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

In recent years, a variety of unmanned aerial vehicles (UAVs) have been developed to replace human tasks, such as carrying cargo and inspecting infrastructures, and have attracted attention in many fields. However, conventional quad-rotor UAVs are forced to change in attitude when moving in the air. Therefore, aircraft that multiple rotors are assigned with an inclination or are tiltable has been developed, but most of them are redundant actuated systems. Therefore, in this study, it aims to develop an aircraft with a 2-DOF tiltable rotors to realize a fully-actuated system, which is capable of independent flight in position and attitude, using a small number of rotors. In this aircraft, rotors being different rotational directions are arranged up and down, one by one, so that it can reduce the power consumption and the risk of failures, because the number of rotors is only two. 

Research on a Fully Actuated UAV with Two 2-DOF Tiltable Rotors

A small-sized X4-AUV is a kind of AUVs that do not use any rudders, and is driven by four thrusters arranged equally around the fuselage. In order to drive the X4-AUV more efficiently and precisely, a distributed control system of thrusters is proposed, in which the command of a main microcontroller is distributed to four sub-microcontrollers, one of which is mounted on each thruster. By utilizing the serial communication between the PC and the sub-microcontroller, the P, I and D gains of thruster can be easily adjusted on a Graphical User Interface (GUI). After the gains are adjusted, the performance of distributed control of the thrusters can be verified in real time through another designed GUI.

System Construction for Distributedly Controlling the Thrusters of X4-AUV

This chapter describes the development of a robotic CAM system for six-DOFs articulated industrial robot to generate online motion supported by cutter location source (CLS) data and numerical control (NC) data. The robotic CAM system realizes a practical data interface between industrial robots with open architecture controllers and commercially available CAD/CAM systems, and it includes functions that generate minute position and orientation components for real time motion control from CLS data and NC data without the need for teaching. The design principles of the developed robotic CAM system, and the experimental results on three real robots, RV1A, VS068, and FANUC R2000iC, are presented and demonstrated using both CLS and NC data generated through the developed CAM system.

Development of Robotic CAM System That Generates Online Motion Supported by CLS and NC Data

Stability Analysis of Fuzzy Systems as a Periodically Time-Varying System

It is well known that a servo system is necessary for tracking a model. If a servo controller is not used, then a steady-state error will appear in the response. In this paper, we propose a simplified adaptive nonlinear robust controller (SANROC) with the optimal servo mechanism to exclude the steady-state error due to a constant disturbance. The effectiveness of the proposed method is illustrated by an actual experiment for a two-link robot manipulator.

Keigo Watanabe

Papers

Research on a Fully Actuated UAV with Two 2-DOF Tiltable Rotors

System Construction for Distributedly Controlling the Thrusters of X4-AUV

Development of Robotic CAM System That Generates Online Motion Supported by CLS and NC Data

Stability Analysis of Fuzzy Systems as a Periodically Time-Varying System

Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems