JaLCDOI 10.18926/17844
フルテキストURL Mem_Fac_Eng_OU_43_75.pdf
著者 大江 啓太| 小西 正躬| 今井 純|
抄録 As is well known, an advanced knowledge and know-how are needed in the design and the diagnosis work. Further, human experts can cope with the recent trend of customers needs. Therefore, the design and the diagnosis work have been privately performed in the past, and its information cannot be shared. In addition, the number of experts is decreasing. It is a very important problem to maintain and to extend experts technologies having been built up. For the purpose, methods and systems for technical inheritance of the advanced techniques of the skilled engineers are needed to train the unskilled operators and also can assist skilled operators. In this research, attention is focused on the design of analog filter circuit. To attain the target, the circuit structural classifier system to support design work is developed. Furthermore, simulation technology for hot strip rolling mills based on distributed agents is presented aimed to develop tools for the diagnosis of hot strip rolling mills operation.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2009-01
43巻
開始ページ 75
終了ページ 92
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002308900
JaLCDOI 10.18926/17835
フルテキストURL Mem_Fac_Eng_OU_43_32.pdf
著者 馬渕 周治| 小西 正躬| 今井 純|
抄録 A tractor-trailer vehicle in the factory might move on the route determined beforehand. However, automation of a tractor-trailer vehicle is difficult so that it is necessary to consider the nonlinearity of a vehicle and a trailer. In this research, the effective tracking control method of a tractor-trailer vehicle is proposed. The control method using time-state control form for a preview control is presented, and be applied a tractor-trailer vehicle with nonholonomic characteristics. Results of numerical experiments are presented to check effectiveness of the proposed control method.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2009-01
43巻
開始ページ 32
終了ページ 38
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002308736
JaLCDOI 10.18926/17837
フルテキストURL Mem_Fac_Eng_OU_43_39.pdf
著者 桑嶋 崇行| 今井 純| 小西 正躬|
抄録 This paper presents method of the controller design for one link arm with parametric uncertainty. Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor and cost saving or improvement of the productivity. Such robots need to have positioning performance of high precision. In condition that there is an uncertainty in plant dynamics, desired control performance may not be attained because the controller is designed according to the mathematical model of a plant. So it is important that the designed control system have a robust control performance. In this paper, the robust controller is designed using Quantitative Feedback Theory (QFT) for one link arm with parametric uncertainty. Simulation experiments are run for control system designed by using QFT and conventional method. The results are compared with each other and it is found that the control system designed by QFT shows a robust performance and can suppress the unevenness of output against parametric uncertainty.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2009-01
43巻
開始ページ 39
終了ページ 48
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002308875
JaLCDOI 10.18926/17839
フルテキストURL Mem_Fac_Eng_OU_43_49.pdf
著者 赤松 慎也| 小西 正躬| 今井 純|
抄録 In this paper, the controlled target is the SCARA robot with two links, and the object is fine control of the arm head position of the robot. To attain the object, Internal Model Control (IMC) is introduced. A nonlinear equations are for robot dynamics formulated by solving Lagrange equation, and is linearized to design control system by IMC. The controller of IMC is designed or synthesisted as the inverse system of the linearized model, and IMC filter model is selected. Also, reference filter is introduced to make the improvement of performance. The result of control performance by IMC is compared with that of PID numerically, accuracy and incoherency are confirmed.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2009-01
43巻
開始ページ 49
終了ページ 54
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002308854
JaLCDOI 10.18926/17843
フルテキストURL Mem_Fac_Eng_OU_43_61.pdf
著者 川村 真央| 小西 正躬| Yamagata, Katuki| Shimomura, Koichi|
抄録 In this research, a Human Interface system is designed intended to mobile crane. The intervention of human is unavoidable to attain the high performance of electro mechanical system. As is known, crane operation is complicated. Recently, the decrease of expert person induced crane accident. So in near future, it is required a partial automation of crane operation and human support technology. We are aiming at the development of the operation support system for a crane. In this research, development of the hydro mechanical models representing both of static and dynamics movements are made. Further, actual experimental data of operating mobile crane, which are electrical signal data and three-dimension (3D) position of moving load is measured. The actual operating data are compared with the model and it is found that the developed electromechanical model can explain the behaviors of actual data.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2009-01
