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

Artificial intelligent robots use the subsumption architecture on an increasing level of competence behaviors in many applications due to the advantage of dividing the control system according to the task achieving behaviors. One important application for a mobile robot is to reach a target while avoiding obstacles based on fuzzy behavior-based control. Apart from the behavior-based approach, there are other applications where the manipulators need to avoid obstacles and track a given path, and they involve inverse kinematic techniques in controlling the system. We study a manipulator reaching a target while avoiding obstacles based on a fuzzy behavior-based control approach. An additional element is also combined with the controller to compensate the gravitational effect. Simulations were carried out for 3 initial conditions and the results show that the fuzzy behavior approach is suitable for controlling manipulators.

Fuzzy behavior-based control for a task of three-link manipulator

The rings event is part of men's apparatus gymnastics. The ring exercise have free-floating characteristics of the gripping point. Here, we propose a novel “rings gymnastic robot” aimed at an application in gymnastic coaching. The purpose of this article is to develop fuzzy control rules to realize performances on the rings by considering torque minimization by genetic algorithms (GAs), because these rules should be useful in coaching. The effectiveness of the controllers obtained is illustrated by a simulation.

Control for a rings gymnastic robot using fuzzy reasoning and genetic algorithms

ファジィ・ガウシアン・ニューラルネットワーク制御器とその移動ロボット車の制御への応用( インテリジェント・システム)

Stereo-vision-based AUV navigation system for resetting the inertial navigation system error

In this paper, a neural-network-based adaptive control scheme is presented to solve the output-tracking problem of a robotic system with unknown nonlinearities. The control scheme ingeniously combines the conventional resolved velocity control technique and a neurally-inspired adaptive compensating paradigm constructed using SoftMax function networks and neural gas algorithm. Results of simulations on our active binocular head are reported. The neural network model constructed to has two neural subnets to separately control the robot head neck and eye movement, simplifying the design and leading to faster weight tuning algorithms.

Keigo Watanabe

Papers

Fuzzy behavior-based control for a task of three-link manipulator

Control for a rings gymnastic robot using fuzzy reasoning and genetic algorithms

ファジィ・ガウシアン・ニューラルネットワーク制御器とその移動ロボット車の制御への応用( インテリジェント・システム)

Stereo-vision-based AUV navigation system for resetting the inertial navigation system error

Adaptive output tracking of partly known robotic systems using SoftMax function networks