the pulsating torque, the ratio of the absolute value to the measured value equals the ratio of the source voltage to the condenser voltage. Therefore, the absolute value of the pulsating torque may be obtained by the product of the measured value and the above-mentioned ratio. But the ratio is so complicated that the method of simplifying the ratio is investigated.
These results are applied to the measurement of the pulsating torque of a condenser motor. This paper shows that the experimental values agree well with the theoretical values. Finally the resonance condition of the measuring apparatus is discussed.抄録全体を表示PDF形式でダウンロード (1731K) -
土井 康弘, 河辺 峻1973 年 9 巻 1 号 p. 16-21
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーIn most of the so far proposed machine recognition processes of 3-dimensional bodies, the density distribution of images obtained from a video camera is first preprocessed by a computer and then line drawings are obtained for further recognition processes.
In the present paper another procedure using the orthogonal light section method is described. A laser beam fanned out into a vertical plane is projected onto the sample bodies to produce narrow lines of intersection. The lines are observed by a camera in the direction normal to the laser beam. A family of intersection lines are thus obtained for various angles of projection of laser beam. The data about the vertices of the intersection lines are treated by a computer so that finally the descriptions about objects made up of several kinds of polygons are obtained.抄録全体を表示PDF形式でダウンロード (2922K) -
制御流のある場合木下 修, 大島 康次郎1973 年 9 巻 1 号 p. 22-28
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーThe experimental study has been conducted to investigate the characteristics of the turbulent jet with control flow in the liquid fluid amplifier. The dimensions of the fluidic element used are: aspect ratio=1.9, main nozzle width bm(=control nozzle width bc)=10mm, offset=(0∼3)×bm (variable) and side wall angle=0∼30° (variable). The operating liquid is water of about 20°C.
In order to analyze the jet behavior in various jet velocities vm's (2∼6m/s), dimensionless control flow rates Qc/Qm(-0.25∼+0.35), various side wall angles and offsets, the flow patterns of the attached jet are visualized by air bubble tracer and slitted ray. Static pressure distributions are also measured.
The following results of the experimental study are obtained: (1) the center stream line of main jet, the attachment stream line and the static pressure distribution are acquired in various conditions. (2) In the inner region of the vortex, the isobaric curves are almost circular and their distributions are squarely proportional to the radial distance from the vortex center. The relation mentioned above holds good in various control flow rates. (3) In the case that the main and control jets are fully developing turbulent flow, the attachment distance is the function of only Qc/Qm and independent of vm. (4) A bulge-walled element (in which the side walls form the same shape as the attachment stream line) and a straight-walled element are compared and their output total pressure distributions are discussed on the basis of measurement.抄録全体を表示PDF形式でダウンロード (1684K) -
松宮 恒夫1973 年 9 巻 1 号 p. 29-36
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーIn the previous paper, the author reported on the parasitic mutual inductance between primary windings in the two-phase linear induction motors, and on the distortion of air gap flux distribution affected by the mutual inductance. In this report, investigation has been carried out concerning with the influence of mutual inductance between primary windings on the stationary characteristics of two-phase linear induction motors.
Calculation is done for a few two-phase models using the circuit equations with the introduced mutual reactance Xm. The calculated results have confirmed that the effect of mutual reactance on stationary characteristics is less remarkable than expected and that the reduction in force and output is only five to six percents.
Measurements of the stationary characteristics are carried out with a stator drive model running on a secondary conductor plate ten-meters long. The calculated and measured values agree closely.
From the present work it has become clear also that the speed-force characteristics of a two-phase linear induction motor is drooping and linear in the whole slip region. Accordingly, their characteristics are very suitable for servo-motor or positioning control devices.抄録全体を表示PDF形式でダウンロード (946K) -
伊藤 宏司, 速水 治夫, 伊藤 正美1973 年 9 巻 1 号 p. 37-44
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーThe purpose of this paper is to investigate the precognitive control behavior of a human operator in manual control systems. For this the experiment is done using several sine-wave inputs, and a model using state-space techniques is developed for the response characterstics of the human operator. The resultant servo model can be used to describe some kinds of functions, e.g., recognition, regulation and operation etc. in the human behavior.
It is postulated that the same dynamics as the command generator is formed internal to the human operator as the result of recognizing the characteristics of the command input. Upon this postulation, a linear model is constructed and the precognitive control behavior of the human operator is represented mathematically.
