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Global Asymptotical Stabilization of Morse-Smale systems Using Weak control-Lyapunov Functions

SICE Journal of control, Measurement, and System Integration 2009年第1期2卷 43-49页

作者： Gou Nishida Takayuki Tsuzuki Hisakazu Nakamura Yuh Yamashita RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Center Advanced Science Institute RIKEN Department of Electronic and Control Systems Engineering Interdisciplinary Faculty of Science and Engineering Shimane University Systems and Control Lab. Graduate School of Information Science Nara Institute of Science and Technology Division of Systems Science and Informatics Graduate School of Information Science and Technology Hokkaido University

This paper proposes a method of constructing weak control-Lyapunov functions for nonlinear systems by introducing a topological geometric assumption called a Morse-Smale system. A Lyapunov function is one of the most important tools to study stability and stabilization of nonlinear systems. However, a general way of finding Lyapunov functions has not been found yet. First, we confirm there is a weak Lyapunov function for Morse-Smale systems. Next, we define the escapability for singular structures of the weak Lyapunov function. If all singular structures are escapable, then the Morse-Smale system is a globally asymptotically stabilizable one. Finally, we present the method of constructing a set of weak control-Lyapunov functions to achieve global stabilization. The method is described in terms of a recursive sequence of singular structures. We call the sequence a weak Lyapunov filtration.

关键词： nonlinear systems Lyapunov functions iterative modeling and control design

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A linear array typed imaging system of electrical and ultrasonic properties

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IEEJ Transactions on Fundamentals and Materials 2009年第12期129卷 884-888页

作者： Kimoto, Akira Taninaka, Yuuta Shida, Katsunori Department of Sci. Eng. Saga University 1 Honjyo Saga 840-8502 Japan Graduate School and Engineering Saga University Advanced Systems Control Engineering 1 Honjyo Saga 840-8502 Japan

In this paper, a linear array typed imaging system of electrical and ultrasonic properties is proposed as one of measurement techniques for comfortable life. The proposed imaging system measures not only the ultrasonic property of the living body using the linear arrayed piezoelectric ceramic transducers, but also the electrical property using the surface electrodes of each piezoelectric ceramic transducer. From these data, the ultrasonic and electrical properties in the same object space are simultaneously reconstructed. In the experiment, propagation time and electrical voltage in the model, which the acrylic is inserted in the 0.1 % saline solution, are measured by the proposed imaging system based on linear array typed eight piezoelectric ceramic transducers. The ultrasonic and electrical properties are reconstructed from the measurement values. It was found that the ultrasonic and electrical properties in the same space were reconstructed by the proposed imaging system. Therefore, it is suggested that the proposed imaging system has potential for comfortable application although there are some problems that must be solved. ©2009 The Institute of Electrical Engineers of Japan.

关键词： Imaging systems

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Voice instructions for controlling a robotic forceps with image and auxiliary information

Voice instructions for controlling a robotic forceps with im...

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SICE Annual Conference

作者： Kiyotaka Izumi Takuya Tokunaga Keigo Watanabe Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Intelligent Mechanical Systems Division of Industrial Innovation Sciences Graduate School of Natural Science and Technology Okayama University Kita Okayama Japan

An image related to three-dimensional movement is used for constructing a control system for a robotic forceps by voice instructions, together with use of auxiliary information such as, the information on the tip-position in three-dimension and on the distance of the previous movement. A degree-related adverb included in the voice instruction is quantified by using fuzzy reasoning, in which such auxiliary information is also applied to update the membership functions so as to realize a user-friendly interface. The effectiveness of the present system is demonstrated by actual experiments.

关键词： Force control Robot control Fuzzy systems Fuzzy control control systems Intelligent robots Service robots Electronic mail Fuzzy reasoning Humans

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Coal type selection for thermal power plants through combustion state estimation

Coal type selection for thermal power plants through combust...

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SICE Annual Conference

作者： Satoru Goto Shinji Katafuchi Mitsuhiro Sueyoshi Toshihiko Furue Yoshitaka Uchida Hironori Hatazaki Masatoshi Nakamura Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Research Laboratory Kyushu Electric Power Company Inc. Fukuoka Japan

In this paper, a coal type selection method for a coal fired boiler in a thermal power station is proposed. Combustion of coal and fusibility of fly ash are evaluated by using coal and fly ash properties. Combustion state in a coal fired boiler is estimated by the evaluated combustibility of coal and fusibility of fly ash. Applicable coal type is selected by the estimated combustion state. The proposed coal type selection method is evaluated by the data collected in an actual thermal power plant.

