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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The application of the adaptive control to the mechatronic control : The proposal of the high-gain feedback adaptive control
Get PDFP(論文)It is necessary that the mechatronic control system achieves good performance toward the large mechanical characteristicchange or the mechanical impact on the controlled system. However, the conventional controller with fixedfeedback gain cannot follow the reference command, when the mechanical characteristic change is large. In such case, weusually consider introducing the adaptive control methodology. Though the adaptive control system can adapt to the largemechanical characteristic change, the adaptation speed is very slow. Therefore, the conventional adaptive control methodologycannot compensate the rapid mechanical characteristic change or the mechanical impact. In this paper, for makingthe adaptive control useful in the mechatronic control, the robust adaptive controller is proposed. The adaptive controlcompensates the large but gradual mechanical characteristic change, and the high-gain feedback control compensates themechanical impact. As an illustration, the first-order model reference adaptive control system (MRACS) is considered. Inthe case of the first-order system, there are three ways on the adaptive control gain assignment. Thus, the optimal gainassignment was determined so that the control system became the most robust. Simulation results show the effectivenessof the proposed method.departmental bulletin pape
Prototype of a Two-Degree-of-Freedom Motor which can Realize Rotational and Linear Motion
Get PDFP(論文)The direct drive using an actuator which has multi-degree-freedom is demanded from various fields such as the haptic interface used for a teleoperation system for the medical purposes. A prototype of a two-degree-of-freedom motor which can realize rotational and linear motion is proposed in this paper. The inverter for driving the proposed motor is constructed. The results of fundamental experiment are also reported in this paper.departmental bulletin pape
A Study on the Continuance of the Mining Settlement in the Late Edo period : A Case Study of the Mozumi Silver Mine, Hida Province
Get PDFP(論文)In this paper, it is examined how the mining settlement of Japan continued between the eighteenthcentury and the first half of the nineteenth century, through the case of the Mozumi silver mine. The Mozumi silvermine was exploited and its mining settlement, ""Mozumi ginzan"" flourished in the late sixteenth century andmany people had gathered from various area of central Japan. In late seventeenth century, the silver mine and itsmining settlement declined quickly. While they cultivated poor fields, most of the inhabitant gathered the lead orein the old adits or the old ore dressing site for living. A small number of wealthy inhabitants supplied them withfunds and goods for mining. They have accumulated the fortune by the trade. Mozumi ginzan located at the one ofthe important point on the main road which linked Takayama and Toyama.In many cases of Japanese mine in the florescence, the mining settlement was designed in consideration ofconvenience of the goods circulation and traffic in order to carry in a large quantity of various daily commodities forthe residents and goods for mining. While the management function or the wealthy resident had left the settlementand the population had reduced remarkably, the location of mining settlement that was superior in traffic and thecirculation could help the continuation of the mining and the mining settlement.departmental bulletin pape
A Study on Collision Avoidance among Moving Obstacles for a Fuzzy Control Robot using Genetic Algorithm
Get PDFP(論文)It is important to study the good flexible ability for a mobile robot of which mathematicalmodeling is difficult. The genetic algorithms for fuzzy control robot can be applied to the rule selectionproblem for constructing a fuzzy-rule-based system by a small number of fuzzy if-then rules.This paper studies to discuss the collision avoidance among moving obstacles on the conventional hierarchical fuzzy robot model using a genetic algorithm. Some results of computer simulation are shown to prove the ef fectiveness of this fuzzy method.departmental bulletin pape
Toward an Interface between the Japanese Way of Thinking and the English Way of Expressing Things: A Proposal for a Teaching Material
Get PDFP(論文)This is a proposal for a teaching material for an English composition class that works as an "interface" between the Japanese way of thinking and the English way of expressing things. It is based on the implications of semantic studies inJapanese linguistics and Japanese-English contrastive studies. It is expected to be effective for the learners to avoid producingEnglish sentences that are syntactically acceptable but semantically unacceptable.departmental bulletin pape
