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TRACKING DOMAINS FOR UNSTABLE PLANTS WITH SATURATING-LIKE ACTUATORS

Asian Journal of Control 2008年第4期1卷

作者： V.A. Yakubovich S. Nakaura K. Furuta Vladimir A. Yakubovich is a corresponding member of Russian Academy of Science. Vladimir A. Yakubovich was born in Novosibirsk Russia in 1926. he entered Moscow University in 1946 and graduated in 1949. he received the Candidate of Science degree (Ph.D.) in 1953 and the Doctor of Science degree in 1959 from Leningrad University. In 1959 he joined the Leningrad University and he has remained since then. He is the author of more than 270 papers and a coauthor of seven books in different areas of applied mathematics and control theory. he has worked in parametric resonance theory in the theory of stability of nonlinear systems and in optimization theory. Dr. Yakubovich has served on many scientific committees and editorial boards. he is a member of several scientific socienties in Russia. He was awarded the Norbert Wiener Prize (1991) a prize from the international editorial company “Nauka” for best publication in its journals (1995) and the IEEE Control Systems Award (1996). Since 1991 he has been a corresponding member of the Russian Academy of Sciences. Dept. of Control Engineering Tokyo Institute of Technology Japan. Shigeki Nakaura received his B.S. and M.S. degrees in Control Engineering from the Tokyo Institute of Technology in 1995 and 1997 respectively. He is currently a PhD student of the Tokyo Institute of Technology. His research interests include robotics and intelligent machining. He is a member of SICE JSPE and IEEE. Katsuhisa Furuta was born in Tokyo Japan in 1940. He received his B.S. M.S. and Ph.D. degrees in Engineering from the Tokyo Institute of Technology in 1962 1964 and 1967 respectively. he was a post doctoral fellow at Laval University (Quebec Canada) from July 1967 to August 1969. Since then he has been a member of the teaching staff of the Tokyo Institute of Technology Department of Control Engineering where he is currently a Professor Graduate School of Information Science and Engineering. He was a Russell Severance Springer Professor University of California at

In many mechanical systems, the tracking control is one of the most important issues. Therefore for the unstable system subject to actuator saturation, the domain of the initial states corresponding to an arbitrary reference signal, within which tracking condition can be achieved, is interesting to be considered. In this paper, an approximate tracking domain is derived analytically. First in Theorem 1, for simple case, it is constructed by using the partial Lyapunov function and the absolute stability theory. In the following Theorems 2 and 3, a new idea is used to obtain larger domains. Finally in the last section, a simple numerical example is given.

关键词： Actuator constraint tracking control nonlinear analysis absolute stability

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A genetic algorithm for the optimization of cable routing

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Systems and Computers in Japan 2006年第7期37卷 61-71页

作者： Ma, Xuan Iida, Kazuhiro Xie, Mengchun Nishino, Junji Odaka, Tomohiro Ogura, Hisakazu Graduate School of Engineering University of Fukui Fukui City 910-8507 Japan Wakayama National College of Technology Gobo City 644-0023 Japan Faculty of Automation and Information Engineering Xi an University of Technology B Techno College Department of Electrical and Computer Engineering Wakayama National College of Technology Information Processing Society of Japan China Mechanical Design Society Department of Systems Engineering University of Electro-Communications Japan Society for Fuzzy Theory and Intelligent Informatics Japanese Academy of Facial Studies Japan Society of Kansei Engineering Graduate Program of Nuclear Power and Energy Safety Engineering Graduate School of Engineering Fukui University IEEE CS ACM IPSJ IEICE JSMBET Department of Human and Artificial Intelligent Systems JSAI Japan SOFT IEEE

In this paper the authors propose a structural method for a genetic algorithm (GA) for the optimization problem of cable routing in which cables have to be laid optimally. When there are no limits on the layout routes, the optimal routes for the individual cables can be found using the Dijkstra method in a finite discrete graph. However, when there are limits on the capacity in the layout routes, optimization cannot be performed using the Dijkstra method. The proposed GA is a two-level hierarchical GA that uses chromosome coding involving two levels. The routes for each cable and the combinations of cable routes are defined respectively, and layout route selection is optimized overall through genetic operations involving these levels. Block crossover and block mutation are used as genetic operations in the first level. In addition, a method to take advantage of lethal genes, which do not satisfy the constraints and are generated in the second level is used. Computer simulations confirm that the two-level hierarchical GA with these genetic operations functions effectively for the optimization problem of cable routing. © 2006 Wiley Periodicals, Inc.

