http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Jun Kobayashi 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.5
In this study, the effect of exploiting an oscillatory motion of a manipulator on large force generation is demonstrated using simulations. Firstly, a natural frequency approximation method is devised, and a preferable posture of the manipulator is selected based on the approximation. The preferable posture is a posture in which the natural frequency of the manipulator is low. Since, in general, high frequency vibration is considered to be an undesirable phenomenon for mechanical systems, the manipulator should be operated in the preferable posture. Secondly, a method to oscillate the manipulator is proposed, and its performance is investigated using simulations. The method capitalizes on the oscillatory motion of the manipulator for efficient large force generation. Specifically, the method uses Van der Pol (VDP) oscillator to exploit an oscillatory motion of the manipulator. A force reference signal, which is a command to make the manipulator oscillate, is produced by the VDP oscillator. Due to the entrainment property of the VDP oscillator, the force reference signal can synchronize with the motion of the manipulator. The efficient large force generation is attained by the synchronization. Thirdly, a force control system that enables you to obtain the desired amount of force is designed based on the force generation method. By adjusting the natural frequency of the VDP oscillator, the purpose of the force control system is realized. Finally, a theoretical proof of the entrainment property of the VDP oscillator coupled with a linear mechanical system is established with an averaging method, and simulations exemplify the validity of the proof.
Stabilizing Model Predictive Control of Hybrid Systems with Discrete Dynamics
Koichi Kobayashi,Jun-ichi Imura,Kunihiko Hiraishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper discusses the stabilization problem of hybrid systems using control Lyapunov functions(CLFs). ACLF approach is one of the powerful method sin thest abilization of nonlinear systems. However, there are a few results for the stabilization of hybrid systems. In this paper, to develop stability theory of hybrid systems with discrete dynamics, a construction method of a CLF is proposed. Furthermore, based on the obtained CLF, a stabilizing model predictive control algorithm is alsoproposed. Finally, the effectiveness of the proposed method is shown by a numerical example.
Observability Analysis of Boolean Networks with Biological Applications
Koichi Kobayashi,Jun-ichi Imura 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper discusses the observability analys is of Boolean networks. A Boolean network model is one of the typical models of biological networks such as gene regulatory networks and metabolic networks, and it is one of the significant to picsto consider the analysis and control problems using Boolean network models. In this paper, after the notion of the observability is defined, we derive a necessary and sufficient condition for the system to be observable. Furthermore, we show an example of a neurotransmitter signaling pathway.
Yoshiomi Kobayashi,Yoji Ogura,Takahiro Kitagawa,Yoshiro Yonezawa,Yohei Takahashi,Akimasa Yasuda,Yoshio Shinozaki,Jun Ogawa 대한척추외과학회 2020 Asian Spine Journal Vol.14 No.2
Study Design: Retrospective chart audit. Purpose: This study aimed to investigate the gender difference in pre- and postoperative health-related quality of life (HRQOL) in patients who have had decompression surgery for lumbar spinal stenosis (LSS). Overview of Literature: Gender differences may contribute to variations in disease presentations and health outcomes. The influence of gender on pre- and postoperative HRQOL in spinal disorders remains unclear. Methods: We reviewed 125 patients (79 men and 46 women) who had lumbar spinous process splitting laminectomy (LSPSL) for LSS. We assessed the following clinical information: Japanese Orthopedic Association (JOA) score; numerical rating scale (NRS) for low back pain (LBP), leg pain, and leg numbness; Zurich Claudication Questionnaire; JOA Back Pain Evaluation Questionnaire; Roland-Morris Disability Questionnaire (RMDQ); and Short Form 8 (SF-8) as HRQOL. We compared the HRQOLs of men and women pre- and postoperatively. Results: Although the preoperative NRS results for LBP were significantly higher in women (p<0.05), there were no significant differences in clinical outcomes between men and women postoperatively. For HRQOL, the RMDQ scores were significantly worse in women preoperatively (p<0.05), but no significant differences were found postoperatively between men and women. Similarly, the SF-8 mental health score was also significantly lower in women preoperatively (p<0.05), but no significant differences were noted between the two groups postoperatively. Conclusions: LSPSL greatly reduced LBP, leg pain, and leg numbness in both genders. There were limited differences in pain and several HRQOL questionnaire responses between men and women after surgery. We found that women had greater sensitivity to and/or lower tolerance for pain than men, which led to lower HRQOL mental health scores preoperatively.
Takeshi Kobayashi,Toshiaki Imanishi,Taizo Hanai,Ichiro Aoyagi,Jun Uemura,Katsuhiro Araki,Hiroshi Yoshimoto,Takeshi Harima,Hiroyuki Honda 한국생물공학회 2002 Biotechnology and Bioprocess Engineering Vol.7 No.5
In order to control glucose concentration during fed-batch culture for antibiotic production, we applied so called “software sensor” which estimates unmeasured variable of interest from measured process variables using software. All data for analysis were collected from industrial scale cultures in a pharmaceutical company. First, we constructed an estimation model for glucose feed rate to keep glucose concentration at target value. In actual fed-batch culture, glucose concentration was kept at relatively high and measured once a day, and the glucose feed rate until the next measurement time was determined by an expert worker based on the actual consumption rate. Fuzzy neural network (FNN) was applied to construct the estimation model. From the simulation results using this model, the average error for glucose concentration was 0.88 g/L. The FNN model was also applied for a special culture to keep glucose concentration at low level. Selecting the optimal input variables, it was possible to simulate the culture with a low glucose concentration from the data sets of relatively high glucose concentration. Next, a simulation model to estimate time course of glucose concentration during one day was constructed using the on-line measurable process variables, since glucose concentration was only measured off-line once a day. Here, the recursive fuzzy neural network (RFNN) was applied for the simulation model. As the result of the simulation, average error of RFNN model was 0.91 g/L and this model was found to be useful to supervise the fed-batch culture.
CNN-based blind SIR classification framework for STPA-BAA spectrum superposing
Hiroaki Kobayashi,Shun Kojima,Kazuki Maruta,Takatoshi Sugiyama,Chang-Jun Ahn 한국통신학회 2023 ICT Express Vol.9 No.1
Spectrum sharing in the spatial domain among the plurality of wireless communication systems should be addressed due to its exhaustion. We previously conceptualized a spectrum superposing enabled by subcarrier transmission power assignment (STPA) and blind adaptive array (BAA), where co-channel interference can be suppressed even without a priori information of interferer. However, it requires knowledge of input signal-to-interference power ratio (SIR) to realize completely blind operation. This paper proposes a blind SIR estimation framework by convolutional neural network (CNN) using power spectrum images. Simulation verifies the proposed scheme can maximize throughput performance based on SIR classification results with 97% accuracy.