A fully automatic interpretation of an awake electroencephalogram (EEG) has been developed. Automatic integrative EEG interpretation consists of four main parts: quantitative EEG interpretation, EEG report making, pre...
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This paper describes simple adaptive control for plants with bounded nonlinear disturbances. The proposed controller is applicable to all plants whose relative degree is less than four, in which the upper bound of the...
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We present an evolution strategy (ES) algorithm - incest prevented evolution strategy (IPES) enhancing our novel evolution strategy (NES) algorithm. Validity of NES and IPES algorithms is compared with other evolution...
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We numerically study the time evolution of coherent vortices in decaying turbulence described by the Charney-Hasegawa-Mima equation with the weak dissipation. Self-organized coherent vortices develop through the mutua...
We numerically study the time evolution of coherent vortices in decaying turbulence described by the Charney-Hasegawa-Mima equation with the weak dissipation. Self-organized coherent vortices develop through the mutual advection and the vortex merging. The dimensional analysis provides the dynamical scaling law of structure function of the potential vorticity field S(k,t)=E5/4λ1/2t1/2G(k/k¯(t)) [k¯(t)∼E−1/8λ3/4t−1/4] with a scaling function G(x), which turns out to be in good agreement with numerical experiments. In physical space, quantities related to coherent vortices develop algebraically with time. The dimensional analysis predicts that the total number N of vortices decreases as N∼t−χ with exponent χ=1/2. Moreover, it is found that the remarkable feature of this system is the approximate conservation of the area of the coherent region in the potential vorticity field.
Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully ap...
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Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. A hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.
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 ch...
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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.
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