| JaLCDOI | 10.18926/17837 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_43_39.pdf |
| Author | Kuwashima, Takayuki| Imai, Jun| Konishi, Masami| |
| Abstract | 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. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2009-01 |
| Volume | volume43 |
| Start Page | 39 |
| End Page | 48 |
| ISSN | 1349-6115 |
| language | English |
| File Version | publisher |
| NAID | 120002308875 |
| JaLCDOI | 10.18926/17839 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_43_49.pdf |
| Author | Akamatsu, Shinya| Konishi, Masami| Imai, Jun| |
| Abstract | 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. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2009-01 |
| Volume | volume43 |
| Start Page | 49 |
| End Page | 54 |
| ISSN | 1349-6115 |
| language | English |
| File Version | publisher |
| NAID | 120002308854 |
| JaLCDOI | 10.18926/15468 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_23_1_69.pdf |
| Author | Totsuji, Hiroo| Takei Makoto| |
| Abstract | The statistical properties of two-dimensional systems of charges in semiconductor superlattices are analyzed and the dispersion relation of the plasma oscillation is calculated. The possibility to excite these oscillations by applying the electric field parallel to the structure is discussed. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 1988-11-22 |
| Volume | volume23 |
| Issue | issue1 |
| Start Page | 69 |
| End Page | 82 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002307988 |
| JaLCDOI | 10.18926/19599 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_31_2_53.pdf |
| Author | Fujihara Yutaka| Osaki, Hirokazu| |
| Abstract | This paper presents a method using simulated annealing(SA) and genetic algorithm(GA) to solve the plant layout problem in which the layout is evaluated by material handling cost and maintainability. In the former study about facility layout problem, it was either the minimization of the objeective function consisting of transport cost or the maximization of the objective function consisting of closeness rating. In this paper, both transport cost and maintainability were included in the objective function to be minimized. The plant layout problem, this paper proposes the heuristic procedures to obtain a suboptimal layout solution by combining SA with GA. From the simulation by computer, it concluded that the method which SA is combined with GA is more efficient than the method which utilizes SA and GA independently. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 1997-03-28 |
| Volume | volume31 |
| Issue | issue2 |
| Start Page | 53 |
| End Page | 60 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002309131 |
| JaLCDOI | 10.18926/15507 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_24_2_99.pdf |
| Author | Taniguchi, Takeo| Fujiwara Kohji| |
| Abstract | This paper presents an effective solver for a large sparse set of linear algebraic equations, which appears at the application of the finite element and the finite difference methods in engineering field. Proposed method is a family of SKYLINE METHOD, and for faster computation on the vector processors the original skyline is modified with respect to following three items; the use of inner products of matrix operations, the removal of unnecessary numerical operations and the introduction of two-dimensional array for storing the data of coefficient matrix. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 1990-03-29 |
| Volume | volume24 |
| Issue | issue2 |
| Start Page | 99 |
| End Page | 112 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002307515 |
| JaLCDOI | 10.18926/49320 |
|---|---|
| FullText URL | mfe_047_001_018.pdf |
| Author | Kanatani, Kenichi| |
| Abstract | We summarize techniques for optimal geometric estimation from noisy observations for computer vision applications. We first discuss the interpretation of optimality and point out that geometric estimation is different from the standard statistical estimation. We also describe our noise modeling and a theoretical accuracy limit called the KCR lower bound. Then, we formulate estimation techniques based on minimization of a given cost function: least squares (LS), maximum likelihood (ML), which includes reprojection error minimization as a special case, and Sampson error minimization. We describe bundle adjustment and the FNS scheme for numerically solving them and the hyperaccurate correction that improves the accuracy of ML. Next, we formulate estimation techniques not based on minimization of any cost function: iterative reweight, renormalization, and hyper-renormalization. Finally, we show numerical examples to demonstrate that hyper-renormalization has higher accuracy than ML, which has widely been regarded as the most accurate method of all. We conclude that hyper-renormalization is robust to noise and currently is the best method. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2013-01 |
