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Frequency domain subspace model identification using the w -operator

IFAC Proceedings Volumes 1999年第2期32卷 3986-3991页

作者： Zi-Jiang Yang Kiyoshi Wada Faculty of Computer Engineering and System Science Kyushu Institute of Technology Iizuka Fukuoka 820-8502 TEL+81-948-29-7672 FAX+81-948-29-7651 Japan Department of Electrical and Electronic Systems Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Hakozaki Fukuoka 812 Japan

This paper proposes an efficient and convenient approach to frequency domain subspace identification for continuous-time systems. In the case of continuous-time models, the data matrices often become ill-conditioned if we simply rewrite the Laplace operator s as s = jw where w denotes the frequency. To avoid the ill-conditioned problem, the operator w = ( s - b.α)/( s + b.α) is introduced such that the system can be identified based on a state-space model in the w -operator. And then the estimated w -operator state-space model can be transformed back to the common continuous-time state-space model. An instrumental variable matrix in the frequency domain is also proposed to obtain consistent estimate in the presence of measurement noise.

关键词： Subspace model identification frequency domain continuous-time system w -operator Instrumental variable

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An Adaptive PI Control system for an Omnidirectional Mobile Robot

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Journal of Robotics and Mechatronics 1999年第5期11卷 349-355页

作者： Sato, Kazuya Watanabe, Keigo Izumi, Kiyotaka Watanabe, Makoto Department of Advanced Systems and Control Engineering Graduate School of Science and Engineering Saga University 1 Honjo Saga840-8502 Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1 Honjo Saga840-8502 Japan Telecommunication System Engineering Information Technology Division Nitsuko Corporation 2-6-1 Kitamigata Takatsu-ku Kawasaki210 Japan

Resolved acceleration and PID control provide high-performance control in an omnidirectional mobile robot, but most research does not consider plant parameter perturbations requiring that control gains be reacĳusted. We present an adaptive PI control strategy for mobile robots that automatically adjusts PI controller parameters based on error signals. Experiments verify the effectiveness of our method. © 1999, Fuji technology Press. All rights reserved.

关键词： Mobile robots

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

Generalized fuzzy environment models learned with genetic al...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： F. Nagata K. Watanabe K. Sato K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

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.

关键词： Damping Impedance Force control Manipulators Tuning Fuzzy systems Anisotropic magnetoresistance Genetic algorithms Yield estimation Control system synthesis

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Contributory presentations/posters

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Journal of Biosciences 1999年第1期24卷 33-198页

