In the case of sculptured surface NC machining, NC data are constructed with sequential NC blocks instructing a small movement of less than 1 mm. In order to realize high-speed processing of enormous volumes of NC data, a high-speed data communication interface and a NC adapter which can generate servo data in the binary format have been developed. However, if the curved interpolation function is implemented in the CNC controller, these equipments will be unnecessary. Further-more, if the tool path can be generated in the real-time mode, intermediate processings like NC data storage and format conversion will be shortened. The CNC system described in this paper has two functions : real-time tool path generation and curved interpolation. It can accept geometrical data and generate tool path automatically. All cutter location data are directly input to the servo process. This controller realizes the same machining style as a copy milling machine which are real-time machining in shop floor and also high operationability and high-accuracy machining. These features will improve productivity of molds and dies.

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An Adaptive Digital Filter (ADF), which has palarel connected 2nd order IIR filters, for narrow band noise elimination is proposed already. The proposed adaptation algorithm, however, does not take account of delay caused by anti-alias Low-Pass Filter (LPF) and Analogue to Digital (A/D), and Digital to Analogue (D/A) converter. So, in real applications, the ADF implemented with Digital Signal Procceser (DSP) shows poor capability of eliminating narrow band noise. In this paper, we propose a method to compensate phase of output signal from ADF. The compensation is accomplished with lst order FIR filter inserted in the output line of the ADF. We also show how to set the coefficient values of the FIR filter. And, we scrutinize ability to eliminate noise and computational cost through practical implementation of the ADF and the proposed phase compensation filter.

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引張圧縮-ねじりの組合せ試験装置のパソコンを用いた制御システムを開発し,そのシステムのハードとソフトウェアについて説明を行った.また,この装置を用いて,高温下で比較的複雑な負荷経路に対するSUS304剛の塑性-クリープ相互作用下における非弾性変形についての実験を行い,実験結果からSUS304鋼の非弾性挙動について検討し,その構成関係について定性的評価を行った.

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REIMEI/INDEX (INnovative-technology Demonstration EXperiment) is a 70kg class small satellite which the Institute of Space and Astronautical Science, Japan Exploration Agency, ISAS/JAXA, has developed for observation of auroral small-scale dynamics as well as demonstration of advanced satellite technologies. An important engineering mission of REIMEI is integrated satellite control using commercial RISC CPUs with a triple voting system in order to ensure fault-tolerance against radiation hazards. Software modules concerning every satellite function, such as attitude control, data handling, and mission applications, work cooperatively so that highly sophisticated satellite control can be performed. In this paper, after a concept of the integrated satellite control is introduced, the Integrated Controller Unit (ICU) is described in detail. Also unique topics in developing the integrated control system are shown.

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This paper presents a novel parallel processing manipulation system, developed to provide extensibility and capability of real-time response. The system has been organized based on multi-agent using many transputers. The advantages of the system are 1) capability to integrate manipulator controls from higher intelligent levels through lower servoing levels in which real-time response is strongly desired, and 2) flexibility to accumulate various methods and to utilize them any time without bad effects to the system. First, in this paper, an important issue to be considered for system design is introduced as a result of a classification of data processing from sensors to actuators. Next, guides to design the system are presented based on the issue. Third, system hardware and software are described in detail. Finally, a prototype system for direct drive manipulator, ETA 3s, is shown. The effectiveness of the system is demonstrated with two extended systems for different studies of adaptive control and pseudo contact position monitoring, developed with low cost.

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本論文では，オープンソースとして公開している，組込みシステム向けのマルチプロセッサ対応シミュレータについて述べる．本シミュレータは，マルチプロセッサ向けリアルタイムOSやアプリケーション開発の効率化を目的とし，既存のシングルプロセッサ用ISS(Instruction Set Simuator:命令セットシミュレータ)を拡張して，プロセッサ個数分のシミュレータを連携動作させることで，ISSの少ない変更で，マルチプロセッサ対応のシミュレーション環境を実現可能である．マルチプロセッサ対応のシミュレーション環境を実現するために，ISS間の(1)共有メモリ機構，(2)排他制御機構，(3)プロセッサ間割込み機構，(4)タイミング同期機構，を新規開発した．さらに，リアルタイムOSのアイドル処理を利用したシミュレーション時間の短縮手法を提案する．本方式は，本研究で対象としたISS以外にも適用することが可能である．

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