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Design of Model Following Control Systems with Discrete-valued Signal Constraints
Yuki Minami 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.1
This paper focuses on a design problem of model following control systems with discrete-valued inputconstraints. In the problem, we design a discrete-valued output controller such that the output behavior of thediscrete-valued input system is similar to that of a given reference model. In this paper, we first formulate thecontroller design problem, and then we analyze the performance of a class of controllers. Based on the result ofthe performance analysis, we analytically derive a controller characterized by the parameters of the plant and thereference model. Finally, we discuss a practical controller design problem considering the fixed-order, the stability,and the input-output gain constraints of controllers. The problem is solved by using a particle swarm optimizationalgorithm.
Dynamic Quantizers for SIMO Control Systems with Unstable Zeros
Yuki Minami,Shun-ichi Azuma,Toshiharu Sugie 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we present multirate sampling type dynamic quantizers for linear control systems with discrete-valued signal constraints. Although our previous works have derived an optimal dynamic quantizer and verified its effec-tiveness by simulations and experiments, the result can not be applied to SIMO plants with unstable zeros. This paper over comes the draw back by using a multirate sampling technique. We first for mulate an optimal design problem for a class of multirate sampling type dynamic quantizers, and then we give a closed form solution to the problem.
Yuki Oichi,Junya Hanakita,Toshiyuki Takahashi,Manabu Minami,Taigo Kawaoka,Yusuke Funakoshi,Takeshi Kawauchi,Yasufumi Ohtake 대한척추신경외과학회 2018 Neurospine Vol.15 No.4
Objective: Computed tomography following myelography (CTM) revealed an unusual flow of contrast dye into the anterior median fissure (AMF) in a patient with cervical spondylotic myelopathy. Since then, several AMF configurations have been observed on CTM. Therefore, we evaluated morphological patterns of the AMF on CTM and investigated the significance and mechanisms of contrast dye flow into the AMF. Methods: Morphological patterns of the AMF on CTM were examined in 79 patients. Group A (24 patients) underwent surgery because of symptomatic cervical myelopathy. Group B (43 patients) had no clinical symptoms but showed spinal cord compression on CTM. Group C (12 patients), who showed neither clinical symptoms nor cord changes, underwent CTM for lumbar lesion evaluation. AMF patterns were classified into 4 types according to their configurations on CTM (reversed T, Y, V, and O types). Results: In group B, the reversed T type and Y type appeared significantly more often near the compressed portion (p<0.001). A similar tendency was seen in group A. The V and O types were most frequently observed in group C (p<0.001). Conclusion: On CTM, contrast dye tends to flow into the AMF of the cervical cord when the spinal cord is compressed. We speculate that there may be 3 possible mechanisms for this phenomenon: deformation of the epipial layer of the AMF due to cervical cord compression, AMF dilatation due to atrophy of the anterior funiculus or anterior horn, and temporary AMF dilatation when it becomes an alternative route for cerebrospinal fluid circulation.
A Quadrocopter Automatic Control Contest as an Example of Interdisciplinary Design Education
Christian Nitschke,Yuki Minami,Masayuki Hiromoto,Hiroaki Ohshima,Takashi Sato 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Unmanned aerial vehicles (UAVs) have many applications and quickly gain popularity with the availability of low-cost micro aerial vehicles (MAVs). Robotics is a popular interdisciplinary education target as it involves understanding and collaboration of several disciplines. Thus, UAVs can serve as an ideal study platform. However, as robotics requires technical background, skills and initial efforts, it is commonly applied in long-term courses. In this paper we successfully exploit the opposite case of robotics in short-term education for students without background, in form of a one-day contest on automatic visual UAV navigation. We provide an extensive survey, and show that existing material and tools do not fit the task and lack in technical aspects. We introduce a novel open-source programming library that comprises programs to guide learning by experience and allow rapid development. It makes contributions to marker-based tracking, with a novel nested-marker design and accurate calibration parameters estimated from 14 Parrot AR.Drone 2.0 front cameras. We show a detailed discussion of the contest results, which represents an extensive user study regarding robotics in education and the effectiveness of the library. The achievement of a steep learning curve for a complex subject has important implications in interdisciplinary design education, as it allows deep understanding of potentials and limitations to facilitate decision-making, unconventional problem solutions and novel applications.
Takai, Tomoaki,Inamoto, Teruo,Komura, Kazumasa,Yoshikawa, Yuki,Uchimoto, Taizo,Saito, Kenkichi,Tanda, Naoki,Kouno, Junko,Minami, Koichiro,Uehara, Hirofumi,Takahara, Kiyoshi,Hirano, Hajime,Nomi, Hayahi Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.6
Background: Despite widely adopted standard methods for follow-up including cystoscopy plus cytology, recurrence rates of non muscle-invasive bladder cancer (NMIBC) have not improved over the past decades, still ranging from 60% through 70%. Hence, widely acceptable surveillance strategies with excellent sensitivity are needed. Early recurrence has led to the development of a novel cystoscopy technique utilizing photodynamic diagnosis (PDD). Although, no studies have evaluated the efficacy of PDD for patients of MIBC, BCG failure or 2nd-transurethelial resection (TUR). Materials and Methods: The present study was performed from October 2012 through May 2013. IRB approved 25 patients initially underwent a cystoscopy examination of white light and blue light followed by the resection of tumors identified. Resections were performed from bladder mucosa areas considered suspicious at PDD, along with PDD negative normal bladder mucosa area resected by random biopsy. Specimens were divided into two groups, PDD positive and negative. Primary endpoints were sensitivity and specificity. Results: A total of 147 specimens extracted from 25 patients were included in the analysis. Some 45 out of 92 PDD-positive specimens were confirmed to have bladder cancer, and 51 out of PDD-negative 55 specimens were confirmed to be cancer negative. The sensitivity of PDD was 91.8% (45/49) and specificity was 52.0% (51/98). The sensitivity:specificity was 89.5% (17/19) : 47.6% (30/63) in 12 2nd-TUR patients, 90.5% (19/21) : 61.1% (11/18) in seven MIBC patients, and 95.0% (19/20) : 48.5% (16/33) in eight failed BCG cases. Conclusions: PDD-TURBT has high sensitivity to diagnose BC even for 2nd-TUR, MIBC or BCG failure cases.