作者： N. Manoj V. R. Srinivas A. Surolia M. Vijayan K. Suguna R. Ravishankar R. Schwarzenbacher K. Zeth Diederichs G. M. Kostner A. Gries P. Laggner R. Prassl Madhusudan Pearl Akamine Nguyen-huu Xuong Susan S. Taylor M. Bidva Sagar K. Saikrishnan S. Roy K. Purnapatre P. Handa U. Varshney B. K. Biswal N. Sukumar J. K. Mohana Rao A. Johnson Vasantha Pattabhi S. Sri Krishna Mira Sastri H. S. Savithri M. R. N. Murthy Bindu Pillai Kannan M. V. Hosur Mukesh Kumar Swati Patwardhan K. K. Kannan B. Padmanabhaa S. Sasaki-Sugio M. Nukaga T. Matsuzaki S. Karthikevan S. Sharma A. K. Sharma M. Paramasivam P. Kumar J. A. Khan S. Yadav A. Srinivasan T. P. Singh S. Gourinath Neelima Alam A. Srintvasan Vikas Chandra Punit Kaur Ch. Betzel S. Ghosh A. K. Bera S. Bhattacharya S. Chakraborty A. K. Pal B. P. Mukhopadhyay I. Dey U. Haldar Asok Baneriee Jozef Sevcik Adriana Solovicova K. Sekar M. Sundaralingam N. Genov Dong-cai Liang Tao Jiang Ji-ping Zhang Wen-rui Chang Wolfgang Jahnke Marcel Blommers S. C. Panchal R. V. Hosur Bindu Pillay Puniti Mathur S. Srivatsun Ratan Mani Joshi N. R. Jaganathan V. S. Chauhan H. S. Atreya S. C. Sahu K. V. R. Chary Girjesh Govil Elisabeth Adjadj Éric Quinjou Nadia Izadi-Pruneyre Yves Blouquit Joël Mispelter Bernadette Heyd Guilhem Lerat Philippe Milnard Michel Desmadreil Y. Lin B. D. Nageswara Rao Vidva Raghunathan Mei H. Chau Prashant Pesais Sudha Srivastava Evans Coutinho Anil Saran Leizl F. Sapico Jayson Gesme Herbert Lijima Raymond Paxton Thamarapu Srikrishnan C. R. Grace G. Nagenagowda A. M. Lynn Sudha M. Cowsik Sarata C. Sahu S. Chauhan A. Bhattacharya G. Govil Anil Kumar Maurizio Pellecchia Erik R. P. Zuiderweg Keiichi Kawano Tomoyasu Aizawa Naoki Fujitani Yoichi Hayakawa Atsushi Ohnishi Tadayasu Ohkubo Yasuhiro Kumaki Kunio Hikichi Katsutoshi Nitta V. Rani Parvathy R. M. Kini Takumi Koshiba Yoshihiro Kobashigawa Min Yao Makoto Demura Astushi Nakagawa Isao Tanaka Kunihiro Kuwajima Jens Linge Seán O. Donoghue Michael Nilges G. Chakshusmathi Girish S. Ratnaparkhi P. K. Madhu R. Varadarajan C. Tetreau Molecular Biophysics Unit Indian Institute of Science Bangalore India Austrian Academy of Sciences Institute of Biophysics and X-ray Structure Research Graz Austria Faculty of Biology University of Konstanz Germany Institute of Medical Biochemistry University of Graz Austria Howard Huges Medical Institute Department of Chemistry & Biochemistry University of California La Jolla USA Department of Chemistry & Biochemistry University of California San Diego La Jolla USA Molecular Biophysics Unit India Department of Microbiology &Cell Biology Indian Institute of Science Bangalore India Macromolecular Structure Laboratory NCI - Frederick Cancer Research and Development Center ABL - Basic Research Program Frederick USA Department of Crystallography and Biophysics University of Madras Chennai Biochemistry Department Indian Institute of Science Bangalore India Condensed Matter Physics Division B.A.R.C. Trombay Mumbai Condensed Matter Physics Division Bhabha Atomic Research Centre Trombay Mumbai IMCB The University of Tokyo Tokyo Japan Mitsubishi Chemical Corporation Yokohama Research Center Yokohama Japan Faculty of Pharmaceutical Sciences Chiba University Chiba Japan Department of Biophysics All India Institute of Medical Sciences New Delhi India Department of Biophysics All India Institute of Medical sciences New Delhi India Institüt Physiologische Chemie Hamburg Germany Biophysics Department Bose Institute Calcutta India Slovak Academy of Sciences Institute of Molecular Biology Bratislava Slovakia Indian Institute of Science Bioinformatics Centre Bangalore Departments of Chemistry and Biochemistry Biological Macromolecular Structure Center USA Bulgarian Academy of Sciences Institute of Organic Chemistry Sofia Bulgaria Chinese Academy of Sciences Institute of Biophysics Beijing China Novartis Pharma AG Preclinical Research Basel Switzerland Department of Chemical Sciences Tata Institute of Fundamental Research Mumbai India Solid State Physics Div

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Symposia lectures

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Journal of Biosciences 1999年第1期24卷 5-31页

