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

A novel neural network (NN) based inverse kinematics solution of redundant manipulators is proposed to solve the joint limits problem. An adaptive learning algorithm for that NN is derived based on Lyapunov approach. Since the inverse kinematics has infinite number of joint angle vectors, a fuzzy neural network (FNN) is designed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector to guide the output of the NN within the self-motion. This FNN is designed based on cooperatively controlling each joint angle of the manipulator. Experiments are implemented for the PA-10 redundant manipulator and a comparative study is made with the gradient projection method.

https://link.springer.com/content/pdf/10.1007%2F3-540-32391-0_12.pdf

Cooperative Fuzzy Hint Acquisition for Industrial Redundant Robots to Avoid the Joint Limits

A simulation technique of velocity-based discrete-time control system for open-architecture industrial robots is presented by giving and combining examples of intelligent controls such as genetic algorithms, fuzzy control and neural networks. In order to develop a novel control system for an open-architecture industrial robot, it is required with regard to safety, cost and simplicity to preliminarily examine and evaluate the characteristics and the performance. The proposed simulation technique has a high applicability.

Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robots

Position control of a manta robot for underwater exploration

We show a design of thruster for an X4-AUV robot, which has four thrusters. The objective in this paper is to prove the availability of this design in reality. At first, we describe the structure of underwater robots, then show the whole design of the thruster. At the last, the experimental results show us the thrust generated by one of the thrusters.

The design and production of thrusters for an AUV without rudders

It is essential for robotic tactile sensors to provide capability of shape discrimination from static touch. For this purpose, the principal curvatures and corresponding principal directions play the important roles which defines the local shape of the object. This paper proposes a novel acoustic tactile sensing system which has an ability to identify the principal curvatures of the object surface by utilizing reflected acoustical wavefronts. Any smooth surface can be locally approximated by a set of independent parameters: the location of the point of contact, the normal vector of the tangent plane, the principal curvatures and the corresponding principal directions. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves nor the spherical-waves strictly such that the nonlinearity affects the parameters defining the surface. Avoiding the difficulty, the proposed sensing system seeks the unique point over the manifold which satisfies Snell's law. In this paper, several acoustical experiments show the above advantages of the tactile sensor and topographical image reconstruction via geometrical connection of principal curvatures.

Keigo Watanabe

Papers

Cooperative Fuzzy Hint Acquisition for Industrial Redundant Robots to Avoid the Joint Limits

Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robots

Position control of a manta robot for underwater exploration

The design and production of thrusters for an AUV without rudders

Principal curvature estimation by acoustical tactile sensing system