| Volume | volume47 |
| Start Page | 1 |
| End Page | 18 |
| ISSN | 1349-6115 |
| language | English |
| Copyright Holders | Copyright © by the authors |
| File Version | publisher |
| NAID | 120005232372 |
| JaLCDOI | 10.18926/14124 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_40_1_64.pdf |
| Author | Kanatani, Kenichi| |
| Abstract | This article summarizes recent advancements of the theories and techniques for 3-D reconstruction from multiple images. We start with the description of the camera imaging geometry as perspective projection in terms of homogeneous coordinates and the definition of the intrinsic and extrinsic parameters of the camera. Next, we described the epipolar geometry for two, three, and four cameras, introducing such concepts as the fundamental matrix, epipolars, epipoles, the trifocal tensor, and the quadrifocal tensor. Then, we present the self-calibration technique based on the stratified reconstruction approach, using the absolute dual quadric constraint. Finally, we give the definition of the affine camera model and a procedure for 3-D reconstruction based on it. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2006-01 |
| Volume | volume40 |
| Issue | issue1 |
| Start Page | 64 |
| End Page | 77 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002308332 |
| JaLCDOI | 10.18926/19960 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_44_60.pdf |
| Author | Nogami, Yasuyuki| Morikawa, Yoshitaka| |
| Abstract | 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. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2010-01 |
| Volume | volume44 |
| Start Page | 60 |
| End Page | 68 |
| ISSN | 1349-6115 |
| language | English |
| File Version | publisher |
| NAID | 120002309063 |
| JaLCDOI | 10.18926/44499 |
|---|---|
| FullText URL | mfe_045_046_053.pdf |
| Author | Nogami, Yasuyuki| Yanagi, Erika| Izuta, Tetsuya| Morikawa, Yoshitaka| |
| Abstract | 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. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2011-01 |
| Volume | volume45 |
| Start Page | 46 |
| End Page | 53 |
| ISSN | 1349-6115 |
| language | English |
| Copyright Holders | Copyright © by the authors |
| File Version | publisher |
| NAID | 120002905955 |
| JaLCDOI | 10.18926/19957 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_44_32.pdf |
| Author | Kanatani, Kenichi| Niitsuma Hirotaka| Sugaya Yasuyuki| |
| Abstract | 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. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2010-01 |
| Volume | volume44 |
| Start Page | 32 |
| End Page | 41 |
| ISSN | 1349-6115 |
| language | English |
| File Version | publisher |
| NAID | 120002309124 |
| JaLCDOI | 10.18926/14063 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_42_71.pdf |
| Author | Kawase, Koichi| Konishi, Masami| Imai, Jun| |
| Abstract | In this research, Fuzzy control theory is applied to the inventory control of the supply chain between multiple companies. The proposed control method deals with the amount of inventories expressing supply chain between multiple companies. Referring past demand and tardiness, inventory amounts of raw materials are determined by Fuzzy inference. The method that an appropriate inventory control becomes possible optimizing fuzzy control gain by using SA method for Fuzzy control. The variation of uncertain demand is given to the proposal method. Furthermore, the method of forecasting demand and the effectiveness of fuzzy control method are confirmed by numerical experiments. As the results, the proposal method suppressed increase in an unnecessary cost when demand varies. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2008-01 |
| Volume | volume42 |
| Issue | issue1 |
| Start Page | 71 |
| End Page | 78 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002308296 |
| JaLCDOI | 10.18926/14155 |
|---|---|
| FullText URL | Mem_Fac_Eng_39_1_63.pdf |
| Author | Kanatani, Kenichi| |
| Abstract | Geometric fitting is one of the most fundamental problems of computer vision. In [8], the author derived a theoretical accuracy bound (KCR lower bound) for geometric fitting in general and proved that maximum likelihood (ML) estimation is statistically optimal. Recently, Chernov and Lesort [3] proved a similar result, using a weaker assumption. In this paper, we compare their formulation with the author’s and describe the background of the problem. We also review recent topics including semiparametric models and discuss remaining issues. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2005-01 |
| Volume | volume39 |
