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ν-gap Model Reduction by Means of Particle Swarm Optimization
Masaaki Kanno,Tae-Hyoung Kim(김태형) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This paper considers the model reduction problem of linear time-invariant systems in the ν-gap and attempts to solve the problem by using particle swarm optimization (PSG). The ν-gap is an effective metric to measure the closeness of two systems when put in the feedback loop. Therefore finding a low-order system that approximates a high-order system in the ν-gap sense can be of practical significance. Nevertheless this model reduction problem is difficult to solve and little attempt has been made so far, partially due to the non-convex nature of the problem. Recently the PSG algorithm, whose mechanism was inspired by flocks of birds and shoals of fish, has attracted a lot of attention. The empirical evidence indicates its superiority in solving various non-convex problems. The paper thus applies the PSG algorithm to the ν-gap model reduction problem and its feasibility is investigated based on some numerical examples.
Algebraic Computation of the Stability Radius of a Multilinear Polynomial
Keisuke HASEGAWA,Masaaki KANNO,Shinji HARA 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes an algebraic algorithm for the computation of the stability radius of a multilinear poly no-mial. Two algebraic conditions are used to characterize the stability radius and they are exploited to calculate the stability radius. Two numerical examples are provided for demonstration purposes.
Shiori Yanai,Kiyoshi Kanno,Kiyoshi Aiko,Masaaki Andou 대한부인종양학회 2021 Journal of Gynecologic Oncology Vol.32 No.1
Objective: In comparison with laparoscopic transperitoneal para-aortic lymphadenectomy,the advantages of laparoscopic extraperitoneal para-aortic lymphadenectomy (ePAL) arethat the operative field is not obstructed by bowel and the Trendelenburg position is notrequired [1]. The ePAL technique has been adopted to the robotic surgery with the da VinciXi. There are only a few reports demonstrating the technical feasibility of robot-assisted ePAL(RAePAL) [2,3]. This report describes the new surgical technique of RAePAL with the bipolarcutting method. Methods: The patient was a 53-year-old woman diagnosed as ovarian clear cell carcinoma(CCC) after left salpingo-oophorectomy. As the re-staging surgery, robot-assisted rightsalpingo-oophorectomy, hysterectomy, omentectomy, and pelvic lymphadenectomy wereplanned following ePAL. The patient was placed in the supine position and tilted 5 degrees tothe right. Three da Vinci arms were docked at the patient's left side (Fig. 1). The bipolar cuttingmethod was performed by with the surgeon's right hand. An AirSeal® port (ConMed, Utica,NY, USA) was placed on the side near the assistant. After the para-aortic space was expanded,lymphadenectomy was performed up to the renal veins with the bipolar cutting method. Results: The PAL operative time was 155 minutes, estimated blood loss was 25 mL. Thepatient developed no perioperative complications, and the postoperative diagnosis was stageIC1 ovarian CCC with no pelvic (n=0/42) and para-aortic lymph nodes (n=0/59) metastasis. Conclusion: RAePAL with the bipolar cutting method was technically feasible. Performinglymphadenectomy between the aorta and the vena cava was facilitated by the articulatedrobotic arm.