Author's Researches during Last 5 Years (4th Report)
Get PDFP(論文)The author's studies during the last 5 years are outlined. Contents of the studies are random vibration, nonlinear vibration, reduction of residual stress of welded joints using vibration, drilling ofFRP using vibration, reduction of seismic response using a base isolation device, dynamic characteristics of structures with bolted joints and strength and dynamic characteristics of FRP structures. Those studies contain a simplified estimation method of integral of the mean square valueof the response, reliability of the system subjected to seismic excitations, continuous system with collision, continuous system with nonlinear support, continuous system with elasto-plastic damper, reduction of response using impact damper, reduction of residual stress of welded joints using low cycle vibration and ultrasonic vibration, application of vibration to drilling of FRP, development ofbase isolation device for reduction of seismic response, the damping ratio and the natural frequency of structures with bolted joints, compressive strength, the damping ratio and the natural frequency ofFRP structures.departmental bulletin pape
On value distribution of differential polynomials of meromorphic functions
Get PDFP(論文)In the value distribution theory of meromorphic functions, the relative growth of a given function and its derivative playsa very important role. Since R. Nevanlinna proved the importance of the logarithmic derivative f'/f of a meromorphicfunction f in his theory of value distribution in 1925, a number of interesting results of the relative growth of meromorphic functions and their derivatives have been found out. Furthermore, many mathematicians have recently investigated the value distribution of the differential `polynomials' with respect to meromorphic functions. In 1973, Gopalakrishna andBhoosnurmath gave some estimations of the relative growth of meromorphic functions and their homogeneous differentialpolynomials. However their results have an unnecessary condition; the `homogeneousness' of the polynomials. In this paper we consider all differential polynomials of transcendental meromorphic functions on the complex plane, and we give some ( upper and lower ) estimations of comparative growth of the characteristic functions of meromorphic functions and theirdifferential polynomials. Our results extend the result of Gopalakrishna and Bhoosnurmath.departmental bulletin pape
Numerical study on physical mechanism of vortex breakdown occurrence in spin-up process
Get PDFP(論文)A Numerical study presented on a vortex breakdown in spin-up process in an enclosed cylindrical container. In a transitional state, momentary vortex breakdowns can occur for particular parameter values ofthe Reynolds number and aspect ratio where no vortex breakdown appears in a steady state. This transient vortex breakdown flow is convenient to consider a mechanism for the occurrence of a vortex breakdown. It isdiscussed that periodical increase and decrease of angular momentum in upstream of the flow leads to the occurrence of momentary vortex breakdown. Regions for momentary vortex breakdown in spin-upoccurrence are shown in the Re-H/R plane for comparison with regions for steady vortex breakdown occurrence. The character of the regions for momentary vortex breakdown where no upper limit of Reynoldsnumber exists is found to be very different from that of the regions for steady vortex breakdown.departmental bulletin pape
Environmental Education by Fieldwork in Intensive Lecture Style : Practical Records of ""Physical Geography II"" in 3rd grade of Tokyo Metropolitan College of Technology
Get PDFP(論文)For effective environmental education, three fieldwork projects were planned and carried out in an intensive lecture styleduring the long college vacation. In the summer vacation, meteorological observation was carried out to understand the mechanism of the valley and mountain wind system in Ome city. In the winter vacation, after performing the self-made software of TANK MODEL computer simulation to consider the change of flood pattern caused by the Tama New Town development, investigations of micro scale landforms, vegetation, soil, land uses and runoff generation in Tama hills were carried out to recognize the human impact on the natural environment. In the spring vacation, geomorphological and geological surveys of the active fault called the Minamishitaura fault in Miura peninsula were carried out to consider disaster prevention of earthquakes. Judging from the students' impression, thesefieldwork projects were effective to ponder the relationship between the natural environment and human activities. It is important that this college of technology is going to use an intensive lecture style to divide its tight class schedule.departmental bulletin pape