| Issue | issue1 |
| Start Page | 63 |
| End Page | 70 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002308366 |
| JaLCDOI | 10.18926/15494 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_25_1_71.pdf |
| Author | Myojin Sho| Yamada Masahito| Fujii Naoto| |
| Abstract | A transportation planning way of approach is applied to optimal pricing and planning of urban expressway network. Two kinds of network are investigated ; four radials with one ring system and four radials with two rings system. The model is composed of three submodels ; road systell, trip generation-attraction and traffic diversion. Some iaplicative aspects are shown of the optimal solutions that maximize the aggregate number of the trips diverted to expressway under constraints ; equilibrium of revenue and expenditure and traffic capacity constraint. (1) traffic flow has the peaks at junctions on radial expressway that are adjusted to be equal to the traffic capacity. (2) two rings system realizes the larger aggregate number of diverted trips by lower toll rate than one ring system does. (3) well-located second ring has a remarkable effect on improvement in accessibility to expressway and (4) some parameters in the model have curious effects on the optimal system. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 1990-12-14 |
| Volume | volume25 |
| Issue | issue1 |
| Start Page | 71 |
| End Page | 87 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002307618 |
| JaLCDOI | 10.18926/44495 |
|---|---|
| FullText URL | mfe_045_001_014.pdf |
| Author | Akiyoshi, Tatsuro| Imai, Jun| Konishi, Masami| |
| Abstract | This paper presents a method of the controller design for the handling machine by using dsPIC(Digital Signal Processor + Peripheral Interface Controller). Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor, cost saving, and improvement of the productivity. Such robots need to have positioning performance of high precision and simultaneously to save cost. In this paper, a digital optimal servo controller is designed, and it is implemented into our barebones controller which involves dsPIC. We have designed and manufactured the controller which is added suitable peripherals to improve the consistency between the mechanical machine operating in continuous time and controller in discrete time. The significance of this research is that digital implementation of the embedded system which has performance-limitation has ensured a comparable result, against the one with PC which has broad utility. When it is used as a controller, it is possible to restrain product prices greatly equivalent PC precision. We demonstrate potential that good control can be achieved even with low cost. Our research has lead to the viability of lower cost and higher performance system for the production process at factories. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2011-01 |
| Volume | volume45 |
| Start Page | 1 |
| End Page | 14 |
| ISSN | 1349-6115 |
| language | English |
| Copyright Holders | Copyright © by the authors |
| File Version | publisher |
| NAID | 120002905951 |
| JaLCDOI | 10.18926/48127 |
|---|---|
| FullText URL | mfe_046_021_033.pdf |
| Author | Kanatani, Kenichi| Niitsuma, Hirotaka| |
| Abstract | Because 3-D data are acquired using 3-D sensing such as stereo vision and laser range finders, they have inhomogeneous and anisotropic noise. This paper studies optimal computation of the similarity (rotation, translation, and scale change) of such 3-D data. We first point out that the Gauss-Newton and the Gauss-Helmert methods, regarded as different techniques, have similar structures. We then combine them to define what we call the modified Gauss-Helmert method and do stereo vision simulation to show that it is superior to either of the two in convergence performance. Finally, we show an application to real GPS geodetic data and point out that the widely used homogeneous and isotropic noise model is insufficient and that GPS geodetic data are prone to numerical problems. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2012-01 |
| Volume | volume46 |
| Start Page | 21 |
| End Page | 33 |
| ISSN | 1349-6115 |
| language | English |
| Copyright Holders | Copyright © by the authors |
| File Version | publisher |
| NAID | 80022451622 |
| JaLCDOI | 10.18926/48125 |
|---|---|
| FullText URL | mfe_046_001_009.pdf |
| Author | Kanatani, Kenichi| Niitsuma, Hirotaka| |
| Abstract | We optimally estimate the similarity (rotation, translation, and scale change) between two sets of 3-D data in the presence of inhomogeneous and anisotropic noise. Adopting the Lie algebra representation of the 3-D rotational change, we derive the Levenberg-Marquardt procedure for simultaneously optimizing the rotation, the translation, and the scale change. We test the performance of our method using simulated stereo data and real GPS geodetic sensing data. We conclude that the conventional method assuming homogeneous and isotropic noise is insufficient and that our simultaneous optimization scheme can produce an accurate solution. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2012-01 |
| Volume | volume46 |
| Start Page | 1 |
| End Page | 9 |
| ISSN | 1349-6115 |
| language | English |
| Copyright Holders | Copyright © by the authors |
| File Version | publisher |
| NAID | 80022451620 |
| JaLCDOI | 10.18926/44498 |
|---|---|
| FullText URL | mfe_045_036_045.pdf |
| Author | Kanatani, Kenichi| Niitsuma, Hirotaka| |
| Abstract | We present a new method for optimally computing the 3-D rotation from two sets of 3-D data. Unlike 2-D data, the noise in 3-D data is inherently inhomogeneous and anisotropic, reflecting the characteristics of the 3-D sensing used. To cope with this, Ohta and Kanatani introduced a technique called “renormalization”. Following them, we represent a 3-D rotation in terms of a quaternion and compute an exact maximum likelihood solution using the FNS of Chojnacki et al. As an example, we consider 3-D data obtained by stereo vision and optimally compute the 3-D rotation by analyzing the noise characteristics of stereo reconstruction. We show that the widely used method is not suitable for 3-D data. We confirm that the renormalization of Ohta and Kanatani indeed computes almost an optimal solution and that, although the difference is small, the proposed method can compute an even better solution. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 2011-01 |
| Volume | volume45 |
| Start Page | 36 |
| End Page | 45 |
| ISSN | 1349-6115 |
| language | English |
| Copyright Holders | Copyright © by the authors |
| File Version | publisher |
| NAID | 80021759250 |
| JaLCDOI | 10.18926/15449 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_22_15.pdf |
| Author | Furutani, Yoichiro| Totsuji, Hiroo| Komaki Kunitaka| Tanabe Masahiro| |
| Abstract | An effective potential of an isolated partially ionized high-Z ion, calculated within the framework of the statistical models of atoms, is injected into the one-electron Schrödinger equation, in view of evaluating the electron density and comparing it with the results of statistical models. Starting from this initial value, a self-consistent electron density is obtained on the basis of the density functional theory, where quantum natures of electrons are fully taken into account. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 1988-03-31 |
| Volume | volume22 |
| Start Page | 15 |
| End Page | 34 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002307361 |
| JaLCDOI | 10.18926/15422 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_29_2_57.pdf |
| Author | Totsuji, Hiroo| |
| Abstract | As plasmas with extremely reduced dimensionality, properties of one-dimensional classical plasmas are analyzed in the domain of strong coupling and static and dynamic structure factors and the plasmon dispersion relation are obtained. These plasmas may be realized in Penning traps with sufficiently strong confinement and also in semiconductor quantum wires under appropriate conditions. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 1995-03-27 |
| Volume | volume29 |
| Issue | issue2 |
| Start Page | 57 |
| End Page | 65 |
| ISSN | 0475-0071 |
| language | English |
| File Version | publisher |
| NAID | 120002307838 |
| JaLCDOI | 10.18926/15478 |
|---|---|
| FullText URL | Mem_Fac_Eng_OU_23_2_45.pdf |
| Author | Taniguchi, Takeo| Fujiwara, Kohji| |
| Abstract | This paper includes a solver for a large sparse set of linear algebraic equations which are obtained by the application of the finite element method to static structural problems. Proposed method is a modification of Robust Incomplete Choleski-Conjugate Gradient Method, which belongs to Preconditioned Conjugate Gradient Method suitable for supercomputers. Through a number of numerical experiments the authors show that Robust Incomplete Choleski-Conjugate Gradient Method sometimes fails in to obtain the solutions, secondly they clarify the reason of the failures from the theoretical viewpoint, and finally they propose a modification of the robust method by the introduction of the theoretical result. Proposed method is as effective as the original, and it can overcome the demerit of Robust Method which is clarified through numerical experiments. |
| Publication Title | Memoirs of the Faculty of Engineering, Okayama University |
| Published Date | 1989-03-30 |
| Volume | volume23 |
| Issue | issue2 |
| Start Page | 45 |
| End Page | 55 |
| ISSN | 0475-0071 |
| language | Japanese |
| File Version | publisher |
| NAID | 120002307820 |
