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 10.18926/15468
フルテキストURL Mem_Fac_Eng_OU_23_1_69.pdf
著者 東辻 浩夫| Takei Makoto|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 1988-11-22
23巻
1号
開始ページ 69
終了ページ 82
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002307988
JaLCDOI 10.18926/19599
フルテキストURL Mem_Fac_Eng_OU_31_2_53.pdf
著者 Fujihara Yutaka| 大崎 紘一|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 1997-03-28
31巻
2号
開始ページ 53
終了ページ 60
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002309131
JaLCDOI 10.18926/15507
フルテキストURL Mem_Fac_Eng_OU_24_2_99.pdf
著者 谷口 健男| Fujiwara Kohji|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 1990-03-29
24巻
2号
開始ページ 99
終了ページ 112
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002307515
JaLCDOI 10.18926/49320
フルテキストURL mfe_047_001_018.pdf
著者 Kanatani, Kenichi|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2013-01
47巻
開始ページ 1
終了ページ 18
ISSN 1349-6115
言語 English
著作権者 Copyright © by the authors
論文のバージョン publisher
NAID 120005232372
JaLCDOI 10.18926/14124
フルテキストURL Mem_Fac_Eng_OU_40_1_64.pdf
著者 金谷 健一|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2006-01
40巻
1号
開始ページ 64
終了ページ 77
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002308332
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 10.18926/19957
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 10.18926/14063
フルテキストURL Mem_Fac_Eng_OU_42_71.pdf
著者 Kawase, Koichi| 小西 正躬| 今井 純|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2008-01
42巻
1号
開始ページ 71
終了ページ 78
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002308296
JaLCDOI 10.18926/14155
フルテキストURL Mem_Fac_Eng_39_1_63.pdf
著者 金谷 健一|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2005-01
39巻
1号
開始ページ 63
終了ページ 70
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002308366
JaLCDOI 10.18926/15494
フルテキストURL Mem_Fac_Eng_OU_25_1_71.pdf
著者 Myojin Sho| Yamada Masahito| Fujii Naoto|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 1990-12-14
25巻
1号
開始ページ 71
終了ページ 87
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002307618
JaLCDOI 10.18926/44495
フルテキストURL mfe_045_001_014.pdf
著者 Akiyoshi, Tatsuro| Imai, Jun| Konishi, Masami|
抄録 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.
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 1
終了ページ 14
ISSN 1349-6115
言語 English
著作権者 Copyright © by the authors
論文のバージョン publisher
NAID 120002905951
JaLCDOI 10.18926/48125
フルテキストURL mfe_046_001_009.pdf
著者 Kanatani, Kenichi| Niitsuma, Hirotaka|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2012-01
46巻
開始ページ 1
終了ページ 9
ISSN 1349-6115
言語 English
著作権者 Copyright © by the authors
論文のバージョン publisher
NAID 80022451620
JaLCDOI 10.18926/48127
フルテキストURL mfe_046_021_033.pdf
著者 Kanatani, Kenichi| Niitsuma, Hirotaka|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 2012-01
46巻
開始ページ 21
終了ページ 33
ISSN 1349-6115
言語 English
著作権者 Copyright © by the authors
論文のバージョン publisher
NAID 80022451622
JaLCDOI 10.18926/44498
フルテキストURL mfe_045_036_045.pdf
著者 Kanatani, Kenichi| Niitsuma, Hirotaka|
抄録 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.
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 36
終了ページ 45
ISSN 1349-6115
言語 English
著作権者 Copyright © by the authors
論文のバージョン publisher
NAID 80021759250
JaLCDOI 10.18926/15449
フルテキストURL Mem_Fac_Eng_OU_22_15.pdf
著者 古谷 洋一郎| 東辻 浩夫| Komaki Kunitaka| Tanabe Masahiro|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 1988-03-31
22巻
開始ページ 15
終了ページ 34
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002307361
JaLCDOI 10.18926/15422
フルテキストURL Mem_Fac_Eng_OU_29_2_57.pdf
著者 東辻 浩夫|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 1995-03-27
29巻
2号
開始ページ 57
終了ページ 65
ISSN 0475-0071
言語 English
論文のバージョン publisher
NAID 120002307838
JaLCDOI 10.18926/15478
フルテキストURL Mem_Fac_Eng_OU_23_2_45.pdf
著者 谷口 健男| Fujiwara, Kohji|
抄録 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.
出版物タイトル Memoirs of the Faculty of Engineering, Okayama University
発行日 1989-03-30
23巻
2号
開始ページ 45
終了ページ 55
ISSN 0475-0071
言語 Japanese
論文のバージョン publisher
NAID 120002307820