The portion of the human operator's output that is not related to the system input by the linear model is called the remnant, which is modeled by adding two independent gaussian white noises named the motor noise and the synchronous noise to the linear model.抄録全体を表示PDF形式でダウンロード (1128K) -
柿倉 正義, 三島 健稔, 長田 正1973 年 9 巻 1 号 p. 45-50
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーAn effective memory structure for an intelligent robot and a flexible route-finding algorithm based on the memory structure are discussed in this paper. The contents are as follows.
(1) A stratified memory structure composed of several strata, one overlapping slightly with another, has good flexibility.
(2) An English-like language restricted in a reasonable manner is adopted as the input language, which can be translated into the inner form suitable for a robot.
(3) A route-finding algorithm that makes use of the memory structure mentioned above can make fairly effective search of the route even in the case that a robot has ambiguous information on its environments.
These memory structures, the interpretation procedure and the route-finding algorithm are skillfully combined in a robot system, and the inferential ability to take off ambiguities in input and stored information is brought forth as the result.抄録全体を表示PDF形式でダウンロード (975K) -
武安 清雄, 猪山 忠男, 霜村 来爾, 後藤 達生1973 年 9 巻 1 号 p. 51-57
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper describes a robot equipped with a computerized tactile member named “HI-T-HAND”that can feel the forms of various objects and their positions and, according to the command, pack the objects compactly one by one into a given pallet.
The major functions of the robot are to, (1) feel for scattered objects, (2) recognize the form and the position of an object for holding it firmly, (3) change the posture of an object to facilitate subsequent operations, (4) select the best methods of shifting an object toward and positioning it in a pallet and, (5) push an object, for tight packaging, against the inner wall of a pallet or against other objects already thus arranged.抄録全体を表示PDF形式でダウンロード (1815K) -
中野 道雄1973 年 9 巻 1 号 p. 58-63
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーIn this paper, a new kind of compensation in the servomechnism is suggested. In this compensation method, the output voltage of the tachometer generator is first converted to bang-bang signal by the bang-bang element. Then this signal is fed back to the input terminal, giving a good response as a result. This compensation method is named the “bang-bang feedback compensation method”.
In this compensation method, when the output voltage value of the bang-bang element is made equal to the overshoot which arises in the uncompensated system upon the arrival of the specific step input, the compensated system exhibits a good response with no overshoot nor offset to the same input.
The problems encountered in the actualization of this principle and their solutions are also discussed. Consideration is first given to the method of obtaining a good response for all inputs even if the level of step input varies widely. Then it is pointed out that the time lag of a higher order servo system is regarded as a critical problem in its bang-bang compensation, and that in order to solve this problem, the bang-bang element has to possess a dead band.
Furthermore, the usefulness and practicability of bang-bang feedback compensation are fully confirmed by applying this method to the actual system. The advantages of this method are that the parameters in the compensation element can be easily determined and that a good response can be easily obtained.抄録全体を表示PDF形式でダウンロード (844K) -
斎藤 博樹, 寺尾 満1973 年 9 巻 1 号 p. 64-70
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper presents a design method for suboptimal PWM (pulse-width-modulated) control systems which can nearly minimize a quadratic performance index. The suboptimal PWM control systems can be constructed in a closed-loop configuration with a state feedback. The proposed algorithm to decide control signals is very simple and easy, so that it can be applied to the DDC effectively. When the suboptimal control pulses are produced by the proposed algorithm, the polarity of a pulse is determined by the switching plane in the state space, and the suboptimal pulse width is determined by solving a specified quadratic equation reduced by some approximations.
In this paper, the result of the simulation of a second order controlled system is presented. It shows that the suboptimal PWM control systems are very near to the optimal PWM control systems in the control performance.
The authors also point out that some delay of the control pulse during each sampling period can improve the control performance under some specified initial states.抄録全体を表示PDF形式でダウンロード (791K) -
山本 祥弘, 杉浦 一郎1973 年 9 巻 1 号 p. 71-76
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーMany results for nonlinear systems have been obtained concerning the existence of an optimal control under the assumptions that a certain convexity condition holds and the system is controllable. However, it is not at all obvious when a given nonlinear system is controllable, particularly, if the system operates only over a limited time interval.
In this paper, we first formulate this problem as an existence problem of fixed points for two nonlinear operator equations with some parameters in function spaces.
