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Asymptotic System Indentification Method Based on Particle Swarm Optimization
Hideo Muroi,Shuichi Adachi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In general, structure of a system to be identified is unknown for users a priori. This makes the model complex and high order structure. In this paper, we introduce the asymptotic method. (ASYM) to deal with the problem. ASYM calculates a high-order model using the well-known least squares method, then reduces the identified model to a simple one. For this model reduction, various model reduction techniques such as balanced realization and output error reduction were developed. In this paper, a new method to reduce the high-order model using the particle swarm optimization in the frequency domain is proposed. Effectiveness of the proposed method is examined through numerical examples.
Shuichi Shimada,Hideo Saito,Yoshihide Kawasaki,Shinichi Yamashita,Hisanobu Adachi,Narihiko Kakoi,Takashige Namima,Masahiko Sato,Atsushi Kyan,Koji Mitsuzuka,Akihiro Ito,Takuhiro Yamaguchi,Yoichi Arai 대한비뇨의학회 2017 Investigative and Clinical Urology Vol.58 No.4
Purpose: To evaluate renal function 1 year after radical nephrectomy (RN) for renal cell carcinoma, the preoperative predictors of postnephrectomy renal function were investigated by sex, and equations to predict the estimated glomerular filtration rate (eGFR) 1 year after RN were developed. Materials and Methods: A total of 525 patients who underwent RN between May 2007 and August 2011 at Tohoku University Hospital and its affiliated hospitals were prospectively evaluated. Overall, 422 patients were analyzed in this study. Results: Independent preoperative factors associated with postnephrectomy renal function were different in males and females. Preoperative eGFR, age, tumor size, and body mass index (BMI) were independent factors in males, while tumor size and BMI were not independent factors in females. The equations developed to predict eGFR 1 year after RN were: Predicted eGFR in males (mL/min/1.73 m2)=27.99−(0.196×age)+(0.497×eGFR)+(0.744×tumor size)−(0.339×BMI); and predicted eGFR in females=44.57−(0.275×age)+(0.298×eGFR). The equations were validated in the validation dataset (R2=0.63, p<0.0001 and R2=0.31, p<0.0001, respectively). Conclusions: The developed equations by sex enable better prediction of eGFR 1 year after RN. The equations will be useful for preoperative patient counseling and selection of the type of surgical procedure in elective partial or RN cases.
VTOL mode controller for a mini-UAV having a side-force fin
Shinichi Hashimoto,Nobuhiro Yokoyama,Yoshimasa Ochi,Hideo Adachi,Natsuki Kondo,Toshiaki Yamashita,Takanari Arai 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
A UAV (Unmanned Aerial Vehicle) currently developed by the authors is a kind of flying wing. One of features of the UAV is its capability of vertical takeoff and landing as a tail-sitter. Thus, it is possible to operate it flexibly by reducing the space restrictions on the takeoff and landing. In this work, we designed a gain-scheduled controller for the vertical takeoff and landing, which can vary the control gain in accordance with the varying state of the vehicle. We applied a method that solves Lyapunov stability conditions on all the design points simultaneously by using linear matrix inequalities (LMI). The effectiveness of the controller is demonstrated through the numerical simulations.
Design of a PID Flight Control System for an MAV having a Side-force Fin
Yoshimasa Ochi,Hiroyuki Kondo,Nobuhiro Yokoyama,Hideo Adachi,Natsuki Kondo,Toshiaki Yamashita,Takanari Arai 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
This paper describes dynamic properties and a night control system of an MAY (mini aerial vehicle) hal ing a side-force fin. We are developing a nonlinear model of the MAY through flight/wind tunnel experiments and CFD anal) sis. A linear model is obtained from the current nonlinear model. Using the linear model, we have designed a !light control system (FCS) that controls the altitude, forward speed, roll angle. and heading angle with thrust. elevator. aileron. and the sideforce fin. respectively. The side-force fin produces direct side-force that achieves skid-to-turn without bank in cooperation with the aileron. The FCS is designed as a PID control system, whose gains are determined based on the integral-type optimal servo, Although the design method has theoretically not been established, it provides PID gains via a simple design procedure and its usefulness and effectiveness have been proved through various design examples, Also in this study, computer simulation and analysis demonstrate how the FCS works.