关键词： Power generation Combustion State estimation Testing Boilers Fly ash Furnaces Thermal engineering Fossil fuels Chemicals

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Decomposition of VEP and dominant rhythm components during photic stimulation by use of EEG model

Decomposition of VEP and dominant rhythm components during p...

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IEEE/ICME International Conference on Complex Medical engineering, CME

作者： T. Sugi S. Tsuchiya S. Nishida Y. Goto S. Tobimatsu M. Nakamura Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Advanced Systems Saga University Saga Japan Department of Information and Communication Fukuoka Institute of Technology Fukuoka Japan Department of Occupational Therapy Department of Clinical Neurophysiology Kyushu University Fukuoka Japan Department of Clinical Neurophysiology Kyushu University Fukuoka Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

Dominant rhythm in electroencephalographic (EEG) records is seen at the posterior to occipital region as a primary component of background activity during waking state with closed eyes and is decreased or disappeared by the exogenous factors such as visual stimuli to eyes and so on. Visual evoked potential (VEP) can also be seen in EEG at the posterior to occipital regions during photic stimulation (PS). Frequency components of VEP are depended upon the frequency of stimuli and that of dominant rhythm in case of healthy adult is around 10 Hz. Therefore, components of VEP and dominant rhythm are almost overlapped when the frequency of photo stimuli is near around 10 Hz. VEP component can be extracted from the background activity by using the averaging method, but the accurate estimation of dominant rhythm component in such condition has difficulties due to the overlapping of both components in frequency domain. Some of the authors have proposed the EEG model with Markov process amplitude (MPA EEG model) in the past. The MPA EEG model has possibilities to separate the components that construct the original EEG into each one in the frequency domain. In this study, component decomposition of VEP and dominant rhythm of recorded EEG was done by using the MPA EEG model. EEGs with PS were recorded from three healthy young adults. Five seconds continuous EEG time series with PS and without PS were selected from the original data, and were transferred to the periodogram information by the FFT method. Then, the model parameters were calculated. The initial values of model parameters were determined from the periodogram of raw EEG during PS, and were optimized by Fletcher-Powell method. In the original data under PS with 10 Hz, VEP component and dominant rhythm component were overlapped each other. Proposed method decomposed the original data into five components; first harmonic VEP, second harmonic VEP, dominant rhythm, slower noise and others. Characteristics for the depressi

关键词： Rhythm Electroencephalography Brain modeling Frequency estimation Frequency domain analysis Eyes Markov processes Power harmonic filters control engineering Neurophysiology

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Quantitative analysis between visual mismatch negativity and psychopathology scale for schizophrenia

Quantitative analysis between visual mismatch negativity and...

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SICE Annual Conference

作者： Kazuhiko Goto Takenao Sugi Toshihiko Maekawa Katuya Ogata Yoshinobu Goto Shozo Tobimatsu Masatoshi Nakamura Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Clinical Neurophysiology Kyushu University Fukuoka Japan Department of Occupational Therapy International University of Health and Welfare Fukuoka Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

Visual mismatch negativity (v-MMN) in electroencephalographic (EEG) record provides an index of pre-attentive information processing of the brain. v-MMN is considered to reflect schizophrenia. The positive and negative syndrome scale (PANSS) is usually used in clinical diagnosis on patients with schizophrenia for estimating the degree of disorder. In this study, the relationship between v-MMN and PANSS was analyzed. Characteristic parameters of peaks including N1, N2, P300, and MMN were established respectively. Estimated function was constructed by selected parameters. P300 was most significant characteristic related to all items of PANSS.

关键词： Psychology

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Feature extraction of light sleep state in polysomnogram by use of conditional probability

Feature extraction of light sleep state in polysomnogram by ...

