| 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 |
| 巻 | 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 |
| 巻 | 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 |
| 巻 | 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 | 10.18926/17841 |
|---|---|
| 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 |
| 巻 | 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 | 10.18926/17844 |
|---|---|
| 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 |
| 巻 | 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 | 10.18926/46947 |
|---|---|
| フルテキストURL | mfe_38_1-2_005_014.pdf |
| 著者 | Ishimaru, Kazuhito| Konishi, Masami| Imai, Jun| Nishi, Tatsushi| |
| 抄録 | Temperature distribution in the reactor furnace is mainly operated by gas blowing from multiple tuyeres and material charge distribution. The objective of our research is obtain the optimal profile of gas flow to control temperature distribution in the reactor furnace in the shortest possible time. We formulated the optimization problem to reduce deviation of temperature distribution from its desired one in the reactor furnace. Based on the formulation, gas blow conditions are optimized by a sequential quadratic programming method to realize the desired temperature distribution. The validity of the method was checked through numerical experiments. |
| 出版物タイトル | Memoirs of the Faculty of Engineering, Okayama University |
| 発行日 | 2004-03 |
| 巻 | 38巻 |
| 号 | 1-2号 |
| 開始ページ | 5 |
| 終了ページ | 14 |
| ISSN | 0475-0071 |
| 言語 | English |
| 論文のバージョン | publisher |
| NAID | 80016785933 |
| JaLCDOI | 10.18926/46948 |
|---|---|
| フルテキストURL | mfe_38_1-2_015_027.pdf |
| 著者 | Torigoe, Takashi| Konishi, Masami| Imai, Jun| Nishi, Tatsushi| |
| 抄録 | In these days, mechanical systems are becoming more complex and highly automated. So, there exist wide variety of demands for reliable diagnostic technology. A reliable data analysis and quantitative diagnosis method of mechanical system is necessary for the purpose. In this paper a quantitative diagnosis method for looper height control system has been developed based on neural network technologies. The wavelet transformation is used for pre-processing to analyze characteristics of looper height control system. And, self organizing map neural network is used for the purpose of classification based on the pre-processed data. After that, the classified results are used for quantitative diagnosis in hierarchical neural network. |
| 出版物タイトル | Memoirs of the Faculty of Engineering, Okayama University |
| 発行日 | 2004-03 |
| 巻 | 38巻 |
| 号 | 1-2号 |
| 開始ページ | 15 |
| 終了ページ | 27 |
| ISSN | 0475-0071 |
| 言語 | English |
| 論文のバージョン | publisher |
| NAID | 80016785934 |
| JaLCDOI | 10.18926/46967 |
|---|---|
| フルテキストURL | mfe_37_1_001_010.pdf |
| 著者 | Sotobayashi, Ken| Konishi, Masami| Nishi, Tatsushi| Imai, Jun| |
| 抄録 | Auto Guided Vehicles (AGVs) are widely used in a semi-conductor fabricating factory and contribute to the stable production of a high quality semi-conductor products. In the near future, further expansion of the transportation system is expected accompanied with the rapid growth of semi-conductor industries. In such situation, the necessity of performing quick planning of transportation route and transportation control will be elevated. In this paper, practicable planning of the transportation route and transportation control are studied based on the decentralized agent method. Especially, the geometrical sizes of AGVs are considered in the determination of transportation routes and control strategy avoiding the occurrence of mutual collisions or deadlock of AGVs. |
| 出版物タイトル | Memoirs of the Faculty of Engineering, Okayama University |
| 発行日 | 2002-11 |
| 巻 | 37巻 |
| 号 | 1号 |
| 開始ページ | 1 |
| 終了ページ | 10 |
| ISSN | 0475-0071 |
| 言語 | English |
| 論文のバージョン | publisher |
| NAID | 120003457322 |
| JaLCDOI | 10.18926/46977 |
|---|---|
| フルテキストURL | mfe_37_2_013_027.pdf |
| 著者 | Shibuta, Taizo| Konishi, Masami| Imai, Jun| Nishi, Tatsushi| |