43巻
開始ページ 61
終了ページ 74
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002308930
JaLCDOI 10.18926/17841
フルテキストURL Mem_Fac_Eng_OU_43_55.pdf
著者 井上 真一郎| 小西 正躬| 今井 純|
抄録 In this research, an image processing method and a system for inspection support of a rod figured cutting tool are developed. As is well known, the visual inspection of a cutting tool by image processing is not easy, because cutting blade have a helical blade structure. To cope with the problem, an experimental facility with rotation and longitudinal tool shift functions to enable acquisition of blade surface pictures along a cutting rod is developed. The type of the defect treated in this paper is the spot of coating on blade surface. To judge the quality of the processed image of blade surface, neural network with autonomous learning is used. The processed image of cutting tool is divided into 64 × 64 blocks used for the input to the neural networks. Before input, each block data is preprocessed applying a edge detection filter and a transformation by the discrete fourier transform (DFT). Using these technologies, the experimental inspection system is built and tested to check the capabilities of the inspection algorithms. The diagnostic performance of the surface defect of a cutting tool was confirmed. There remained a problem to mis judge the normal tools as the defect.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2009-01
43巻
開始ページ 55
終了ページ 60
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002308973
JaLCDOI 10.18926/17829
フルテキストURL Mem_Fac_Eng_OU_43_16.pdf
著者 Kurose Tomoyuki| 鶴田 健二| 東辻 千枝子| 東辻 浩夫|
抄録 The finite-difference time-domain (FDTD) method has been applied to the calculation of the phonon band structure of two-dimensional (2D) phononic crystals, consisting of metal cylinders placed periodically in liquid. By comparing several combinations of materials for metal cylinder and liquid, we analyze the dependence of the band structures on sound speed and density of liquid media. Moreover, the negative refraction of the acoustic waves is observed at the interfaces between phononic crystal slab and the liquid. We find that an acoustic“lens effect”with the slab appears due to the negative refractions. The relationship between the focal intensity in the lens effect and the band structure is discussed.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2009-01
43巻
開始ページ 16
終了ページ 21
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002308928
JaLCDOI 10.18926/19954
フルテキストURL Mem_Fac_Eng_OU_44_7.pdf
著者 Maetani Noriaki| Kurose Tomoyuki| 鶴田 健二|
抄録 The lens effect of acoustic waves in a two-dimensional (2D) phononic crystal is studied by numerical simulation based on the finite-difference time-domain (FDTD) method. We calculate the phonon band structure of 2D phononic crystals, consisting of metal cylinders placed periodically in water. Lens effect is observed by the negative refraction of acoustic waves, which results in refocusing of the waves at the point outside the crystal. To increase the focal intensity, we introduce a 2D phononic crystal shield with a different composition of material, which returns the incident waves back to the lens via the perfect reflection. Also, the dependence on filling fraction of metal in the crystal is studied.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 7
終了ページ 12
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309019
JaLCDOI 10.18926/19955
フルテキストURL Mem_Fac_Eng_OU_44_13.pdf
著者 金谷 健一| Sugaya Yasuyuki|
抄録 A new numerical scheme is presented for computing strict maximum likelihood (ML) of geometric fitting problems having an implicit constraint. Our approach is orthogonal projection of observations onto a parameterized surface defined by the constraint. Assuming a linearly separable nonlinear constraint, we show that a theoretically global solution can be obtained by iterative Sampson error minimization. Our approach is illustrated by ellipse fitting and fundamental matrix computation. Our method also encompasses optimal correction, computing, e.g., perpendiculars to an ellipse and triangulating stereo images. A detailed discussion is given to technical and practical issues about our approach.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 13
終了ページ 23
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309170
JaLCDOI 10.18926/19956
フルテキストURL Mem_Fac_Eng_OU_44_24.pdf
著者 金谷 健一| Sugaya Yasuyuki|
抄録 We present an improved version of the MSL method of Sugaya and Kanatani for multibody motion segmentation. We replace their initial segmentation based on heuristic clustering by an analytical computation based on GPCA, fitting two 2-D affine spaces in 3-D by the Taubin method. This initial segmentation alone can segment most of the motions in natural scenes fairly correctly, and the result is successively optimized by the EM algorithm in 3-D, 5-D, and 7-D. Using simulated and real videos, we demonstrate that our method outperforms the previous MSL and other existing methods. We also illustrate its mechanism by our visualization technique.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 24
