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, various types of drones have been paid attention to and are expected to play an active role in many fields. However, when flying forward and backward, or right and left, the attitude of the conventionaldrones changes depending on the situation. In order to prevent the drones from changing its posture, several type of drones with tiltable rotors have been attracting attention in recent years. Among them, a tandem-type rotor with 2-DOF tiltable coaxial rotors has been already proposed. In this study, the servo motor to be used for tilting the pitching angle of the tiltable rotor is exchanged to a multi-turned type to exclude the rotational restriction of the tilt mechanism, so that it enhances the motion ability of the UAV. In addition, the size and weight of the machine is reduced so as to make it suitable for a simple experiment in a narrow space. Some experiments are given to demonstrate the effectiveness of the design and manufacture of the current aircraft on the ground motion.

Production of a Small-sized Tandem Rotor Aircraft with Two Tiltable Coaxial Rotors and Its Experiments

Stable Control of Robotic Manipulator with Collision Phenomena (5th Report, Audio-Feedback Control for Impact Sound Using a Learning Control)

In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of 1 µm, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a ball-end tip is attached to the z-axis through a force sensor. The control system of the robot is comprised of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along a spiral path. We first evaluate the backlash that causes inaccuracy in position at the tip of the abrasive tool, by simply measuring the position and force. Next, a surface following control experiment along a lens mold is conducted, in which the mold has axis-symmetric concave areas. Finally, a LED lens mold is further finished by using the proposed system in order to demonstrate the performance and promise.

Orthogonal-type robot with a CAD/CAM-based position/force controller

A lifting judgment for a robust dead reckoning system is proposed for a wheeled mobile robot when the robot is carried by the person. In this system the position of the robot on the ground is estimated by an odometry, whereas that in the air is estimated by an inertial sensor. The estimation mode is switched by the lifting judgment. Neither enough accuracy nor reliability is actually obtained though it is thought that the lifting judgment can be decided by only height information. This is attributed to the fact that there are cumulative errors due to the bias drift in the height calculation from the integration of the value of the acceleration sensor. Therefore, a PSD distance sensor was installed for only the lifting judgment in the previous implementation. This paper proposes a lifting judgment method with a boosting algorithm by using the information on the internal sensors such as accelerometer, gyro sensor, and wheel encoder without the PSD distance sensor. Furthermore, experimental results using an actual mobile robot are given to demonstrate the effectiveness of the present method.

Lifting Judgment with a Boosting Algorithm for Robust Dead Reckoning When Carrying a Robot

Most of conventional mobile robot control methods have controlled robots based on their positions that are measured by some kinds of position estimation methods. On the other hand, humans decide their behavior based on mainly visual information without their accurate positions usually. Image-based visual servoings (IBVS) seem to be human approaches in the viewpoint that they control robots based on information of camera images without using robot positions. This paper proposes a method for tracking an arbitrary trajectory drawn on a floor by an IBVS method. A fuzzy controller is designed to determine control inputs from parameters of a linearized target trajectory on captured images. The proposed method is evaluated through some simulation experiments.

Keigo Watanabe

Papers

Production of a Small-sized Tandem Rotor Aircraft with Two Tiltable Coaxial Rotors and Its Experiments

Stable Control of Robotic Manipulator with Collision Phenomena (5th Report, Audio-Feedback Control for Impact Sound Using a Learning Control)

Orthogonal-type robot with a CAD/CAM-based position/force controller

Lifting Judgment with a Boosting Algorithm for Robust Dead Reckoning When Carrying a Robot

Arbitrary trajectory tracking of a mobile robot by an image-based fuzzy controller