关键词： Electric cable laying

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The interplay of public and private spaces in internet access

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information Communication and Society 2006年第5期9卷 633-656页

作者： Viseu, Ana Clement, Andrew Aspinall, Jane Kennedy, Tracy L. M. Department of Science and Technology Studies Cornell University Ithaca NY United States Department of Science and Technology Studies Cornell University 311 Rockefeller Hall Ithaca NY 14853 United States Faculty of Information Studies University of Toronto Information Policy Research Program Toronto Ont. Canada Collaborative Graduate Program in Knowledge Media Design Canada Information Policy Research Program Faculty of Information Studies University of Toronto Toronto Ont. M5S 3G6 140 St George St Canada Graduate Department of Sociology University of Toronto St. Catherine's Ont. M5S 2J4 725 Spadina Avenue Canada

The creation of public internet access facilities is one of the principal policy instruments adopted by governments in addressing 'digital divide' issues. The lack of plans for ongoing funding, in North America at least, suggests that this mode is regarded mainly as transitional, with private, home-based access being perceived as superior. The assumption apparently is that as domestic internet penetration rates rise, public access facilities will no longer be needed. Central to this issue are the varied characteristics of publicly provided and privately owned access sites and their implications for non-employment internet activities. What are the relative advantages and disadvantages of these two access modes? More fundamentally, how do people conceptualize public and private spaces and how does this perception influence their online activities? Finally, why do people choose one over the other, and how do they navigate between the two? This article attempts to answer these questions by drawing on data generated within the Everyday Internet Project, a 'neighborhood ethnography' of internet usage. It argues that the conventional view of private and public access facilities as immiscible, fixed alternatives is inadequate. Rather than 'pure' types, they are better understood as offering hybrid spaces whose identity and character are fluid, perceived differently by individuals in light of the activities being performed, life experiences, infrastructure and architecture. The picture emerging from our study is one where public and private access modes intertwine with each other in a variety of ways, their combination offering significant additional value for many users. From a public policy perspective, these findings suggest that if universal access is to be achieved, there is a continuing need for publicly supported broad-spectrum facilities with integrated technical support and learning opportunities, even if domestic penetration rates approach that of the telephone. ©

关键词： Digital divides Internet access and use Internet policy Neighborhood ethnography Spatial hybridity

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Transforming K-12 education via the collaborative large-scale engineering analysis network for environmental research (CLEANER) project

Transforming K-12 education via the collaborative large-scal...

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113th Annual ASEE Conference and Exposition, 2006

作者： Eschenbach, Elizabeth Johnson, James H. Brus, Chris Carlson, Patricia Giammar, Dan Grauer, Bette Hotaling, Liesl Oguntimein, Gbekeloluwa Safferman, Steven Wentling, Tim Humboldt State University United States Department of Environmental Resources Engineering Humboldt State University United States Howard University United States Department of Environmental Engineering College of Engineering Architecture and Computer Sciences Howard University United States Board of Scientific Counselors Executive Committee U.S. Environmental Protection Agency Office of Research and Development United States EPA's Science Advisory Board Department of Energy-sponsored HBCU/MI Environmental Technology Consortium Board Environmental Studies and Toxicology and the Engineering Council of the American Society for Engineering Education United States University of Iowa United States Program University of Iowa United States Rose-Hulman Institute of Technology United States Department of Rhetoric Rose-Hulman Institute ot Technology U.S. Air Forcer United States Army's Aberdeen Proving Ground NASA's Classroom of the Future Wheeling WV United States Washington University United States Department of Civil Engineering Washington University St. Louis United States Environmental Engineering Science Program Center for Materials Innovation United States McPherson High School United States McPherson High School McPherson KS United States Stevens Institute of Technology United States Stevens Institute of Technology United States Morgan State University United States Michigan State University United States Biosystems and Agricultural Engineering Department Michigan State University United States University of Dayton United States U.S. EPA Office of Research and Development United States National Center for Supercomputing Applications United States Department of Information Science Graduate School of Library and Information Science National Center for Supercomputing Applications University of Illinois United States

The Collaborative Large-scale Engineering Analysis Network for Environmental Research (CLEANER) Project Office has been established with funding from the National Science Foundation (NSF) to the University of Illinois Urbana-Champaign (UIUC) and a coalition of 11 other institutions. The project office is coordinating the creation of a strategic plan consisting of research, cyberinfrastructure, and education plans that set forth a roadmap for the collaborative engineering analysis network for the study of environmental problems. This report will be completed by July 2007 and requires input from K-12 educators, administrators and other stakeholders in K-12 education. This paper describes the CLEANER project, provides an example of the CLEANER Education Committee's vision for the K-12 area and lists contacts for further information. The intention of this paper is to elicit input from the K-12 engineering education community, including K-12 educators, on how the CLEANER Education Plan could better meet the future needs of K-12 students and educators © American Society for Engineering Education, 2006.