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SICE Annual Conference

作者： Hiroaki Yoshiyama Takenao Sugi Rei Wang Shuichiro Shirakawa Masatoshi Nakamura Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Automation East China University of Science and Technology Shanghai China Department of Advanced Systems Control Engineering Saga University Saga Japan National Center of Neurology and Psychiatry Tokyo Japan

Human sleep stages wring whole night are usually classified into six stages based on polysommnographic (PSG) record. Sleep state of human light sleep changes gradually and continuously. In this study, automatic judgment of light sleep state in PSG record was developed. Parameters for characterizing the PSG were calculated from the periodogram and the discriminant function was constructed by using conditional probability. Estimated value of wake full level was gradually decreased according to the stage charged from W to S1. In contrast, changing the sleep state from S1 to S2 increased estimated value of sleep level accordingly.

关键词： Feature extraction Sleep

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A study of the effect of the femoral head diameter on prosthetic hip joint dislocation using a hip-joint motion simulator

A study of the effect of the femoral head diameter on prosth...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Kazuo Kiguchi Toru Horie Akira Yamashita Masaru Ueno Tsuneyuki Kobayashi Masaaki Mawatari Takao Hotokebuchi Department of Advanced Systems Control Engineering Saga University Saga Japan Research Department Japan Medical Materials Corporation Yodogawa Osaka Japan Faculty of Medicine Saga University Saga Japan

Prosthetic hip joint dislocation phenomenon is generated by the hip joint simulator and the effect of the femoral head diameter is studied under the same condition which is similar to the condition in daily activities. Impedance control is applied to control the hip joint motion and the joint contact force simultaneously in order to take into account the constraint caused by surrounding tendons, muscles, and a joint capsule of the hip joint. The experimental results show that the hip joint dislocation phenomenon is generated by the simulator and the obtained results about the effect of the femoral head size agree with those of the other research.

关键词： Prosthetics Hip Force control Motion control control engineering Impedance Tendons Muscles Head Performance evaluation

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Automatic interpretation of hyperventilation-induced electroencephalogram fitting to visual inspection

Automatic interpretation of hyperventilation-induced electro...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Zhang, Xiu Wang, Xingyu Sugi, Takenao Ikeda, Akio Nagamine, Takashi Shibasaki, Hiroshi Nakamura, Masatoshi Department of Automation East China University of Science and Technology Shanghai China Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Neurology Graduate School of Medicine Kyoto University Kyoto Japan Department of System Neuroscience Sapporo Medical University Hokkai-do Japan Takeda General Hospital Kyoto Japan Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9784907764333

Quantitative analysis and detection of abnormalities for electroencephalogram (EEG) recordings during evoked activities are essential for clinical diagnosis on neurological disorders. However, the process of interpreting EEG is time consuming and requires experienced electroencephalographers (EEGers). In this study, a method of automatic EEG interpretation during hyperventilation was proposed. The purpose is to provide a quantitative interpretation of EEG which is able to conform to EEGers' visual inspection. The final integrated results of automatic interpretation were compared with EEGers' evaluation, and showed high consistence. © 2009 SICE.

关键词： Electroencephalography

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Impedance model force control using neural networks for a desktop NC machine tool

Impedance model force control using neural networks for a de...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Fusaomi Nagata Takanori Mizobuchi Shintaro Tani Keigo Watanabe Tetsuo Hase Zenku Haga Maki K. Habib Department of Electronics and Computer Science Tokyo University of Science Sanyo-Onoda Yamaguchi Japan Research and Development Center Meiho Company Limited Nogata Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Mechanical Engineering Department School of Sciences and Engineering American University Cairo Cairo Egypt

In manufacturing industries of metallics molds, various NC machine tools are used. We have already proposed a desktop NC machine tool with compliance control capability to automatically cope with the finishing process of LED lens molds. The NC machine tool has an ability to control the polishing force acting between an abrasive tool and workpiece. The force control method is called impedance model force control. The most important gain is the desired damping of the impedance model. Ideally, the desired damping is calculated from the critical damping condition in consideration of the effective stiffness in force control system. However, one of the serious problems is that the effective stiffness of the NC machine tool has undesirable nonlinearity. The nonlinearity gives bad influences to the force control stability. In this paper, a fine tuning method of the desired damping is considered by using neural networks. The neural networks acquire the nonlinearity of effective stiffness. It has been observed that the desired damping generated from the learned neural networks allows the NC machine tool to achieve a stable finishing result.

关键词： Impedance Force control Neural networks Computer numerical control Damping Automatic control Finishing Manufacturing industries Light emitting diodes Lenses

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