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Two-Degree-of-Freedom Control of a Stacker Crane
Minoru Sasaki,Toshimi Shimizu,Kengo Suzuki,Shingo Naito,Satoshi Ito 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a motion control of a stacker crane applying a two-degree-of-freedom control. The two-degree-of-freedom control system consists of a feed forward controller based on an inverse system and a feed backcontroller with suppressing the vibration effectively and stabilizing. Feedback control of the motion of the stacker crane is derived by considering the time rate of change of the total energy of the system. This approach has the advantage overthe conventional methods in the respect that it allows one to deal directly with the system’s partial differential equations without resorting to approximations. The paper concludes by presenting some numerical results and experimental results for a special case using a proposed control system. These results show that the two-degree-of-freedom control system can realize faster and precise tracking control of the flexible stacker crane system.
Wataru Nakanishi,Shigehito Miyagi,Kazuaki Tokodai,Atsushi Fujio,Kengo Sasaki,Yoshihiro Shono,Michiaki Unno,Takashi Kamei 대한외과학회 2020 Annals of Surgical Treatment and Research(ASRT) Vol.99 No.6
Purpose: Enhanced recovery after surgery (ERAS) is beneficial to patients undergoing digestive surgery. However, its efficacy in patients undergoing open hepatectomy remains unclear. Methods: Consecutive patients scheduled for open hepatectomy were randomly assigned to undergo either ERAS or conventional postoperative management. The primary endpoint was the amount of time that elapsed before patients were considered medically fit for discharge (MFD) and length of hospital stay (LOHS). Secondary endpoints included morbidity, mortality, the time to first flatus, defecation, first walk, and freedom from infusion. Perioperative serum nutritional markers, insulin resistance, respiratory quotient (RQ), and resting energy expenditure (REE) were also assessed. Results: Between August 2014 and March 2017, 57 patients were randomized into 2 groups; ERAS group (n = 29) and conventional management (n = 28). The median MFD was not significantly different between the ERAS and conventional management groups (6.5 vs. 7 days; P = 0.381). Recovery from gastrointestinal paresis was significantly quicker in the ERAS group (1.8 vs. 2.4 days; P = 0.004). There were no significant differences in serum markers, insulin resistance, RQ, and REE. Conclusion: This trial did not demonstrate greater efficacy of the ERAS protocol following open hepatectomy in terms of the MFD and LOHS. However, the ERAS protocol was associated with better recovery from postoperative gastrointestinal paresis, suggesting that it is useful for patients undergoing open hepatectomy