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

Impedance control allows the manipulator to change the mechanical impedance such as inertia, damping and stiffness, acting between the end-effector and its environment. However, to achieve stable force control under unknown stiff environments, complicated tuning of desired impedance parameters is needed. Among the parameters, the desired damping is the most significant to suppress overshoots and oscillations. In the paper generalized fuzzy environment models with anisotropy are proposed to systematically determine the desired damping against unknown environments. The models learned with genetic algorithms, can estimate each directional stiffness of the environment and yield the desired damping, considering the critical damping condition of the control system. Position and force control simulations are shown to demonstrate the effectiveness and promise of the models.

Generalized fuzzy environment models learned with genetic algorithms for a robotic force control

We develop exoskeletal robots for the motion support of physically weak persons. In this study, the human elbow motion is assisted by the exoskeletal robot system, since the elbow motion is one of the simplest and the most important motion of human beings in everyday life activities. The angular position and impedance of the exoskeletal robot system are controlled by multiple fuzzy-neuro controllers. The skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion are used as input information of the controller. Since the activation level of working muscles tends to vary with the human subject's arm posture, an intelligent interface that cancels out the effect of posture changes of the human subject's arm is proposed in this paper. The experimental results show the effectiveness of the proposed intelligent interface.

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

A robot requires any path planning to respect human movements when the robot works with the person in an environment. In this study, a path planning method that respects human movements is proposed for mobile robots working in a living environment. In this path planning, we use a “Human Frequency Map (HFM)” generated by using observed human positions in a sensor-distributed space. The robot can obtain information about path candidates to a goal, pathway width and high possibility areas of human encountering. In this paper, path planning that cares about the human encountering and the pathway width is shown to be performed by superposing the current human position on the HFM. In particular, a simulation is conducted for a case that the robot runs in a living environment with several sensors. Additionally, a path planning method based on using the HFM is compared with that based on not using the HFM to prove the availability of the HFM.

Path generation with Human Frequency Map for a mobile robot and its path evaluation by using human movement simulations

In this decade, deep convolutional neural network called DCNN has been attracting attention due to its high ability of image recognition and other applications. In this paper, a design application of DCNN is considered and developed for vision-based defect inspection. As a trial test, three kinds of DCNNs are designed, implemented and tested to inspect small defects, such as, crack, burr, protrusion, chipping and spot phenomena seen in the manufacturing process of resin molded articles. An image generator is also implemented to systematically generate range of relevant deformed version of similar images for training. The designed DCNNs are trained using the generated images and then evaluated through classification experiments. The usefulness of the proposed DCNN design application is demonstrated and discussed.

Design Application of Deep Convolutional Neural Network for Vision-Based Defect Inspection

In this paper, a teaching system of force control is proposed for a polishing robot using a game joystick. The teaching process is as follows: first, a zigzag path considered according to both sizes of each work and polishing tool is prepared; next, the polishing robot, in which an impedance model following force control method is incorporated, profiles the surface of the work using the zigzag path. The operator has only to control the orientation of the polishing tool using a game joystick so that the tool and work can be in contact each other, keeping the desired relation of position and orientation. 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. The desired trajectory is automatically obtained as the data including both continuous information of the position and orientation along the zigzag path on the object's surface. After all, the robot can achieve the polishing task without any assists of the operator by referring the acquired trajectory.

Keigo Watanabe

Papers

Generalized fuzzy environment models learned with genetic algorithms for a robotic force control

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

Path generation with Human Frequency Map for a mobile robot and its path evaluation by using human movement simulations

Design Application of Deep Convolutional Neural Network for Vision-Based Defect Inspection

A Teaching System of Force Control Using a Game Joystick for a Polishing Robot.