There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

다중혈관 관상동맥 환자에서 y-문합을 이용하여 양쪽 내흉동맥만을 사용한 우회술의 조기 성적

There is an increasing demand for dynamic systems to become safer and more reliable This requirement extends beyond the normally accepted safety-critical systems such as nuclear reactors and aircraft, where safety is of paramount importance, to systems such as autonomous vehicles and process control systems where the system availability is vital It is clear that fault diagnosis is becoming an important subject in modern control theory and practice Robust Model-Based Fault Diagnosis for Dynamic Systems presents the subject of model-based fault diagnosis in a unified framework It contains many important topics and methods; however, total coverage and completeness is not the primary concern The book focuses on fundamental issues such as basic definitions, residual generation methods and the importance of robustness in model-based fault diagnosis approaches In this book, fault diagnosis concepts and methods are illustrated by either simple academic examples or practical applications The first two chapters are of tutorial value and provide a starting point for newcomers to this field The rest of the book presents the state of the art in model-based fault diagnosis by discussing many important robust approaches and their applications This will certainly appeal to experts in this field Robust Model-Based Fault Diagnosis for Dynamic Systems targets both newcomers who want to get into this subject, and experts who are concerned with fundamental issues and are also looking for inspiration for future research The book is useful for both researchers in academia and professional engineers in industry because both theory and applications are discussed Although this is a research monograph, it will be an important text for postgraduate research students world-wide The largest market, however, will be academics, libraries and practicing engineers and scientists throughout the world

Robust Model-Based Fault Diagnosis for Dynamic Systems

비만아 부모의 돌봄 경험: q 방법론

The purpose of this paper is to provide a comprehensive presentation and interpretation of the Ensemble Kalman Filter (EnKF) and its numerical implementation. The EnKF has a large user group, and numerous publications have discussed applications and theoretical aspects of it. This paper reviews the important results from these studies and also presents new ideas and alternative interpretations which further explain the success of the EnKF. In addition to providing the theoretical framework needed for using the EnKF, there is also a focus on the algorithmic formulation and optimal numerical implementation. A program listing is given for some of the key subroutines. The paper also touches upon specific issues such as the use of nonlinear measurements, in situ profiles of temperature and salinity, and data which are available with high frequency in time. An ensemble based optimal interpolation (EnOI) scheme is presented as a cost-effective approach which may serve as an alternative to the EnKF in some applications. A fairly extensive discussion is devoted to the use of time correlated model errors and the estimation of model bias.

The Ensemble Kalman Filter: Theoretical formulation and practical implementation

This chapter highlights the active and passive joint torque control methods of a single-axis arm designed with an ultrasonic motor. Recently, many studies on assist robots have been conducted in which the development of a unique system is required to support aged persons, physically handicapped persons and/or carers. One of the representative systems is called the assist suit and is partially developed. The assist suit is a mechatronics device which can assist physical human actions. However, the current assist suit has a few problems with respect to cost, size, weight, longevity and so on. In this chapter, a fundamental study concerning a compact assist device is conducted. Where the assist device supports is one spot on the body such as a knee, an elbow or a shoulder. First of all, a simple single-axis arm is designed by using an ultrasonic motor which can generate high torque from a low velocity range. Then, a servo system with holding torque, a torque control system and a passive torque control system are proposed and their characteristics are evaluated. Here, the passive torque control includes a stiffness control, a compliance control and an impedance control.

Single-axis arm designed with an ultrasonic motor: basic active/passive joint torque control

As a daily means of transportation, Personal Mobility (PM) attracts attention due to its high environmental performance. One of the representative PMs is Segway. However, it is expensive and unavailable to use freely on a Japanese public road because of Road Traffic Act. Therefore, our laboratory developed a one-wheel driven and standing ride type PM for the purpose of low production cost and using on the public roads freely. However, the PM has two problems; i.e., one is that its driving speed becomes uncontrollable by sunlight that changes DC offset of signals from a sensor for measuring speed, and the other is that the driver falls off by a sudden stop of the drive wheel due to battery exhaustion. In this paper, the speed control under the sun is made possible by introducing a signal conversion circuit with AC coupling. In addition, gentle decelerating and automatic stopping before the battery exhaustion prevent the driver from falling off.

Improvements of one-wheel driven personal mobility for use on a public road

This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopt a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.

A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots

Jumping rhythm generator by CPG for a multi-legged robot

Underactuated manipulators have some passive joints in general, where the number of inputs is less than the degrees of freedom. These systems have complex properties in structure and they have to control a lot of generalized coordinates by few inputs. In this paper, we propose a switching control method for tree-DOF underactuated manipulators. Then, we convert a system of underactuated manipulator to one applied extend nonholonomic double integrator form. We try to control this system using switching control method. Here, we need to decide gain parameters using this switching control method. And we optimaze such gain parameters by a genetic algorithm (GA). The effectiveness of the propose method is illustrated through simulations with a tree-DOF under actuated manipulator.

/pdf/design-parameter-setting-by-ga-with-switching-method-for-3k4ffa7mb4.pdf

Keigo Watanabe

Papers

Single-axis arm designed with an ultrasonic motor: basic active/passive joint torque control

Improvements of one-wheel driven personal mobility for use on a public road

A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots

Jumping rhythm generator by CPG for a multi-legged robot

Design Parameter Setting by GA with Switching Method for Three-DOF Underactuated Manipulators