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

An emotion-based task sharing approach has been developed for a cooperative multiagent robotic system. A stochastic emotion model based on Markov theory is adopted to conform the emotional state of agents while performing task. The task assignment and then task sharing among the agents depend on the emotional state of each agent. Different emotional traits are considered as important factors for task sharing which are obtained by updating the state transition matrix of stochastic model. Perception of stimuli has an impact on emotion inducing factors and thus, affects on emotion dynamics. A Matlab based simulation is performed with the developed emotional approach to analyze the behavior of the agents with the emotional capability.

An emotion-based task sharing approach for a cooperative multiagent robotic system

Multi-robot task allocation, cooperation and interaction among the members of a team are very complex topics that need to be explored more. A task can be accomplished by a multi-robot team with required performance and reliability being operated with a proper cooperative plan. A proper cooperative plan includes an intelligent task allocation method in a productive and efficient manner such that the assigned task to the team is performed with a level of performance satisfaction. The robots need to be intelligent enough to dynamically adjust with changing workload either by changing actions or by making new cooperative plan. In this chapter, we describe proposed approaches to multi-robot task allocation and cooperation in a chronological way such that they can be studied and compared for future development with affection based augmentation. In respect of some drawbacks (like high communication overhead, dead lock, etc) with the existing approaches, we present the affection based task allocation and cooperation that has been used for a very few cases. We also present the complexity of the affective method and give some hints to compensate the complexity problems. Later on, we present also a stochastic approach for affection based task allocation, cooperation and interaction for a multi-robot team.

Affection Based Multi-robot Team Work

In the recent past, mobile robots with high mobility have been developed actively. We have already proposed a holonomic and omnidirectional mobile robot using two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. This paper presents dynamic analysis and control for the mobile robot. The dynamic model has been derived based on the forces acting on the steering axis. Then a model-based resolved acceleration controller is constructed. The validity of the model and the effectiveness of the control system are confirmed by experiments using a prototype robot as well as simulations.

Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot

Provides a brief discussion on control and motion planning approaches to robotic manipulators or mobile robots with soft computing techniques. In particular, the paper presents the latest accomplishments and explores future trends in such a field. Specific topics of interest to this survey include: (1) the identification of a dynamic model for multi-link manipulators by using neural networks (NNs) with genetic algorithms (GAs), (2) behavior-based control of mobile robots or manipulators by applying NNs or fuzzy reasoning, together with evolutionary computations such as GAs, genetic programming (GP), or evolutionary strategy (ES), (3) a path planning problem with obstacle avoidance for mobile robots or manipulators by using evolutionary computations, and (4) a motion planning approach to configure self-organizing robots by applying GAs.

A survey of robotic control systems constructed by using evolutionary computations

Recently 5-axis control NC machine tool have become a center of attraction in manufacturing of woody furniture. They are expected its high intricate machining performance beyond the capabilities of standard one, however, it has not been used widely yet. One of the most serious problem to prevent them from introducing the NC machine tool is the difficulty in generating NC data by using general postprocessor. This paper describes a post-processor which has a simple and easy user interface and can generate NC data for 5-axis control NC machine tool with tiltinghead in a short time. The post-processor is made up of two modules;the first one corrects the value of coordinates in CL data by considering only the tool length which is that from the center of swing to the top of tool; the other generates NC data (X, Y, Z, B, C) from the corrected CL data. By actual machining test it is shown to get the NC data from the normal CL data and run 5-axis control NC machine tool with tilting-head as the computer simulates the motions.

Keigo Watanabe

Papers

An emotion-based task sharing approach for a cooperative multiagent robotic system

Affection Based Multi-robot Team Work

Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot

A survey of robotic control systems constructed by using evolutionary computations

Development of post-processor module of 5-axis control NC machine tool with tilting-head for woody furniture