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 remarkable part of the skills of human experts rendering Services in hazardous and dynamic factory environments is their ability to continue to perform a job while reacting fo adapt their posture to sudden changes in the environment such as upcoming obstacles. Possession of these typical human skills that can be defined in a set of linguistic objectives will help to build flexible and more dexterous robot manipulators for factory automation systems that will meet the challenges of the growing complexity of the modern automated manufacturing environments. In this paper a novel soft-computing-based method is proposed for redundancy resolution of industrial robot manipulators to perform dexterous obstacle avoidance motions subject to the working constraints of the end effector. The new approach is based on evolving redundant rows of the Jacobian matrix of the manipulator and intelligent manipulation of user-defined kinematic functions for redundancy resolution. An evolutionary approach has been adopted to enhance the search efficiency in the objective space of a linguistic multiobjective problem (MOP) for the task of avoiding an obstacle moving towards the manipulator while keeping the end-effector position and orientation vector static. The objective functions of the MOP appear in the weighted sum of objectives in a gradually growing manner. The basic nutural phenomena in the process of complex skill acquisition by human beings are reflected in the proposed approach. The effectiveness of the proposed method is demonstrated through experiments carried out using an industrial seven-link manipulator called PA-10, manufactured by the Mitsubishi Heavy Industries Ltd.

Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints

A new method for global path planning of mobile robots is presented using an Evolutionary Strategy (ES). A two-dimensional autonomous path planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. From the visibility concept, each polygonal obstacle is enclosed by a circle so that the visible side of the obstacle will be contained inside a circle. An appropriate fitness function for the problem is constructed by applying a penalty function approach. Simulation results show that the proposed evolutionary approach is quite robust, and it is guaranteed to yield a path terminating at the goal with minimum time and distance while avoiding polygonal obstacles.

Global path planning of mobile robots as an evolutionary control problem

Development of a Hybrid Motion/Force Control Strategy for Ball End Abrasive Tools and Its Application to Polishing Robots for PET Bottle Molds

An omnidirectional mobile platform with any active dual-wheel caster assemblies can use general pneumatic tires, so that they are easy to be applied to powered wheelchairs. However, it needs to consider running on public roads in the applications of powered wheelchairs, and it is also essential to improve the running ability that can get over the level difference on the way of running on public roads. This study is aimed at developing an omnidirectional mobile platform with active dual-wheel caster assemblies in consideration of the run in a public road. In this paper, an omnidirectional mobile platform with a rocker-bogie suspension system is developed to improve the running ability, and the usefulness of the constructed platform is demonstrated by conducting various running experiments.

Keigo Watanabe

Papers

Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints

Global path planning of mobile robots as an evolutionary control problem

Development of a Hybrid Motion/Force Control Strategy for Ball End Abrasive Tools and Its Application to Polishing Robots for PET Bottle Molds

Experiments for Verifying Basic Behaviors in an Omnidirectional Mobile Platform Using a Rocker-Bogie Suspension System

Application of fuzzy reasoning and neural network to feed rate control of a machining robot