作者： F. Parak A. Ostermann G. U. Nienhaus Nobuo Niimura William A. Eaton Stephen J. Hagen Eric R. Henry James Hofrichter Gouri Jas Lisa Lapidus Victor Muñoz Chih-chen Wang Abani Bhuyan Javant Udgaonkar Heinz Rüterians Derek N. Woolfson M. D. Finucane J. H. Lees M. J. Pandya G. Spooner M. Tuna Wilma K. Olson K. V. R. Chary E. Westhof I. G. Wool C. C. Correll V. I. Ivanov S. A. Bondarenko E. M. Zdobnov A. D. Beniaminov E. E. Minyat N. B. Ulyanov Dale B. Wigley Nobuo Shimamoto Takashi Kinebuchi Hiroyuki Kabata Osamu Kurosawa Masao Washizu Barbara Baird David Holowka H. Belrhali P. Nollert A. Royant J. P. Rosenbusch E. M. Landau E. Pebav-Peyroula Anil K. Lala Patrick R. D’Silva Daniela Pietrobon Paolo Pinton Paulo Magalhaes Anna Chiesa Marisa Brini Tullio Pozzan Rosario Rizzuto M. Montai Shu-Rong Wang José L. Carrascosa B. Bhattacharyya Ian A. Wilson Dinakar M. Salunke Kurt Drickamer Anne Imberty A. Surolia Louise N. Johnson Michal Neeman S. M. Prince K. McLuskey R. J. Cogdell K. McAuley N. W. Isaacs G. Venturoli F. Drepper J. C. Williams J. P. Allen X. Lin P. Mathis R. van Grondelle Wolfgang Junge T. Tsukihara K. Shinzawa-Itoh R. Nakashima E. Yamashita M. J. Fei N. Inoue T. Tomizaki C. Peters Libeu S. Yoshikawa Patrick Chaussepied Keiichi Namba Marie-France Carlier Fariza Ressacl Valerie Laurent Thomas Loisel Coumaran Egile Philippe Sansonetti Dominique Pantaloni Manju Bansal E. W. Knapp M. G. Ullmann A. Amadei B. L. de Groot M. A. Ceruso M. Paci H. J. C. Berendsen A. Di Nola V. Di Francesco P. J. Munson J. Garnier Sung-Hou Kim Jean-Michel Claverie Ian C. P. Smith P. T. Callaghan Bruce Cornell Ratna S. Phadke Kazuhiko Kinosita D. Goldfarb I. Qromov C. Shutter I. Pecht P. Manikandan R. Carmieli T. Shane David S. Moss Clare E. Sansom Jeremy K. Cockcroft Ian J. Tickle Huub C. P. Driessen J. Raul Grigera Ramen K. Poddar Charles R. Cantor Barry Robson Jean Garnier John Helliwell Sunney I. Chan Ronald Rock Physik-Department El7 Technische Universität München Garching Abteilung Biophysik Universität Ulm Ulm Advanced Science Research Center Japan Atomic Energy Research Institute Japan Laboratory of Chemical Physics NIDDK National Institutes of Health Bethesda USA National Lab of Biomacromolecules Institute of Biophysics Beijing China National Centre for Biological Sciences Bangalore Institute of Biophysical Chemistry University of Frankfurt Frankfurt/Main Germany Centre for Biomolecular Design and Drug Development University of Sussex UK Rutgers University Piscataway USA Department of Chemical Sciences Tata Institute of Fundamental Research Mumbai India IBMC-CNRS Strasbourg France Department of Biochemistry and Molecular Biology The University of Chicago Chicago USA Engelhardt Institute of Molecular Biology RAS Moscow Russia Sir William Dunn School of Pathology University of Oxford Oxford UK Structural Biology Center National Institute of Genetics Japan Faculty of Engineering Kyoto University Kyoto Advance Co. Tokyo Japan Department of Chemistry and Chemical Biology Cornell University Ithaca Institute de Biologie Structurale Joseph Fourier Grenoble Cedex 1 France Biomembrane Lab Department of Chemistry and Biotechnology CenterIndian Institute of Technology Bombay Powai Mumbai India Dept of Biomedical Sciences Univ. of Padova Italy Dept. Exp. Diagn. Med. Sect. Gen. Pathol Ferrara Italy Department of Biology University of California San Diego La Jolla USA Chinese Academy of Sciences Institute of Biophysics Beijing China Centra Nacional de Biotecnología CSIC. Campus de la Universidad Autónoma de Madrid Cantoblanco Spain Dept.of Biochemistry Bose Institute Calcutta-54 India The Scripps Research Institute La Jolla National Institute of Immunology New Delhi India Glycobiology Institute Department of Biochemistry University of Oxford Oxford UK Centre de Recherches sur les Macromolécules Végétales-CNRS Grenoble cedex 9 France Molecular Biophysics Uni

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Effect of temperature and relative humidity on concrete creep and shrinkage 4

Effect of temperature and relative humidity on concrete cree...

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4th CANMET/ACI/JCI Conference: Advances in Concrete technology

作者： Sakata, K. Ayano, T. Space Design Laboratory Department of Environmental and Civil Engineering Faculty of Environmental Science and Technology Okayama University Okayama Japan

ISBN: (纸本)9780870316784

Concrete creep and shrinkage strain obtained in constant temperature and constant humidity room are different from those observed in the actual condition. Most of creep and shrinkage strain prediction equations predict the creep coefficient and shrinkage strain under the constant temperature and constant relative humidity. The effects of temperature history and relative humidity change of atmosphere are not considered in these equations. In this study, the effect of the change of atmosphere condition on creep and shrinkage strain is discussed. It is shown that the concrete creep and shrinkage strain in actual ambient are influenced by casting season of concrete. Creep and shrinkage strain of concrete cast in winter are much bigger than those in summer. The significance to consider the effect of environmental change on concrete creep and shrinkage strain is emphasized in this paper. © 1998 American Concrete Institute. All rights reserved.

关键词： Creep

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Quantifying Colour Emotion - What Has Been Achieved

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Research Journal of Textile and Apparel 1998年第1期2卷 46-54页

作者： Xin, J.H. Cheng, K.M. Chong, T.F. Sato, T. Nakamura, T. Kajiwara, K. Hoshino, H. Institute of Textile and Clothing The Hong Kong Polytechnic University Hong Kong Faculty of Engineering and Design Kyoto Institute of Technology Japan Department of Life Science Nara Saho Jogakuin College Japan Faculty of Education Yamaguchi University Japan

Psychological researches of colour reveal that a colour or a group of colours is associated with certain meanings or can cause certain feelings. These feelings of a colour are termed as colour emotions perceived by people. It is important for colour design of a product. Quantitative relationships between colours and the emotion they caused can assist designers to select right colour for the right design objects. The quantitative relationships can also contribute to the reduction of the lead time for colour design process as the colour emotion can be expressed by standard colour specification. A review was carried out in this paper to introduce the research works in quantifying colour emotion. © 1998 Emerald Group Publishing Limited.