終了ページ 31
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309159
JaLCDOI 10.18926/19953
フルテキストURL Mem_Fac_Eng_OU_44_1.pdf
著者 Nagai Shinji| Umeda Ryosuke| 鶴田 健二|
抄録 In this paper, we investigate a light-confinement phenomenon in the structure which has triangular latice composed of Double NeGative Metamaterial (DNGM). In geometrical optics consideration, this structure is expected to confine lights completely by sequential refractions in the structure. We demonstrate it by using the two dimensional finite-difference time-domain simulations. We introduce Drude-Lorentz model for dielectric and magnetic dispersion of the material at optical frequencies. We analyze quantitatively the effects of energy loss in the DNGM on the light-confinement efficiency.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 1
終了ページ 6
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309117
JaLCDOI 10.18926/19958
フルテキストURL Mem_Fac_Eng_OU_44_42.pdf
著者 金谷 健一| Rangrajan Prasanna|
抄録 This paper presents a new method for fitting an ellipse to a point sequence extracted from images. It is widely known that the best fit is obtained by maximum likelihood. However, it requires iterations, which may not converge in the presence of large noise. Our approach is algebraic distance minimization; no iterations are required. Exploiting the fact that the solution depends on the way the scale is normalized, we analyze the accuracy to high order error terms with the scale normalization weight unspecified and determine it so that the bias is zero up to the second order. We demonstrate by experiments that our method is superior to the Taubin method, also algebraic and known to be highly accurate.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 42
終了ページ 49
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309054
JaLCDOI 10.18926/19961
フルテキストURL Mem_Fac_Eng_OU_44_69.pdf
著者 Nekado, Kenta| Kato, Hidehiro| Nogami, Yasuyuki| Morikawa, Yoshitaka|
抄録 Recently, pairing–based cryptographies have attracted much attention. For fast pairing calculation, not only pairing algorithms but also arithmetic operations in extension field should be efficient. Especially for final exponentiation included in pairing calculation, squaring is more important than multiplication. This paper proposes an efficient squaring algorithm in extension field for Freeman curve.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 69
終了ページ 72
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309070
JaLCDOI 10.18926/19962
フルテキストURL Mem_Fac_Eng_OU_44_73.pdf
著者 Imanaka, Hiroyuki| Tanaka, Soukichi| Feng, Bin| Imamura, Koreyoshi| Nakanishi, Kazuhiro|
抄録 We used modified Czapek-Dox (mCD) or dextrin-peptone-yeast extract (DPY) media to cultivate a filamentous fungus, Aspergillus oryzae IAM 2706 by three different cultivation methods, i.e., shaking-flask culture (SFC), agar-plate culture (APC), and membrane-surface liquid culture (MSLC), to identify the differences in cultivation behaviors and gene transcriptional profiles. The fungi cultivated by APC or MSLC secreted a greater number of different proteins/enzymes in larger quantities compared with fungi cultivated by SFC, particularly when DPY medium was used. In particular, the amounts of protease secreted by fungi cultivated via MSLC or APC were much greater compared with SFC. When mCD medium was used, α-amylase activity was barely detectable in all cultures while the activity was detected in MSLC and APC in a quantity that was several times higher than that in SFC using DPY medium. SDS-PAGE analysis and N-terminal amino acid sequences confirmed 6 proteins in the culture supernatants when DPY medium was used. Among these proteins oryzin (an alkaline protease) and α-amylase were detected at much higher levels in APC and MSLC compared with SFC, which was consistent with the measured activity of the secreted enzymes. However, when mCD medium was used, only oryzin was detected in significant amounts in MSLC and APC. Microarray analyses of the fungi cultivated by SFC, APC or MSLC using either mCD or DPY media indicated that the gene transcriptional profile of the MSLC sample was similar to that of the APC sample but different from that of the SFC sample. When mCD medium was used, most of the genes that were up-regulated 10-folds or greater in the MSLC sample relative to the SFC sample were unknown or predicted proteins. Transcription of the oryzin gene was only slightly up-regulated in the MSLC sample while transcription of the α-amylase gene was slightly down-regulated. On the other hand, when DPY medium was used, many known genes including the oryzin gene were up-regulated in the MSLC sample versus the SFC sample.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 73
終了ページ 83
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309053
JaLCDOI 10.18926/19957
フルテキストURL Mem_Fac_Eng_OU_44_32.pdf
著者 金谷 健一| Niitsuma Hirotaka| Sugaya Yasuyuki|