Takai, Tomoaki,Inamoto, Teruo,Komura, Kazumasa,Tsujino, Takuya,Matsunaga, Tomohisa,Yoshikawa, Yuki,Uchimoto, Taizo,Saito, Kenkichi,Tanda, Naoki,Minami, Koichiro,Uehara, Hirofumi,Ibuki, Naokazu,Takahar Asian Pacific Journal of Cancer Prevention 2016 Asian Pacific journal of cancer prevention Vol.17 No.3
Background: We vigorously reviewed patients' operation record who had adhesion of the Denonvilliers' fascia and found out most of these patients had prostatic bleeding after prostatic gland biopsies. We examined the magnitude of prostatic bleeding and frequency after biopsies and the relationship with oncological outcomes. Materials and Methods: A total of 285 patients were selected for the final analyses. Inclusion criteria were as follows: receiving MRI three weeks after biopsiesand laparoscopic radical prostatectomy within 300 days after biopsy. We divided the patients into two groups with (group A) or without (group B) prostatic bleeding. We examined the magnitude of prostatic bleeding after biopsies and the relationship with operation time (OT), positive surgical margin (PSM), biochemical recurrence (BCR) and other factors. Furthermore, we created a logistic-regression model to derive a propensity score for prostatic bleeding after biopsies, which included all patient and hospital characteristics as well as selected interaction terms, and we examined the relationship with PSM and BCR. Results: In all patients, the OT in the group B was shorter than the group A (p < 0.001). Prostatic bleeding was associated with PSM (p=0.000) and BCR (p=0.036). In this propensity-matched cohort, 11 of 116 patients in the group B had PSM as compared with 36 of 116 patients from group A (match-adjusted odds ratio, 4.30; 95%CI confidence interval, 2.06 to 8.96; P=0.000). In addition, eight of 116 patients in group B encountered BCR, as compared with 18 of 116 patients in group A (match-adjusted odds ratio, 2.48; 95%CI, 1.03 to 5.96; P=0.042). Kaplan-Meier analysis in the propensity matching cohort showed a significant biochemical recurrence-free survival advantage for being free of prostate bleeding after biopsies. Conclusions: Our findings in the present cohort should help equip surgeons to pay attention to careful excision especially for those who experienced deferred prostatic bleeding.
Melvin John F. Empizo,Kohei Yamanoi,Kazuhito Fukuda,Ren Arita,Yuki Minami,Toshihiko Shimizu,Nobuhiko Sarukura,Tsuguo Fukuda,Alexandra B. Santos-Putungan,Ray M. Vargas,Arnel A. Salvador,Roland V. Sarma 한양대학교 세라믹연구소 2015 Journal of Ceramic Processing Research Vol.16 No.1
Photoluminescence properties of bulk and microstructured ZnO crystals are investigated for potential scintillator applications. A bulk crystal is prepared by hydrothermal method, while hexagonal micron-sized crystals are prepared by aqueous chemical growth and carbothermal reduction methods. The bulk sample exhibits UV emission only, while the microstructured samples exhibit both UV and visible emissions. The ZnO microstructures have faster near-band edge emission lifetimes of 100 to 800 ps compared to 440 ps and 2 ns of bulk ZnO. No direct correlation between the defect-related emissions and the near-band edge emission has been observed. ZnO microstructures with fast luminescence lifetimes have promising applications as EUV lithography and XFELs scintillators.
Tadayuki Takagi,Mitsuru Sugimoto,Hidemichi Imamura,Yosuke Takahata,Yuki Nakajima,Rei Suzuki,Naoki Konno,Hiroyuki Asama,Yuki Sato,Hiroki Irie,Jun Nakamura,Mika Takasumi,Minami Hashimoto,Tsunetaka Kato 대한소화기내시경학회 2023 Clinical Endoscopy Vol.56 No.1
high tumors. Therefore, sufficient sampling of histological specimens is necessary in cases of unresectable pancreatic cancer (UR-PC). This multicenter study investigated the efficacy of endoscopic ultrasound-guided fine-needle biopsy (EUS-FNB) using a Franseen needlefor MSI evaluation in patients with UR-PC. Methods: A total of 89 patients with UR-PC who underwent endoscopic ultrasound-guided fine-needle aspiration (EUS-FNA) orEUS-FNB using 22-G needles at three hospitals in Japan (2018–2021) were enrolled. Fifty-six of these patients (FNB 23 and FNA 33)were followed up or evaluated for MSI. Patient characteristics, UR-PC data, and procedural outcomes were compared between patientswho underwent EUS-FNB and those who underwent EUS-FNA. Results: No significant difference in terms of sufficient tissue acquisition for histology was observed between patients who underwentEUS-FNB and those who underwent EUS-FNA. MSI evaluation was possible significantly more with tissue samples obtained usingEUS-FNB than with tissue samples obtained using EUS-FNA (82.6% [19/23] vs. 45.5% [15/33], respectively; p<0.01). In the multivariateanalysis, EUS-FNB was the only significant factor influencing the possibility of MSI evaluation. Conclusions: EUS-FNB using a Franseen needle is desirable for ensuring sufficient tissue acquisition for MSI evaluation.