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en: Estimation of Transition Times of a Hopping Machine Based on Wavelet Analysis

en: The transition time of a hopping machine (HM) as a piecewise linear (PWL) system is estimated by using a wavelet analysis method proposed in previous papers. The HM is a nonlinear system because its equation of motion has a nonlinear drag coefficient term owing to air resistance. The effectiveness of the proposed method for real (nonlinear) systems is verified through instrumental experiments performed on the HM. First, the effect of nonlinearity on the estimation of a transition time is examined. The HM has a discrete transition caused by the nonlinearity in a real system. In addition, two types of discrete transitions are detected from the output data: one caused by the change between discrete free-fall and spring-mass states and the other caused by inversion of the sign of the nonlinear term owing to a change in the velocity of the mass. These transition times are estimated using the proposed method. Finally, the proposed method is compared with a conventional method based on a clustering technique.

ja: ホッピングマシンを区分線系システムとしてとらえ，その離散状態の遷移時刻を 先に提案したWavelet解析に基づく手法で推定した．実機によるデータから，2種類の離散状態の遷移を推定することができた．1つは，自由落下とバネ・マス・ダンパ系の切り替えであり，もう1つは自由落下時の頂点における速度の向きの変化による空気抵抗の向きの変化である．最後に従来手法であるクラスタリングを用いる手法との比較を行った．

en: SICE Journal of Control, Measurement, and System Integration


en: Fault Tolerance of Autonomous Decentralized Adaptive Control Systems

en: 分散型制御系の特徴として, 耐故障性, 保守·点検の容易さ, オンライン拡張性などが挙げられている. 本論文では, 先の論文で提案した分散型ハイゲイン適応制御が耐故障性を持つことを, 自己相似性に基づいて示し, 分散型システムが耐故障性をもつための原則の一つを明らかにした.

en: International Journal of Systems Science