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

In the obstacle avoidance of a legged type robot, it is not necessary to avoid all of obstacles by only turning, because it can get over or stride some of them, depending on the obstacle configuration and the state of the robot, unlike a wheel type or a crawler type robot. It is thought that the mobility efficiency to the destination is improved by getting-over or striding. In this paper, a neural network (NN) is used to determine the action of a quadruped robot in the obstacle avoidance path by using information on the destination, the obstacle configuration, and the robot's self-state. The design parameters of NN are adjusted by genetic algorithm (GA) offline. The effectiveness of the present method is proved through an actual experiment.

Acquisition of a destination path accompanied by obstacle avoiding actions for quadruped robots using neural network

2A2-E05 Stabilization Control to an Arbitrary Equilibrium Point for a Mobile Robot with Two Independent Driving Wheels(Wheeled Robot / Tracked Vehicle (2))

In this paper, we derive a dynamical model for a manta robot by taking account of a pectoral-fin propulsion mechanism. Especially, the model is derived by considering the force generated from such a specialized propulsion mechanism, together with estimating added masses and moment due to a cubic body form used in this research. The effectiveness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot.

The derivation of a dynamical model for a manta robot and its control

This paper presents the principal design of a fuzzy gaussian potential neural network (FGPNN) to achieve high capability to learn expert control rules of the fuzzy controller. In this construction, each membership function consists of a gaussian potential function (GPF) which causes the utilization of a reduced number of labels, and eventually the complexity of structural design becomes simple, specially for large scale inputs. This in turn reduces the learning trials, to improve the learning speed. Thus, the time of the training process, which is based on the back-propagation method, is shortened. The construction of an FGPNN is carried out with the minimum number of GPF, based on the number of input patterns, to learn the mean vectors and shapes of the individual GPFs that basically depend on the desired trajectory. Finally, we provide a simulation to evaluate the proposed method for a multi input-output, two-link manipulator.

Fuzzy Gaussian Potential Neural Networks Using a Functional Reasoning

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

Keigo Watanabe

Papers

Acquisition of a destination path accompanied by obstacle avoiding actions for quadruped robots using neural network

2A2-E05 Stabilization Control to an Arbitrary Equilibrium Point for a Mobile Robot with Two Independent Driving Wheels(Wheeled Robot / Tracked Vehicle (2))

The derivation of a dynamical model for a manta robot and its control

Fuzzy Gaussian Potential Neural Networks Using a Functional Reasoning

A new method on judgement of static stability for the quadruped robot