抄録 We present an alternative approach to what we call the “standard optimization”, which minimizes a cost function by searching a parameter space. Instead, the input is “orthogonally projected” in the joint input space onto the manifold defined by the “consistency constraint”, which demands that any minimal subset of observations produce the same result. This approach avoids many difficulties encountered in the standard optimization. As typical examples, we apply it to line fitting and multiview triangulation. The latter produces a new algorithm far more efficient than existing methods. We also discuss optimality of our approach.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 32
終了ページ 41
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309124
JaLCDOI 10.18926/19959
フルテキストURL Mem_Fac_Eng_OU_44_50.pdf
著者 金谷 健一| Niitsuma Hirotaka| Rangrajan Prasanna|
抄録 We present highly accurate least-squares (LS) alternatives to the theoretically optimal maximum likelihood (ML) estimator for homographies between two images. Unlike ML, our estimators are non-iterative and yield solutions even in the presence of large noise. By rigorous error analysis, we derive a “hyperaccurate” estimator which is unbiased up to second order noise terms. Then, we introduce a computational simplification, which we call “Taubin approximation”, without incurring a loss in accuracy. We experimentally demonstrate that our estimators have accuracy surpassing the traditional LS estimator and comparable to the ML estimator.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 50
終了ページ 59
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002308986
JaLCDOI 10.18926/19960
フルテキストURL Mem_Fac_Eng_OU_44_60.pdf
著者 Nogami, Yasuyuki| Morikawa, Yoshitaka|
抄録 This paper proposes a method for generating a certain composite order ordinary pairing–friendly elliptic curve of embedding degree 3. In detail, the order has two large prime factors such as the modulus of RSA cryptography. The method is based on the property that the order of the target pairing–friendly curve is given by a polynomial as r(X) of degree 2 with respect to the integer variable X. When the bit size of the prime factors is about 500 bits, the proposed method averagely takes about 15 minutes on Core 2 Quad (2.66Hz) for generating one.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2010-01
44巻
開始ページ 60
終了ページ 68
ISSN 1349-6115
言語 English
論文のバージョン publisher
NAID 120002309063
JaLCDOI 10.18926/44499
フルテキストURL mfe_045_046_053.pdf
著者 Nogami, Yasuyuki| Yanagi, Erika| Izuta, Tetsuya| Morikawa, Yoshitaka|
抄録 Recently, composite order pairing–based cryptographies have received much attention. The composite order needs to be as large as the RSA modulus. Thus, they require a certain pairing–friendly elliptic curve that has such a large composite order. This paper proposes an efficient algorithm for generating an ordinary pairing–friendly elliptic curve of the embedding degree 1 whose order has two large prime factors as the RSA modulus. In addition, the generated pairing–friendly curve has an efficient structure for the Gallant–Lambert–Vanstone (GLV) method.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2011-01
45巻
開始ページ 46
終了ページ 53
ISSN 1349-6115
言語 English
著作権者 Copyright © by the authors
論文のバージョン publisher
NAID 120002905955
JaLCDOI 10.18926/44497
フルテキストURL mfe_045_027_036.pdf
著者 Kanatani, Kenichi| Sugaya, Yasuyuki|
抄録 We describe in detail the algorithm of bundle adjustment for 3-D reconstruction from multiple images based on our latest research results. The main focus of this paper is on the handling of camera rotations and the efficiency of computation and memory usage when the number of variables is very large; an appropriate consideration of this is the core of the implementation of bundle adjustment. Computing the fundamental matrix from two views and reconstructing the 3-D structure from multiple views, we evaluate the performance of our algorithm and discuses technical issues of bundle adjustment implementation.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2011-01
45巻
開始ページ 27
終了ページ 35
ISSN 1349-6115
言語 English
著作権者 Copyright © by the authors
論文のバージョン publisher
NAID 80021759249
JaLCDOI 10.18926/44496
フルテキストURL mfe_045_015_026.pdf
著者 Kanatani, Kenichi| Rangrajan, Prasanna| Sugaya, Yasuyuki| Niitsuma, Hirotaka|
抄録 We present a new least squares (LS) estimator, called “HyperLS”, specifically designed for parameter estimation in computer vision applications. It minimizes the algebraic distance under a special scale normalization, which is derived by rigorous error analysis in such a way that statistical bias is removed up to second order noise terms. Numerical experiments suggest that our HyperLS is far superior to the standard LS and comparable in accuracy to maximum likelihood (ML), which is known to produce highly accurate results in image applications but may fail to converge if poorly initialized. Our HyperLS is a perfect candidate for ML initialization. In addition, we discuss how image-based inference problems have different characteristics form conventional statistical applications, with a view to serving as a bridge between mathematicians and computer engineers.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2011-01
45巻
開始ページ 15
終了ページ 26
ISSN 1349-6115
言語 English
著作権者 Copyright © by the authors
論文のバージョン publisher
NAID 120002905952