On some assumptions, we show first that each nonlinear operator has a fixed point; x=Pv(x), u=Qy(u), and second that there exists a set of fixed points which simultaneously satisfy the two nonlinear operator equations; x=Pu(x), u=Qx(u). Finally, it is shown that the pair of above mentioned fixed points is a solution of the original controllability problem, from which a sufficient condition is derived for controllability of nonlinear systems.抄録全体を表示PDF形式でダウンロード (762K) -
山根 裕造, 市川 邦彦1973 年 9 巻 1 号 p. 77-82
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーUnder many realistic situations, not all the plant state variables of continuous linear control system are accessible for direct measurement and observation. When all thestate variables are required for feedback control system, the dynamical minimal-order observer proposed by Luenberger can be employed to estimate them. However, when we have no a priori information of the initial state, the estimates of state variables, in general, may not be equal to the true values of them. Accordingly, the use of observer in optimal control problems brings an increase in the cost index, so it is desired to design an optimal minimal-order observer that generates the state variables as exactly as possible.
This paper is concerned with the optimal design of minimal-order observer by means of minmax technique.抄録全体を表示PDF形式でダウンロード (613K) -
柏原 敏伸1973 年 9 巻 1 号 p. 83-90
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーThe reproducibility and the invertibility are properties of a system which reveal, in a sense, the system's potential capability. This paper shows necessary and sufficient conditions for linear time-invariant systems with delay to have these properties. Main results are: 1. necessary and sufficient condition of the system parameter for the system to have the property that for any output function that is several times continuously differentiable and has suitable initial differential quotient, there is a continuous input function which produces it. 2. necessary and sufficient condition in the frequency domain for the system to have the property that for any output function that is infinite times differentiable and is zero before some fixed instant, there is a continuous input function which produces it. 3. necessary and sufficient condition in the frequency domain for the system to have the property that the input function is known from the output by some measuring lag. It is shown that in some case the conditions of 2 and 3 above are the same.抄録全体を表示PDF形式でダウンロード (828K) -
砂原 善文, 大住 晃, 菊井 広行1973 年 9 巻 1 号 p. 91-99
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーThe purpose of this paper is to establish an approximate method of the state estimation for nonlinear dynamical systems under state-dependent noisy observations.
Guided by the state variable representation concept in control theory, the mathematical models of both the dynamical system and the observation mechanism are described by their respective nonlinear vector stochastic differential equations of Itô-type. The state-dependent observation noise is considered, which is proportional to the state variable.
First, by using the method of the stochastic linearization and following the concept of dynamic programming, the approximated filter dynamics is given in the Markovian framework. Secondly, the obtained dynamics is compared with another approximated filter dynamics obtained with a different approximation. The comparison includes the numerical results of digital simulation studies. Finally, the accuracy of the approximation presented is discussed in detail from the viewpoint of both qualitative and quantitative aspects.抄録全体を表示PDF形式でダウンロード (1116K) -
佐山 隼敏, 尾添 紘之, 亀山 嘉正1973 年 9 巻 1 号 p. 100-107
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーThis paper extends the existing penalty methods for obtaining the local solutions of a general class of nonlinear programming problems. The principal motivation is the elimination of the restrictions of the interior point method and the exterior point method. The interior point method requires the nonempty feasible region and the exterior point method lacks the order of differentiability of the penalty function at any boundary point of the feasible region.
We present a new class of penalty function and prove that it possesses the properties of the generalized penalty function. The algorithm proposed is termed SUMUP (Sequential Unconstrained Method Using Penalty). This penalty function has the features that it contains the constants corresponding to Lagrange multipliers and it is twice differentiable at the boundary of the feasible region. By choosing properly the constants (Lagrange multipliers), the SUMUP algorithm can approach the optimum from the region of feasibility or infeasibility.
The penalty function for SUMUP is shown to be the generalized form of the functions for the interior and exterior point methods.抄録全体を表示PDF形式でダウンロード (1024K) -
志水 清孝, 小牧 良高1973 年 9 巻 1 号 p. 108-115
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーTransportation of petroleum by a pipeline system is increasingly drawing attention because of its low expense, small volume, high safety, cheap labour etc. The purpose of this paper is to formulate optimal control and schedule for multi-terminal and multi-item fluid transportation systems in which several sources (supply) and sinks (demand) are interconnected by pipelines and various kinds of oils are transported packed in a pipeline sequentially. The problem is to determine the optimal supply schedule at each source and the transportation paths in such a way that the predicted demands of all items are satisfied and the cost function is minimized under several conditions. A feature of our analysis is that it is based on the thinking of chain flows (paths) and a state vector indicating which item is located at each section of the pipeline. (0-1) integer linear programming (an enumerative technique) can be applied to solve the formulated problem where the decision variables are the chain flows and the items sent out of the source.抄録全体を表示PDF形式でダウンロード (1118K) -
稲垣 詠一, 久村 富持1973 年 9 巻 1 号 p. 116-118
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (307K) -
松宮 恒夫1973 年 9 巻 1 号 p. 119-120
発行日: 1973/02/28
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (823K)
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