In this paper, simplified disturbance compensator is proposed. It is the low order form of disturbance observer, and based on not acceleration but velocity. Disturbance observer is a powerful strategy to realize a rob...
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In this paper, simplified disturbance compensator is proposed. It is the low order form of disturbance observer, and based on not acceleration but velocity. Disturbance observer is a powerful strategy to realize a robust acceleration control. However, it requires acceleration information and it is obtained by differentiation of velocity or second differentiation of position in general case, so there exits a tradeoff between the observer design and the noise sensitivity. The simplified disturbance compensator is more insensitive than observer because it is based on velocity and does not require the time differentiation. Additionally, it provides the performance of position control and load suppression equivalent to disturbance observer. Availability of the proposed method is confirmed by simulation and experimental results.
A decentralized system, consists of multiple subsystems is expected to adapt to the various environmental condition or the alteration of the internal system. In this paper, informational interaction among subsystems i...
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A decentralized system, consists of multiple subsystems is expected to adapt to the various environmental condition or the alteration of the internal system. In this paper, informational interaction among subsystems in the whole system is considered from a view point of system connection. Based on it, framework of the design method in decentralized system is discussed for variable structure of information connection. In order to express the system connection, a connection matrix is adopted. Using it, a reachability matrix, which shows a hierarchy and a closed- loop structure, is derived. Moreover, the maximum eigenvalue and its eigenvector of connection matrix are adopted as the design indices for the system connection, which has loop structures. In addition, the structural analysis method is described for recognizing and designing the informational loop structure.
In this paper, the application of sensitivity analysis in order to determine the key parameters of wastewater treatment systems, along with identification method based on this result has been proposed. The effectivene...
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In this paper, the application of sensitivity analysis in order to determine the key parameters of wastewater treatment systems, along with identification method based on this result has been proposed. The effectiveness of the proposed method has been verified by using real influent data provided by a pilot plant.
This study aims at establishing a robust intelligent control method with higher control performance and wider applicable region by extending the Cubic Neural Network (CNN) intelligent control method. This study deals ...
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This study aims at establishing a robust intelligent control method with higher control performance and wider applicable region by extending the Cubic Neural Network (CNN) intelligent control method. This study deals with a nonlinear control problem. In the control, an NN-based nonlinear switching hyperplane is designed based on the dynamical energy principle. The proposed integrated CNN is applied to a control problem of a swung up and inverted double pendulum mounted on a cart for the case of arbitrary initial condition of pendulum angle. In order to verify the performance of the integrated CNN, computer simulations and experiments on a real apparatus were carried out for the cases of parameter variation and sensor failure. As a result, it was demonstrated that the integrated CNN can stand up the double pendulum without touching the cart position limit in abnormal situations. Then, the robustness and the fault-tolerance of the integrated CNN were verified compared with the linear quadratic control techniques.
In this paper, we develop a 4-DOF force display system for the analysis by synthesis of facial color for the interaction with anthropomorphic agent. By using the system, we analyze the changes in facial skin temperatu...
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ISBN:
(纸本)0780377591
In this paper, we develop a 4-DOF force display system for the analysis by synthesis of facial color for the interaction with anthropomorphic agent. By using the system, we analyze the changes in facial skin temperature and facial color associated with circulation dynamics in response to forced actions. On the basis of the analysis, we propose a synthetic method for the affect display of virtual face with facial color and expression in force display, and the effectiveness of the method is confirmed. Finally, we develop a prototype of virtual arm wrestling system with anthropomorphic agent using synthesized dynamic three-dimensional facial color and expression.
This study aims at establishing a robust intelligent control method with higher control performance and wider applicable region by extending the cubic neural network (CNN) intelligent control method which consists of ...
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This study aims at establishing a robust intelligent control method with higher control performance and wider applicable region by extending the cubic neural network (CNN) intelligent control method which consists of multilevel parallel processing on different degrees of abstraction. In particular, this study deals with a nonlinear and failure-proof control problem. In the control, the dynamical energy principle is embedded into an integrator neural network of the integrated CNN (ICNN). The proposed ICNN is applied to a control problem of a swung up and inverted pendulum mounted on a cart for the case that arbitrary initial condition of pendulum angle. In order to confirm the performance of the ICNN controller, computer simulations and experiments using a real apparatus were carried out for the cases of parameter variation and sensor failure. As a result, it is demonstrated that the ICNN controller can stand up the pendulum taking into account the cart position limit at abnormal simulations. Then, the robustness and the fault-tolerance of the proposed CNN controller were verified in comparison with the sliding mode control technique.
We present a journey through successful applications of multimethod approach to induction of decision trees in knowledge extraction, discovery of new knowledge and early diagnosis on the cases of asthma, cardiovascula...
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This paper is concerned with an application study of model-based fault detection method to a ship propulsion system. When modeling the object system, Quasi-ARMAX model with multi-model form is used. In this model, the...
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Quantum dots (QD) structures of II-VI semiconductors such as CdSe and CdTe have been fabricated by molecular beam epitaxy. Self-assembling growth modes were studied by reflection high-energy electron diffraction and p...
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Quantum dots (QD) structures of II-VI semiconductors such as CdSe and CdTe have been fabricated by molecular beam epitaxy. Self-assembling growth modes were studied by reflection high-energy electron diffraction and photoluminescence (PL). The CdSe QD on ZnSe are correlated with the Stranski-Krastanov mode, and the CdTe QD are correlated with the Volmer-Weber mode. The PL intensity of the multi-QD structures increases with the thickness of the ZnSe barrier layer and saturates at a thickness of about 400 A. Diode structures were fabricated, including the CdSe multi-QD layers at the center of the ZnSe pn junction. The diodes emitted green injection electroluminescence at 77 K and room temperature. This emission comes from the QD, compared with the PL spectrum and the injection-luminescence spectrum of the ZnSe pn junction without the CdSe quantum dots.
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