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Modeling of a radio-controlled car with camera based on system identification
Hiroshi Kusano,Koichi Hidaka 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper describes a modeling of movement object. A auto driving of the car is studied to reduce traffic accidents and traffic jam in late years. The experiment tries there control with the radio controlled car which did movement same as a car. The control of the radio controlled car controls the steering voltage on speed uniformity this time. The control method usually uses model predictive control. The precision of the model becomes important for the model predictive control. To give the precision of model, a system model of straight line and curve line is necessary for the model of the radio controlled car. Since these movements of the radio controlled car are different, these model do not become the same models. The model of the car on curve needs closed loop identification with impossibility by open loop identification. Therefore, we examine the model of straight line using closed loop identification model to consider proper model.
Taira Hidaka,Hiroshi Tsuno,Haruka Yagi,Yusuke Kosaka 한국생물공학회 2012 Biotechnology and Bioprocess Engineering Vol.17 No.2
Batch and semi-continuous thermophilic L-lactate fermentation experiments were performed using Bacillus coagulans and glucose as a substrate. Reactor performance and biomass concentrations were assessed using two methods: turbidity as a traditional biomass index and realtime polymerase chain reaction (PCR) quantification of 16S rRNA genes. In the batch experiment, although the relationship between turbidity and real-time PCR assay differed depending on the growth phase, a correlation was observed between both assay methods. In the semicontinuous experiment, real-time PCR measurement was well suited for use as an index for evaluating bacterial mass under different organic loading conditions. A mathematical model was applied to evaluate the real-time PCR quantification to long-term, semi-continuous lactate fermentation. Lactate fermentation was well suited since only B. coagulans was involved in the reactions. The results obtained revealed a fundamental relationship between real-time PCR and traditional biomass analyses. Batch and semi-continuous thermophilic L-lactate fermentation experiments were performed using Bacillus coagulans and glucose as a substrate. Reactor performance and biomass concentrations were assessed using two methods: turbidity as a traditional biomass index and realtime polymerase chain reaction (PCR) quantification of 16S rRNA genes. In the batch experiment, although the relationship between turbidity and real-time PCR assay differed depending on the growth phase, a correlation was observed between both assay methods. In the semicontinuous experiment, real-time PCR measurement was well suited for use as an index for evaluating bacterial mass under different organic loading conditions. A mathematical model was applied to evaluate the real-time PCR quantification to long-term, semi-continuous lactate fermentation. Lactate fermentation was well suited since only B. coagulans was involved in the reactions. The results obtained revealed a fundamental relationship between real-time PCR and traditional biomass analyses.