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

Recently, an industrial mobile robot has been required to have some abilities that it can freely travels within a confused factory and achieve an accurate positioning in a work station. For this purpose, an active investigation is now focused on the study of omnidirectional mobile robots, instead of a conventional mobile robot with two independent driving wheels, or with the front-wheel handling and rear-wheel driving. The omnidirectional mobile robot has been studied by using a variety of mechanisms. In particular, a holonomic vehicle has a full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. Several omnidirectional platforms have been known to be realized by driving wheel with steering (or offset driving wheel) [1], [2], [3], universal wheels [4], [5], spherical tires [6], or crawler mechanisms [7], [8].

Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System

To make a central pattern generator (CPG) for articulated robots, we discuss Van del Pol (VDP) oscillator. It is difficult to analyze the output of VDP oscillator. The parameter design of VDP oscillator is considered with two cases which are single oscillator and two oscillators coupled with respect to one another, according to some numerical simulations.

The Design ofWave Shape for Coupled Van del Pol Oscillators

This paper proposes a method for evaluating fuzzy voice commands (FVCs) by user guided visual attention. FVCs inherit fuzzy linguistic information due to the inclusion of fuzzy linguistic terms such as “very little.” The contextual meaning of such information depends on the environmental arrangement. Therefore, visual attention system (VAS) is utilized to evaluate the fuzzy linguistic information based on the environmental conditions. It is implemented by assuming that the corresponding distance value for a particular FVC depends on the spatial arrangement of the surrounding objects in the environment. A fuzzy logic based voice command evaluation system (VCES) is proposed to assess the fuzzy linguistic information in user commands. In addition, the user has been given the freedom to adjust command evaluation process by changing the attention level. It is achieved by using attentive voice commands such as “move carefully.” A situation of object manipulation by navigating the tip of a robot manipulator through the user's working space is demonstrated to illustrate the system where a PA-10 robot manipulator is used.

Evaluating fuzzy voice commands by user guided visual attention for controlling a robot manipulator

This chapter presents a user-friendly joystick controlled teaching system has been proposed to obtain the skillful trajectory of each polishing tool based on operator's will, and the usefulness has been examined through some experiments on teaching and polishing using an industrial robot JS-10 with an open architecture controller. In the teaching process, first, a zigzag path to be considered according to both sizes of each object and polishing tool is prepared; next, the polishing robot, which applies an impedance model following force control, profiles the object surface using the zigzag path. The operator has only to control the orientation of the polishing tool using a game joystick. Since the impedance model following force controller keeps the contact force to be a desired value, the operator has to give no attention to a sudden over-load or non-contact state. Consequently, it has been recognized that due to the joystick teaching of force control, the proposed polishing robot can be easily and safely applied to such an object as is manufactured without CAD/CAM system.

Polishing Robot with Human Friendly Joystick Teaching System

We have been developing exoskeletal robots in order to support the motion of physically weak persons such as elderly persons or handicapped persons. In our previous research, the 2-DOF exoskeletal robots for shoulder motion support and its control method have been developed since the shoulder motion is especially important for people to take care of themselves in everyday life. In this paper, we propose intelligent interface, which realizes the fuzzy-neuro controller adjustment in accordance with the human subject's arm posture, in order to effectively control the 2-DOF exoskeletal robot for shoulder motion support. The intelligent interface is realized by applying a neural network. The effectiveness of the proposed intelligent interface of the exoskeletal robot has been evaluated by experiment.

Keigo Watanabe

Papers

Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System

The Design ofWave Shape for Coupled Van del Pol Oscillators

Evaluating fuzzy voice commands by user guided visual attention for controlling a robot manipulator

Polishing Robot with Human Friendly Joystick Teaching System

Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject's arm posture