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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. 28 (2015), No. 9

  • A Study on Dynamic Characteristics of Two-link Robot Arm near Singular Congurations

    Takateru Urakubo, Xianglong Wan, Tomoaki Mashimo

    pp. 377-383

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    DOI:10.5687/iscie.28.377

    Abstract

    For a serial linkage mechanism, the kinematic relationship between the end effector and the joint angles is nonlinear. The kinematics highly affects the dynamics of the mechanism near singular configurations where the relationship is singular. In this paper, we examine dynamic characteristics of singular configurations for a two-link robot arm, and show that the singular configurations are advantageous in reducing the joint torques necessary to achieve the task of pulling a heavy object.

  • A Method of Workload Estimation Directing Schedule Stability in Project Management

    Daisuke Morita, Haruhiko Suwa

    pp. 384-391

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    DOI:10.5687/iscie.28.384

    Abstract

    It is important in project time management to estimate adequately the workload (e.g. personhours) of each activity taking into account project uncertainties such as over-/underestimations of the activity durations, workers,’ sudden sickness absence and so forth. In this paper, we propose a new method of the workload estimation aiming at enhancing a so-called schedule stability. It is expected that the schedule stability can be enhanced by considering the minimization of the delay cost associated with the deviations between planned and actual activity starting times. The proposed method successively changes the amount of resources allocated to the activities as well as the activity durations in order to minimize the expected delay cost. In the computational experiments,the proposed method is compared with two conventional estimation methods by using benchmark problem instances of project scheduling. The experimental results reveal that the proposed method is effective from stability point of view.

  • A Unied Analysis of Spontaneous Oscillation Condition for Standing- and Traveling-wave Thermoacoustic Systems based on System Representation in Traveling-wave Pressure Components

    Yasuhide Kobayashi, Noboru Yamada

    pp. 392-399

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    DOI:10.5687/iscie.28.392

    Abstract

    This paper presents a unied stability analysis method for thermoacoustic systems based on the Nyquist stability criterion for MIMO systems. The method consists of two procedures: (i) conventional frequency response function (transfer matrix) is transformed into the one for causal system whose input and output signals are incoming and outgoing traveling-wave pressure components; (ii) the transformed response is used to analyze the closed-loop stability by the Nyquist stability criterion for MIMO systems. It is shown that the stability analysis for both standing- and traveling-wave thermoacoustic engines can be carried out by a unied procedure. The analysis results are consistent with the actual situations of oscillation indicating reasonable stability and/or instability margins for various geometrical changes as well as the temperature ratios in engines.
  • © 2015 THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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