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Transactions of Japanese Society for Medical and Biological engineering 2014年 52卷 O-305-O-306页

作者： Hosokawa, Sho Tsunoda, Hirohide Saito, Hirokazu Advanced Course of Mechanical and Computer Systems Engineering Tokyo National College of Technology Japan Department of Mechanical Engineering Tokyo National College of Technology Japan

Blood collection is being frequently performed for blood donation and clinical testing. However the skill acquisition is exclusively performed by clinical experience for patients and simulation with an arm model of silicone rubber. However, there are some problems that they are not able to reproduce the individually different of puncture reaction force by age or body habitus, furthermore the risk of accidents or distress to patients. Therefore, we focused on haptic technology that reproduces mechanically the tactile, moreover we have been developing a blood sampling simulator that can reproduce the various reaction force. We obtained the viscoelastic modules of elastic rubber by needle puncture experiment with an elastic rubber, and constructed a reaction force model that considered the changes of the reaction force depending to puncture speed. As the results of simulation depending to the puncture, the behavior of the reaction force due to the puncture speed could be reproduced. © 2014, Japan Soc. of Med. Electronics and Biol. engineering. All rights reserved.

关键词： Viscoelasticity

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Adiabatic topological quantum computing

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Physical Review A 2015年第1期92卷 012336-012336页

作者： Chris Cesare Andrew J. Landahl Dave Bacon Steven T. Flammia Alice Neels Center for Quantum Information and Control University of New Mexico Albuquerque New Mexico 87131 USA Department of Physics and Astronomy University of New Mexico Albuquerque New Mexico 87131 USA Advanced Device Technologies Sandia National Laboratories Albuquerque New Mexico 87185 USA Department of Computer Science and Engineering University of Washington Seattle Washington 98195 USA Department of Physics University of Washington Seattle Washington 98195 USA Centre for Engineered Quantum Systems School of Physics The University of Sydney Sydney NSW 2006 Australia

Topological quantum computing promises error-resistant quantum computation without active error correction. However, there is a worry that during the process of executing quantum gates by braiding anyons around each other, extra anyonic excitations will be created that will disorder the encoded quantum information. Here, we explore this question in detail by studying adiabatic code deformations on Hamiltonians based on topological codes, notably Kitaev's surface codes and the more recently discovered color codes. We develop protocols that enable universal quantum computing by adiabatic evolution in a way that keeps the energy gap of the system constant with respect to the computation size and introduces only simple local Hamiltonian interactions. This allows one to perform holonomic quantum computing with these topological quantum computing systems. The tools we develop allow one to go beyond numerical simulations and understand these processes analytically.

关键词： Error correction

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MPC for power systems dispatch based on stochastic optimization 19

MPC for power systems dispatch based on stochastic optimizat...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Necoara, Ion Clipici, Dragos N. Patrinos, Panagiotis Bemporad, Alberto University Politehnica Bucharest Automatic Control and Systems Engineering Department Bucharest060042 Romania IMT Institute for Advanced Studies Lucca Piazza San Ponziano 6 Lucca55100 Italy

ISBN: (纸本)9783902823625

In this paper we investigate the problem of optimal real-time power dispatch of an interconnection of conventional power generation plants, renewable resources and energy storage systems. The objective is to minimize imbalance costs and maximize profits whilst satisfying user demand. The managing company is able to trade energy on an electricity market. Energy prices, demand and renewable generation are considered stochastic processes. We show that under certain assumptions, the stochastic power dispatch problem over a finite horizon can be recast into a stochastic optimization formulation but with deterministic constraints. We carry out a systematic study of stochastic optimization methods to solve this problem. We also show that this problem can be approximated by a proper deterministic optimization problem using the sample average approximation method, which can then be solved by standard means. © IFAC.

关键词： Electric load dispatching

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Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator

Multi-Criteria Design of 6-DoF Fully-Constrained Cable Drive...

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from entire workspace.

关键词： Cable Robot Redundant Parallel Manipulator Kinematics Analysis Optimal Design

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Tracking and Disturbance Rejection in Non-minimum Phase systems 33

Tracking and Disturbance Rejection in Non-minimum Phase Syst...

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第三十三届中国控制会议

作者： ZHAO Shen SUN Li LI Donghai GAO Zhiqiang Facility for Rare Isotope Beams Michigan State University State Key Lab of Power Systems Department of Thermal EngineeringTsinghua University Center for Advanced Control Techniques Cleveland State UniversityClevelandOH 44115United States

ISBN: (纸本)9781479947249

This paper concerns with the problems of tracking control and disturbance rejection for two types of non-minimum phase(NMP) systems associated with the right half plane(RHP) zeroes and with time delay,*** the achievable closed-loop bandwidth for such systems is usually very limited,obtaining good tracking and disturbance rejection becomes great challenges in the control *** disturbance rejection,this paper mainly focuses on the method of active disturbance rejection control(ADRC),where modifications in tuning,in ESO and in ADRC structure are made to make the solutions more effective for the NMP systems;for fast tracking,a unique feedforward design is combined with ADRC solution to overcome the bandwidth *** proposed methods are validated in simulation with satisfactory performance and give practitioners a set of tools to deal with the problems of the NMP systems.