关键词： colour emotion colour image scale quantitative semantic

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Parallel processor system specific for Monte Carlo analysis based on ring bus architecture 6

Parallel processor system specific for Monte Carlo analysis ...

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6th International Workshop on Computational Electronics, IWCE 1998

作者： Kurino, H. Ono, T. Kuroishi, N. Kawata, T. Miyakawa, N. Fukase, M. Aibara, R. Koyanagi, M. Intelligent System Design Lab. Dept. of Machine Intelligent and Systems Engineering Graduate School of Engineering Tohoku University Aoba-yama 01 Sendai980-8579 Japan Advanced Technology and Engineering Center Fuji Xerox Co. Ltd. Japan Faculty of Science and Technology Hirosaki University Japan Information Processing Center Hiroshima University Japan

ISBN: (纸本)0780343697

We have developed a new parallel processor system specific for the MC analysis, to dramatically reduce the calculation time. Our parallel processor system is based on ring bus architecture. The RISC micro processor chip, which contains a ring bus interface unit (RBIU), a floating point arithmetic unit (FAU) and so on, was also developed for our system. Speed up ratio compared with a single processor reached to 13.5 at 23 PEs. © 1996 IEEE.

关键词： Digital arithmetic

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Exciton localization in InGaN quantum well devices

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Journal of Vacuum science & technology B: Microelectronics Processing and Phenomena 1998年第4期16卷 2204-2204页

作者： Chichibu, Shigefusa Sota, Takayuki Wada, Kazumi Nakamura, Shuji Materials Department University of California Santa Barbara California 93106 Faculty of Science and Technology Science University of Tokyo Noda Chiba 278-8510 Japan Department of Electrical Electronics and Computer Engineering Waseda University Shinjuku Tokyo 169-8555 Japan Compound Semiconductor Materials Research NTT System Electronics Laboratories Atsugi Kanagawa 243-0198 Japan Department of Research and Development Nichia Chemical Industries Limited Kaminaka Anan Tokushima 774-8601 Japan

Emission mechanisms of a device-quality quantum well (QW) structure and bulk three dimensional (3D) InGaN materials grown on sapphire substrates without any epitaxial lateral overgrown GaN base layers were investigated. The InxGa1−xN layers showed various degrees of in-plane spatial potential (band gap) inhomogeneity, which is due to a compositional fluctuation or a few monolayers thickness fluctuation. The degree of fluctuation changed remarkably around a nominal InN molar fraction x=0.2, which changes to nearly 0.08–0.1 for the strained InxGa1−xN. This potential fluctuation induces localized energy states both in the QW and 3D InGaN, showing a large Stokes-like shift. The spontaneous emission from undoped InGaN single QW light-emitting diodes (LEDs), undoped 3D LEDs, and multiple QW (MQW) laser diode (LD) wafers was assigned as being due to the recombination of excitons localized at the potential minima, whose lateral size was determined by cathodoluminescence mapping to vary from less than 60 to 300 nm in QWs. Those structures are referred to as quantum disks (Q disks) or segmented QWs depending on the lateral size. Blueshift of the emission peak by an increase of the driving current was explained to be combined effects of band filling of the localized states by excitons and Coulomb screening of the quantum confined Stark effect induced by the piezoelectric field. The lasing mechanisms of the continuous wave In0.15Ga0.85N MQW LDs having small potential fluctuations can be described by the well-known electron-hole-plasma (EHP) picture. However, the inhomogeneous MQW LDs are considered to lase by EHP in segmented QWs or Q disks. It is desirable to use entire QW planes with small potential inhomogeneity as gain media for higher performance LD operation.

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Parallel processor system specific for Monte Carlo analysis based on ring bus architecture

Parallel processor system specific for Monte Carlo analysis ...

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International Workshop on Computational Electronics

作者： H. Kurino T. Ono N. Kuroishi T. Kawata N. Miyakawa M. Fukase R. Aibara M. Koyanagi Intelligent System Design Laboratory Department of Machine Intelligent and Systems Engineering Graduate School of Engineering University of Tohoku Sendai Japan Advanced Technology & Engineering Center Fuji Xerox Company Limited Faculty of Science and Technology Hirosaki University Information Processing Center Hiroshima Institute of Technology

关键词： Monte Carlo methods design engineering Analytical models Computational modeling Master-slave Intelligent systems Machine intelligence Poisson equations system analysis and design systems engineering and theory

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