关键词： Engineering education

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Analysis of growth phase regulated KatA and CatE and their physiological roles in determining hydrogen peroxide resistance inAgrobacterium tumefaciens

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FEMS Microbiology Letters 2006年第2期237卷

作者： Benjaphorn Prapagdee Warawan Eiamphungporn Panatda Saenkham Skorn Mongkolsuk Paiboon Vattanaviboon Laboratory of Biotechnology Office of Research Chulabhorn Research Institute (CRI) Viphavadee-Rungsit Highway Lak Si Bangkok 10210 Thailand Post-graduate Education Training and Research Program in Environmental Science Technology and Management Asian Institute of Technology Pathumthani 12120 Thailand Department of Biotechnology Faculty of Science Mahidol University Bangkok 10400 Thailand

Agrobacterium tumefaciens possesses two catalases, a bifunctional catalase-peroxidase, KatA and a homologue of a growth phase regulated monofunctional catalase, CatE. In stationary phase cultures and in cultures entering stationary phase, total catalase activity increased 2-fold while peroxidase activity declined. katA and catE were found to be independently regulated in a growth phase dependent manner. KatA levels were highest during exponential phase and declined as cells entered stationary phase, while CatE was detectable at early exponential phase and increased during stationary phase. Only small increases in H 2 O 2 resistance levels were detected as cells entering stationary phase. The katA mutant was more sensitive to H 2 O 2 than the parental strain during both exponential and stationary phase. Inactivation of catE alone did not significantly change the level of H 2 O 2 resistance. However, the katA catE double mutant was more sensitive to H 2 O 2 during both exponential and stationary phase than either of the single catalase mutants. The data indicated that KatA plays the primary role and CatE acts synergistically in protecting A. tumefaciens from H 2 O 2 toxicity during all phases of growth. Catalase-peroxidase activity (KatA) was required for full H 2 O 2 resistance. The expression patterns of the two catalases in A. tumefaciens reflect their physiological roles in the protection against H 2 O 2 toxicity, which are different from other bacteria.

关键词： Agrobacterium tumefaciens Catalase Growth phase H2O2 Peroxidase

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From scientific communication to public knowledge: The scientific article web published as a knowledge base

From scientific communication to public knowledge: The scien...

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9th ICCC International Conference on Electronic Publishing, ELPUB 2005

作者： Marcondes, Carlos H. Information Science Department Information Science Post-graduate Program Universidade Federal Fluminense Instituto de Arte e Comunicaç ão Social R. Lara Vilela 126 24210-590 Niterói - RJ Brazil

ISBN: (纸本)9042916451

Linking Electronic published scientific articles to Web ontologies is a cognitive tool of which its impacts and possibilities are far from being evaluated. The objective of this research is to investigate the potential of Web published scientific articles, conceived not only as texts, but also as a machine readable knowledge base, explicitly and formally related to Web-based public ontologies, that represent the assented knowledge of a specific domain. A prospective survey is developed to identify similar proposals and innovative experiences in electronically publishing scientific articles, authoring tools and citation analysis. Scientific methodology is also reviewed looking for structural characteristics of the scientific method presented in the written text of scientific articles. Experiences in developing Markup Language for some specific areas of knowledge, such as Chemical Markup Language, Mathematics Markup Language and Biology Markup Language, are also reviewed. An electronic publishing process is outlined which would permit the electronic publishing of not only scientific articles as full-texts, but would also enables an author to formalize the deep structure of a scientific article, containing assumptions, hypotheses, methodology, citations, datasets used, conclusions and contributions. All these elements are published as a knowledge base, using XML language, thus outlining a Sm-ML, a Scientific methodology Markup Language. Concepts expressed in the different parts of a Scientific article are to be linked to public Web ontologies, thus enabling the establishment of a formal relationship between the Scientific article specific knowledge base to ontologies like the UMLS - the Unified Medical Language System (http://***/pubs/factsheet/***). The citations of an article are also be linked to the cited Web published scientific articles as qualified citations, in which the reasons to cite and the relationship between this specific scientific art

关键词： Semantic Web

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AGQ: A model of student question generation supported by one-on-one educational computing

AGQ: A model of student question generation supported by one...