关键词： non-minimum phase system,time delay,active disturbance rejection control,feedforward control,combined design

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Urysohn measure driven integral equations in the space of bounded variation functions and applications

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AIP Conference Proceedings 2016年第1期1773卷

作者： G. Dimitriu B. Satco 1Department of Mathematics and Informatics Grigore T. Popa University of Medicine and Pharmacy Universităţii 16 Iaşi 700115 Romania 2Faculty of Electrical Engineering and Computer Science Ştefan cel Mare University of Suceava Universităţii 13 Suceava 720229 Romania 3Integrated Center for Research Development and Innovation in Advanced Materials Nanotechnologies and Distributed Systems for Fabrication and Control (MANSiD) Ştefan cel Mare University Suceava Romania

Motivated by the fact that bounded variation (often discontinuous) functions frequently appear when studying integral equations that describe physical phenomena, we focus on the existence of bounded variation solutions for Urysohn integral measure driven equations. Due to numerous applications of Urysohn integral equations in various domains, problems of this kind have been extensively studied in literature, under more restrictive assumptions. Our approach concerns the framework of Kurzweil-Stieltjes integration, which allows the occurrence of high oscillatory features on the right hand side of the equation. A discussion about interesting consequences of our main result (given by particular cases of the measure driving the equation) is presented. Finally, we show the generality of our results by investigating two examples of impulsive type problems (from both theoretical and numerical perspective) and giving an application in electronics industry concerning polarization properties of ferroelectric materials.

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A robust wheel slip control design for in-wheel-motor-driven electric vehicles with hydraulic and regenerative braking systems

A robust wheel slip control design for in-wheel-motor-driven...

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2014 American control Conference, ACC 2014

作者： Wang, Bin Huang, Xiaoyu Wang, Junmin Guo, Xuexun Zhu, Xiaoyuan Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Wuhan 430070 China Vehicle Systems and Control Laboratory Department of Mechanical and Aerospace Engineering Ohio State University Columbus OH 43210 United States

ISBN: (纸本)9781479932726

A robust wheel slip ratio controller for in-wheel-motor-driven electric vehicles equipped with both hydraulic anti-lock braking systems (ABS) and regenerative braking (RB) systems is designed in this paper. Based on an integration of optimal predictive control design and Lyapunov theory, the issue of uncertain vehicle parameters is addressed. The corresponding braking torque distribution strategy between the RB and hydraulic braking (HB) is also introduced to achieve smooth regulation of the brake torque, such that the pedal pulsating effect of the traditional ABS system can be relieved. By utilizing the larger working range of the HB system and the higher bandwidth of the RB system, a better wheel slip ratio control performance can be obtained. The effectiveness of the proposed control system has been validated in Matlab/Simulink simulations. © 2014 American Automatic control Council.

关键词： MATLAB

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Reproduction of swing-up and giant swing motion of Acrobot based on a technique of the horizontal bar gymnast

Reproduction of swing-up and giant swing motion of Acrobot b...

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World Congress on Intelligent control and Automation (WCICA)

作者： Tomohiro Henmi Misuzu Chujo Yuichiro Ohta Mingcong Deng Kagawa National College of Technology Advanced Course in Industrial Systems Engineering Takamatsu Kagawa Japan Department of Electrical and Electronic Engineering Tokyo University of Agriculture and Technology Koganei Tokyo Japan

In this study, a reproduction of a swing-up and a giant swing motion of the Acrobot based on behaviors of the horizontal bar gymnast is discussed with focusing on an Equivalent Center of Mass (ECM) of the Acrobot and the gymnast. At first, the behaviors of the Equivalent Center of Mass of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing-up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the Equivalent Center of the Mass of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the Acrobot the swing-up and giant swing motion like the gymnast Finally, an effectiveness of the proposed controller is shown by numerical simulations.

关键词： Robots Equations Mathematical model Tracking Focusing Animals Aerospace electronics

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Metro train operation control algorithms with regulation restrictions adaptive to system state changes

Metro train operation control algorithms with regulation res...

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International Conference on Electrical engineering, Computing Science and Automatic control (CCE)

作者： L. A. Baranov E. P. Balakina L. N. Loginova Pavel Vorobiev Department of Control and Informatics in Engineering Systems Moscow State University of Railway Engineering Moscow Russia Research Center of Advanced Materials CIMAV Monterrey Mexico

A metro centralized train operation control algorithm is proposed which answers to the changes in the regulation restrictions, normally considered fixed, caused by perturbations in the system. A method is explained of using special regulative characteristics of every station-to-station block of the metro line, which allows the usage of more flexible running and station times for the trains. Proposed algorithm lowers the quantity of restrictive signals generated by the safety system ("red lights") and, by consequence, lowers the quantity of emergency stops between stations, allowing to save energetic resources spent on repeated train acceleration and to raise, in general, the quality of the transportation process.

关键词： Forecasting Schedules Timing Safety Cities and towns Transportation Acceleration

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Robust optimal control of flexible space structures by a fourth-order proper controller using displacement output

Robust optimal control of flexible space structures by a fou...

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IEEE/SICE International Symposium on System Integration

作者： Kengo Igawa Yohji Kobayashi Kobe City College of Technology Advanced Course of Mechanical Systems Engineering Kobe city Hyogo JAPAN Department of Mechanical Engineering Kobe City College of Technology Kobe city Hyogo JAPAN

This paper considers robust optimal control of flexible space structures with collocated sensors and actuators. First, we introduce a fourth-order low-pass filter of which relative degree is 1 at each input channel. Then, we temporally feed back output of the filter, displacement and velocity output of the structure to input of the filter, so that we obtain a fourth-order proper controller using only displacement output. By choosing parameters of the proper controller as the controller becomes a phase lead compensator, the closed-loop system becomes robustly stable against uncertainty of characteristic parameters of the structures such as mass, damping, and stiffness. The purpose of this paper is to show the closed-loop system can be made not only robustly stable but also optimal for a quadratic cost function by making two feedback gains of the proper controller sufficiently large.

关键词： Closed loop systems Robustness Sensors Aerospace electronics Actuators Damping Cost function

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