Tokyo Metropolitan College of Industrial Technology Repository / 東京都立産業技術高等専門学校リポジトリ
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Robust Parameter Estimation by Using Noise Reduction Method— The Verification on The Recursive Least Squares Method —
Get PDFP(論文)There are power/size and price/cost constraints in realizing embedded mechatronic systems. In order to meetthese specifications, fixed-point microprocessors with a short word-length are suitable for control and real-time identification.From calculation time and accuracy, simple and reliable identification algorithm for fixed-point arithmetic is required.Thus, we proposed previously the simple method that estimates directly physical plant parameters by unifying MRAC anddelta form. However, the proposed method may suffer from parameter estimation errors due to measurement noise. In thispaper signal processing for identification is proposed. The principle is based on noise reduction methodology. High-passand low-pass filter are inserted for plant input and output, respectively so that the input-output relation of the plant doesnot change. Since high-frequency noise or measurement noise is reduced by low-pass filter, S/N ratio of plant output canbe increased. As an illustration, ARX models on first- and second- order systems by using recursive least squares areconsidered. Simulation results show that parameter estimation errors can be greatly reduced by the proposed method.departmental bulletin pape
医療福祉工学コースにおける回路シミュレータを活用した回路設計学習法の実践的検討
Get PDFP(論文)Human resources capable of designing electronic circuits are widely required. We saw the importance ofcircuit design education in order to provide the students with more options for their future professionalism. Thus,it is important to teach the concept and to raise student interest in circuit design. Since the time allocation for thelearning is limited in the medical and welfare engineering course, we are trying to find an effective learningmethod to teach the essence of circuit design. We developed an exercise style learning method of circuit designbased on assignments of circuit analysis using QUCS, open licensed circuit simulator software. The proposedlearning method fully utilizes the merit of QUCS as a freeware. Survey result shows that more than 80 percent ofthe students understood the usage of the simulator and that around 60 percent of the students understood therelationship between the preliminary assignment and the designed circuits in the exercise. Our proposed methodis effective for learning the concept of the electronic circuits design. The improvement of preliminary and exerciseassignments will be a future task to make more students get a better understanding and interested in the circuitdesign.departmental bulletin pape
Heroism in Macbeth
Get PDFP(論文)In Shakespeare's Macbeth, the representations of heroism, tyranny, and witchcraft are intermingled and theaudience's emotional responses should therefore be complicated. This essay focuses on the gap between the dramatic presence ofMacbeth and his political role in the Jacobean period. It considers the dramaturgic strategy that is employed in Macbeth to fillthe gap in the images of the protagonist.departmental bulletin pape
Manufacturing Education Attempted Using DIES
Get PDFP(論文)Previously we reported the 3D-CAD educational system for mechanical design. In the present study we aim to develop a educational manufacturing system which can generate cutter paths and cutting conditions so as to obtain 3D-CAD data. To accomplish this, we constructed the FMS plant that can be seen through the window of the CAD/CAM room. The utilization of such integrated education system composed of information technology is very useful for students to study how to apply the 3D-CAD data to the manufacturing and the control of the machine. We introduced `DIES' as the subject for the practical exercise of manufacturing. In this exercise students can learn the technical method how to design the products and manufacture the dies using 3D-CAD.departmental bulletin pape
Dynamic Characteristics of Small Isolation System by Long Period Ground Motion
Get PDFP(論文)A small base isolation system installed inside building is constructed for small structure. In order toinvestigate dynamic characteristics of this system by long period ground motion, excitation experiment andevaluation by numerical analysis is done. It is possible to reduce the response to 1/5, if input wave do not include afrequency component which is same as natural frequency of this system. Comparing response wave forms betweenexcitation experiment and numerical analysis modeling by single degree of freedom system, it is good agreement,although the peak amplitude between them indicates 10 % difference.departmental bulletin pape
Improvement work of the internship office using WBS, SOW and homepage
Get PDFP(論文)WBS used as the technique of the business improvement of an internship. The whole work of an internship room is first classified for every work contents, and it divides by class by attaching a work number to each business. It becomes manageable a schedule, a resource, cost, and a risk by creating a work schedule including a person in charge etc. A person in charge performs middle products with responsibility toward the final target of an internship success. By making WBS into a work schedule, the omission of business and duplication are lost and misapprehension of the job description between persons in charge, a deadline, etc. can be prevented. The internship homepage was opened only for in the college. In the homepage, the latest information on an acceptance training place is distributed timely. The training place acceptance information on a past year and the good information of the training track record classified by course, and a senior and the teacher specializing in a course can be searched and used. The composition and the contents of the employed homepage are shown.departmental bulletin pape
The Verification of The Robustness of The System Identification Algorithm — The Verification on The Recursive Least Squares Method —
Get PDFP(論文)The mathematical model of a plant is required in order to design a control system. Especially, the system parametersmust be estimated in real-time to keep the desired control performance in the case of the plant parameter variations.Though the number of identification method are proposed, they need much amount of calculation and the calculationsmethods are based on double precision floating point arithmetic. Then, it is difficult for the fixed point microprocessorwhose word length is short to calculate the algorithm precisely within sampling interval. Thus, the aim of this research isto propose a system identification method for the embedded mechatronic control systems. As a first step of this research,system parameter estimation on 2nd-order system is considered. ARX model is adopted as a system model and systemparameters are estimated by the recursive least squares with forgetting factor. As a disturbance, noise is injected in theplant output, dead zone and offset are injected in the plant input to verify the robustness of the algorithm. Simulationresults show that the measurement noise on the plant output gives most large effect at the parameter estimation error.departmental bulletin pape
Obstacle Avoidance Control for Simple Walking Robot by Using Fuzzy Reasoning
Get PDFP(論文)It is important to study the intelligent control concerning obstacle avoidance for a walking robot. This paper studies to discuss the obstacle avoidancecontrol method for the simple bipid robot which applied fuzzy reasoningand production rules. In the first step, a biped robot recognize the static anddanger between a robot and an obstacle by the fuzzy reasoning. In the second step,using the degree of danger a robot decides the operation of avoidance by the decision table. Some control results of conducting experiments on the steps are shown to provethe effectiveness of this fuzzy bipes robot.departmental bulletin pape