{"created":"2023-07-27T06:44:35.528051+00:00","id":34871,"links":{},"metadata":{"_buckets":{"deposit":"a55a801e-6d01-4c59-836b-02778c5953f5"},"_deposit":{"created_by":3,"id":"34871","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"34871"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00034871","sets":["2812:2813:2835"]},"author_link":["9720","11624"],"item_9_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1999-03-01","bibliographicIssueDateType":"Issued"},"bibliographicPageStart":"21p.","bibliographicVolumeNumber":"1996-1998","bibliographic_titles":[{"bibliographic_title":"平成10(1998)年度 科学研究費補助金 基盤研究(B) 研究成果報告書"},{"bibliographic_title":"1998 Fiscal Year Final Research Report","bibliographic_titleLang":"en"}]}]},"item_9_creator_33":{"attribute_name":"著者別表示","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{}],"nameIdentifiers":[{},{}]}]},"item_9_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本研究では,アクチュエータとセンサーを組み込んだ形状可変トラス・モジュールを数十段組み上げた実用的な規模の適応構造の実時間での軌跡制御,姿勢制御の実現およびその応用を目的として研究を進め,以下のような成果を得た. 1. 形状可変トラス構造の自律規範獲得法の開発……可変長部材を含むトラス部分構造モジュールを直列に組立てた二次元および三次元形状可変トラス構造を対象として,種々の位置,方向の静的負荷(作業ベクトル)に対して初期姿勢からの先端の移動軌跡を与えたときに,各トラスモジュールの局所情報より各部材長の変更量,最適な移動過程,最終姿勢制御量を決定するための自律規範,局所的な制御則を創発的に自動生成するためのモデルを遺伝的プログラミングを利用して構築した.その自動生成された自律規範を用いて種々の初期姿勢からの移動過程,最終姿勢決定の有限要素シミュレーションを実施し,提案した自律規範生成モデルの有効性を確認した.また制御目的に最大剛性と制御エネルギ最小の両方を考慮した制御則獲得についても検討した. 2. 動的負荷に対する形状可変トラス安定化自律規範生成モデルの検討…記号センサーとアクチュエー夕,アクティブ・ダンパーを備えたトラス・モジュールを組立てた形状可変トラス適応構造を対象に,各可変部材モジュール近傍のセンサー情報のみから,姿勢移動過程における慣性力による振動,最終姿勢での擾乱による振動を抑制する各ダンパーおよび可変部材の自律制御規範を自動生成するモデル構築を,遺伝的プログラミングを利用して実施した. 3. 形状可変トラス構造の試作……ひずみセンサーを備え,ボールネジとステッピングモータがらなる可変部材ごとに独自に自律分散処理機能を有する5段の形状可変三次元トラス構造と自律制御プログラムを試作した.与えられた負荷方向に対して,複数のCPUによってそれぞれ独立に制御する自律分散型の制御アルゴリズムによって最大剛性姿勢に姿勢変更する制御を試みてその有効性を確認した.","subitem_description_type":"Abstract"},{"subitem_description":" (1) Development of Acquisition Technique of Autonomous Distributed Control Rules for Variable Geometry Trusses : A genetic acquisition technique of autonomous distributed control rules has been developed for the posture control of arm-type variable geometry trusses(VGT), which consist of serial connection of unit truss module including variable length member and are applied working load as end effecter. This technique can acquire the control rules automatically which achieve optimum posture for any given initial postures and locus. The validity of the acquired control rules is confirmed by the numericalsimulation of adaptation. (2) Modeling of Autonomous Stabilization Rule of Variable Geometry Truss against Dynamic Loading : A genetic acquisition technique of autonomous distributed control rules of vibration suppression against the disturbance and vibration caused by inertia force during adaptation has been developed for VGT equipped sensors and active dumpers in each module. (3) Construction of Three-Dimensional Variable Geometry Truss : A three-dimensional truss structure which consists of five octahedral truss module of six fixed members and three variable members with sensors is constructed. The variable length members are realized by the ball screw and stepping motor, and the autonomous distributed control has been implemented by sensing the end effecter position by a pair of CCD camera. The validity of the control rule for attaining the maximum stiffness posture has been confirmed experimentally.","subitem_description_type":"Abstract"}]},"item_9_description_22":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"研究課題/領域番号:08455055, 研究期間(年度):1996–1998, 平成10(1998)年度 科学研究費補助金 基盤研究(B) 研究成果報告書の一部(概要)を掲載.","subitem_description_type":"Other"},{"subitem_description":"出典：「大規模適応構造の自律分散型姿勢および軌跡制御法の開発と形状可変トラスの試作」研究成果報告書　課題番号08455055\n  (KAKEN：科学研究費助成事業データベース（国立情報学研究所）)\n　　　本文データは著者版報告書より作成","subitem_description_type":"Other"}]},"item_9_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.24517/00034858","subitem_identifier_reg_type":"JaLC"}]},"item_9_publisher_17":{"attribute_name":"公開者","attribute_value_mlt":[{"subitem_publisher":"金沢大学工学部"}]},"item_9_relation_28":{"attribute_name":"関連URI","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/search/?qm=70110608","subitem_relation_type_select":"URI"}},{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08455055/","subitem_relation_type_select":"URI"}},{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/report/KAKENHI-PROJECT-08455055/084550551998kenkyu_seika_hokoku_gaiyo/","subitem_relation_type_select":"URI"}}]},"item_9_version_type_25":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2017-10-05"}],"displaytype":"detail","filename":"TE-PR-YAMAZAKI-K-kaken 1999.pdf","filesize":[{"value":"1.0 MB"}],"format":"application/pdf","licensetype":"license_11","mimetype":"application/pdf","url":{"label":"TE-PR-YAMAZAKI-K-kaken 1999.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/34871/files/TE-PR-YAMAZAKI-K-kaken 1999.pdf"},"version_id":"a1dae96f-9e25-4a89-b070-2987c3eb6c26"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_title":"大規模適応構造の自律分散型姿勢および軌跡制御法の開発と形状可変トラスの試作","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"大規模適応構造の自律分散型姿勢および軌跡制御法の開発と形状可変トラスの試作"},{"subitem_title":"Development of Acquisition Technique of Autonomous Distributed Control Rules for Postures and Locus of Large Scale Adaptive Structures, and Construction of Variable Geometry Truss","subitem_title_language":"en"}]},"item_type_id":"9","owner":"3","path":["2835"],"pubdate":{"attribute_name":"公開日","attribute_value":"2017-10-05"},"publish_date":"2017-10-05","publish_status":"0","recid":"34871","relation_version_is_last":true,"title":["大規模適応構造の自律分散型姿勢および軌跡制御法の開発と形状可変トラスの試作"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-07-27T14:48:43.554287+00:00"}