| 抄録 | Nowadays, various kind of reactor furnaces are widely used for the production in industry. The raw materials charged into the furnace generate reaction heat produced by blowing gas. Generally speaking, the reaction heat generated in the furnace is remarkably high. Therefore the occurrence of an inappropriate temperature distribution in the furnace may make damege or serious accident of the furnace. This is the motivation of furnace control. The author is considering the application of studied results to the furnace control of Blast Furnace in steel industry. To the propose, the approximated and simplified Macro Model of the Blast Furnace is constructed which has the function of representation of qualitative characteristics of the furnace in dynamical sense. The furnace temperature, distribution greatly effects both on the producting and the product quality of the furnace. Needless to say, stable furnace operation is indispensable for the economical prosperity of the industry. In this paper, macro simulation of the furnace is developed to support the analysis and design of the furnace control. Using the simulator, the stability and the control characteristics for inner furnace temperature distribtion are analised quantitatively. |
| 出版物タイトル | Memoirs of the Faculty of Engineering, Okayama University |
| 発行日 | 2003-03 |
| 巻 | 37巻 |
| 号 | 2号 |
| 開始ページ | 13 |
| 終了ページ | 27 |
| ISSN | 0475-0071 |
| 言語 | English |
| 論文のバージョン | publisher |
| NAID | 80015999991 |
| JaLCDOI | 10.18926/46978 |
|---|---|
| フルテキストURL | mfe_37_2_029_044.pdf |
| 著者 | Imajo, Shuya| Konishi, Masami| Imai, Jun| Nishi, Tatsushi| |
| 抄録 | In hot strip rolling mills, the looper control system is automated. However, the looper's behavior tends to be unstable in threading. Therefore, human expert always intervenes and stabilizes the looper's behavior by tuning PID gains and interposing manipulation variable of looper control system. In this paper, we propose a method based on the recurrent neural network to express PID gains tuning action by human. Furthermore, we propose two methods to update the model by learning. To check the effectiveness of the proposed learning methods, numerical simulation applied to the looper height control is carried out. |
| 出版物タイトル | Memoirs of the Faculty of Engineering, Okayama University |
| 発行日 | 2003-03 |
| 巻 | 37巻 |
| 号 | 2号 |
| 開始ページ | 29 |
| 終了ページ | 44 |
| ISSN | 0475-0071 |
| 言語 | English |
| 論文のバージョン | publisher |
| NAID | 80016037880 |
| JaLCDOI | 10.18926/46998 |
|---|---|
| フルテキストURL | mfe_36_1_029_039.pdf |
| 著者 | Imai, Jun| Wada, Kiyoshi| |
| 抄録 | A procedure for control-oriented modeling is proposed for large flexible structures with unknown modal parameters. Techniques on quantification of errors in modal truncated nominal models are developed for the case where a finite number of upper and lower bounds of the unknown modal parameters are given. A feasible set of systems matching the conditions is introduced, and then error bounds covering the feasible set are established in the frequency domain. The bounds are easily checked using linear programming for any user-specified frequency. The feasibility of the proposed scheme is illustrated by numerical study on an ideal flexible beam example. |
| 出版物タイトル | Memoirs of the Faculty of Engineering, Okayama University |
| 発行日 | 2001-12 |
| 巻 | 36巻 |
| 号 | 1号 |
| 開始ページ | 29 |
| 終了ページ | 39 |
| ISSN | 0475-0071 |
| 言語 | English |
| 論文のバージョン | publisher |
| NAID | 80012887118 |
| JaLCDOI | 10.18926/47023 |
|---|---|
| フルテキストURL | mfe_36_2_015_042.pdf |
| 著者 | Ohtani, Ryuji| Konishi, Masami| Imai, Jun| Nishi, Tatsushi| |
| 抄録 | In this paper, we studied a planning and scheduling of production system considering demand changes. In the proposed system, planning part determines lot-size and amount of jobs in production. On the other hand, scheduling part determines the production sequence of jobs. In order to treat with the demand changes, both planning and scheduling should work well simultaneously. In the proposed system, preset and real time production control system is newly constructed from the view point of adaptive control. In the system, production planning is modified when the difference between production amount and demand becomes large. Moreover, production schedule is regenerated when the determined schedule is deviated from the prospected one. The scheduling system is characterized as the autonomous decentralized optimization system where each job works as agent and agent searches its appropriate starting time of processing. The effectiveness of the proposed system is confirmed by numerical examples. |
| 出版物タイトル | Memoirs of the Faculty of Engineering, Okayama University |
| 発行日 | 2002-03 |
| 巻 | 36巻 |
| 号 | 2号 |
| 開始ページ | 15 |
| 終了ページ | 42 |
| ISSN | 0475-0071 |
| 言語 | English |
| 論文のバージョン | publisher |
| NAID | 80015471209 |