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International Conference on Computer Supported Collaborative Learning

作者： Chang, Sung-Bin Tung, Kuan-Jung Huang, Hsien-Ming Chan, Tak-Wai Department of Computer Science and Information Engineering National Central University Taiwan Degree Program of E-Learning National Chiao Tung University Taiwan Graduate Institute of Network Learning Technology National Central University Taiwan

ISBN: (纸本)0805857826

One-on-one educational computing refers to I student I computing device, which means every student in a group uses a digital learning device. In this paper, we present a model of student question generation called AGQ, which stands for "asking a good question," supported by one-on-one educational computing in the classroom settings. AGQ is designed for engaging students in a challenging learning activity that potentially involves higher-level cognitive processing operations. We shall describe the general design of AGQ, called Product Evolution, and that the current version is a variation of it.

关键词： one-on-one educational computing peer question generation question posing

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A design method of engine intake and exhaust system for formula SAE® vehicle using numerical simulation codes

A design method of engine intake and exhaust system for form...

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作者： Honda, Yasuhiro Kodama, Tomoaki Wakabayashi, Katsuhiko Nakayama, Koichi Morimoto, Tatsuya Ueda, Takeshi Department of Mechanical Engineering and Applied Information Technology Faculty of Engineering Kokushikan University 4-28-1 Setagaya Setagaya-ku Tokyo 154-8515 Japan Program in Mechanical Engineering Graduate School of Kokushikan University Japan

The regulations of Formula SAE® competitions restrain design, tuning, and improvement on engine in order to keep safety on driving. The competitors have basically chosen a 600 cc, 4-stroke engine for motorcycle according to the regulations. Therefore, it is necessary for higher engine performance to improve combustion by investigation of air intake and exhaust component design while the regulation agreement is the most important factor. Recently, many competitors have been using a high performance Engine Control Unit (ECU) easy to suitably control the engine combustion. The competitors can focus on optimization of the intake and exhaust components using ECU. Best tuning of each component is very difficult work because the design factors of these components have complicated relations with engine performance. Here, our interest is a method to reduce the optimization time of the system. In this paper, we propose the design method of engine intake and exhaust system for a Formula SAE® competition vehicle using some numerical simulation methods. Copyright © 2005 Society of Automotive Engineers of Japan, Inc. and Copyright © 2005 SAE International.

关键词： Design

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Knowledge management support for collaborative emergency response

Knowledge management support for collaborative emergency res...

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International Conference on Computer Supported Cooperative Work in Design

作者： V.B. Diniz M.R.S. Borges J.O. Gomes J.H. Canos Graduate Program in Information Technology Núcleo de Computação Eletrõnica and Instituto de Matemática Universidade Federal do Rio de Janeiro Brazil Department of Computer Science (DSIC Technical University of Valencia Spain

An emergency response activity usually involves several teams from different organizations working cooperatively for the purpose of saving lives or properties. These teams have to make many decisions under time pressure to accomplish their goals. Most decisions require contextual knowledge coming from the emergency settings, including those which report the activities of other emergency teams. The goal of this paper is to describe a system which aims at storing and disseminating the contextual knowledge required by teams during the course of an emergency.

关键词： Knowledge management Collaboration Disaster management Control systems information technology Computer science Teamwork Electric breakdown Context Management information systems

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Online dense local 3D world reconstruction from stereo image sequences

Online dense local 3D world reconstruction from stereo image...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S. Kagami Y. Takaoka Y. Kida K. Nishiwaki T. Kanade CREST Program Japan Science and Technology Agency Japan Graduate School of Information Science Nara Institute of Science and Technology Japan Digital Human Research Center National Institute for Advanced Industrial Science and Technology Japan Department of Mechanical Engineering Tokyo University of Science Japan Robotics Institute Carnegie Mellon University USA

This paper describes an online 3D reconstruction system from stereo image sequences to obtain a dense local world model for robot navigation. The proposed method consists of three components: 1) stereo depth map calculation, 2) correspondence calculation in time sequential images by tracking raw image features, 3) 6DOF camera motion estimation by RANSAC and integrate depth map into 3D reconstructed model. We examined and evaluated our method in a motion capture environment for comparison. Finally experimental results of a humanoid robot H7 are denoted.

关键词： Image reconstruction Stereo image processing Image sequences Cameras Stereo vision Humanoid robots Surface reconstruction Robot vision systems Mobile robots Tracking

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