Transactions of the Institute of Systems, Control and Information Engineers
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ONLINE ISSN: 2185-811X
PRINT ISSN: 1342-5668

Transactions of the Institute of Systems, Control and Information Engineers Vol. 1 (1988), No. 3

  • Balanced Realizations in the Wide Sense with a Class of Transfer Functions and Their Low Sensitivity

    pp. 77-83

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    DOI:10.5687/iscie.1.77

    This paper shows that balanced realizations in the wide sense have minimum statistical sensitivity and pole sensitivity, if the transfer functions have interlacing poles and zeros on the real axis of z-plane (i. r. p. z.). If the transfer functions have i. r. p. z., the balanced realizations in the wide sense can be easily obtained by computing the partial fraction expansion of the transfer functions. Since the state transition matrices of the obtained balanced realizations are diagonal, they can be implemented with much fewer parameters than balanced realizations with fully dense coefficient matrices.
  • Engineering of a Robot System for Fettling of Castings

    pp. 84-91

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    DOI:10.5687/iscie.1.84

    This paper deals with a robotic fettling system which aims at taking the place of one of the most hazardous manual jobs in industry. The system has attained a 95% success rate in fettling castings and has already been put into production. This paper describes the engineering procedures of how to implement the system. Emphasis is placed on optimizing the cost performance of the system by analyzing and comparing different system components, such as tools, micro-processors, and program languages, which are readily available in the marketplace.
    This paper also discusses the peripheral equipment which enable the fettling system to adapt its functions to the variety of shapes and to the position of flaws on the work-pieces.
  • A Semi-Automatically Converting System of Graph Type Data to Numerical Value

    pp. 92-99

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    DOI:10.5687/iscie.1.92

    A system for quick conversion of data points and experimental curves which are drawn on a data graph to numerical values has been developed by applying a graphically processing technique.
    The present system has the functions capable to discriminate different data marks and to determine the coordinates of data points and experimental curves. The coordinates are automatically determined for a data point that does not overlap with the others and for any experimental curve with no sharp cusp and break longer than 16mm. Different kinds of marks can be discriminated by looking into their characteristic features such as the ratio of surrounding length to area, the positional relation between extreme points, and the behavior of reflaction points.
    It turns out that the processing time can be shortened by the following, i. e, dropping out the regions with no black pixel by a rough scanning before the detailed processing, and indication of the rough position of data points and regions to be processed by use of a mouse unit. The latter was very effective to avoid some disturbances caused by written comments and ruled lines drawn in the graph.
    The system also provides a function of fitting a series of given data points to suitable mathematical function.
  • A DSP Chip-Based Processor for Ultrasonic Bloodflow Doppler Signals

    pp. 100-107

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    DOI:10.5687/iscie.1.100

    An ultrasonic Doppler method, by which blood flow velocities can be detected, is noninvasive and effective means for diagnosis of cardiovascular disease. In this paper, a Doppler signal processor for estimating the blood flow velocity and a color Doppler system for imaging the velocity profile are described. The processor using a programable DSP chip is developed to process the sensed Doppler signal by both instantaneous frequency method and FFT power spectrum method. In preliminary clinical trials, a new visualizing method of a cardiac structure is proposed and a clear imaging result is obtained.
  • Theory of Invariance and its Applications-X. Block Decoupling

    pp. 108-116

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    DOI:10.5687/iscie.1.108

    In this paper, we study the block decoupling problem of nonlinear systems with Cω-Structures : x=f (x) +G (x) u, y=h (x). Inputs and outputs are divided into N blocks, respectively. First, we propose a new algorithm by which we can determine the maximal locally controlled invariant distribution contained in Ker dh. This algorithm is an extension of nonlinear structure algorithm extensively used in the input-output linearlization, and can be applied to systems which is not input-output linearlizable. Moreover, it has an advantage in that we need not integrate the distribution.
    Application of this algorithm to I-th output block yields a vector valued function zI(x).Then, the block decoupling problem is solvable if and only if each row of D(G)zI(x) is zero vector or is linearly independent of rows of other D(G)zJ(x)(J=1, …, N; IJ). The state feedback control law which accomplishes the block decoupling is derived from zI(x).

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