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Kenji Sawada,Tsuyoshi Kiyama 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper considers linear time-invariant continuous-time servosystems with control input saturation nonlin-earities, and proposes a design method of output feedback controllers satisfying a regional integral quadratic performance for the systems based on the generaized sector approach. For agiven servocompensator, the method assumes the output of the nonlinearities to be available for the control, and then it is an integrated design of reduced-order dynamic output feed-back and anti-wind up compensators where each of their orders is the number of available plant states less than the plant order. This paper recasts the design problem using the method as a convex optimization problem based onlinear matrixin equalities and linear matrix equatios. Furthermore, it is pointed out that the performance achievable by the full-order compensator with the same generalized plant order is exactly the same as that by the reduced-order compensator.
Implementation test model of torque control for Automatic Guided Vehicle
Tatsuya Ikawa,Kenji Sawada,Seiichi Shin 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper describes how to develop a torque control algorithm for automatic guided vehicle (AGV). Also, this paper describes a prototype machine which the method is implemented into. The prototype machine used in this paper is a wheel type robot with the H8 microcomputer. This paper points out that the proposed algorithm is helpful in terms of implementation experiments.
Ryo Yanagawa,Kenji Sawada,Seiichi Shin 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Focusing on the air-conditioner, this paper considers the real-time model learning and the adaptation algorithm to the indoor environment, simultaneously. It is clarified that the Constant-Trace Algorithm is effective for the adaptation, which consists of the detection of disturbances (external factors to change the amount of heat in the room) and the switching between the model learning with and without the disturbances. Also, this paper estimates the perturbation of the amount of heat based on the disturbance detection. In addition, this paper validates the effectiveness of our method by experiments.
Sintering and Mechanical Properties of Chromium Boride-chromium Carbide Composites
Matsushita Jun-Ichi,Shimao Kenji,Machida Yoshiyuki,Takao Takumi,Iizumi Kiyokata,Sawada Yutaka,Shim Kwang-Bo 한국분말야금학회 2006 한국분말야금학회 학술대회논문집 Vol.2006 No.1
Several boride sintered bodies such as , , and were previously reported. In the present study, the sinterability and physical properties of chromium boride containing chromium carbide sintered bodies were investigated in order to determine its new advanced material. The samples were sintered at desired temperature for 1 hour in vacuum under a pressure by hot pressing. The relative density of sintered bodies was measured by Archimedes' method. The relative densities of addition of 0, 5, 10, 15 and 20 mass% composites were 92 to 95%. The Vickers hardness of the with 10 and 15 mass% composites were about 14 and 15 GPa at room temperature, respectively. The Vickers hardness at high temperature of the addition of 10 mass% composite decreased with increasing measurement temperature. The Vickers hardness at 1273 K of the sample was 6 GPa. The Vickers hardness of addition of composites was higher than monolithic sintered body. The powder X-ray diffraction analysis detected CrB and phases in containing composites.
Charging and discharging cycle design for performance evaluation of HV batteries
Kouhei Komatsuzaki,Seiichi Shin,Kenji Sawada 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The battery greatly influences the performance of the Hybrid Vehicle (HV). So, automobile manufacturers need to evaluate the batteries of various manufacturers and select the most appropriate one. In this case, they need a charge-discharge cycle to evaluate batteries quantitatively. In this paper, we call such a cycle an evaluation pattern and propose a design method of the pattern to evaluate the HV battery quantitatively. HV employs two power sources, motor and engine. In a HV, the appropriate distribution of output torques between the motor and engine is determined based on the driving condition (vehicle speed, acceleration rate, SOC, and so on). That leads to the dependence of the charge-discharge cycle on the driving condition. Therefore, our method divides actual driving data of HV into four driving modes (stopping, acceleration, steady running and deceleration) and then selects a representative pattern for every driving mode effectively by using regression analysis. As a result, we can narrow down the actual driving data that to a few representative patterns. The evaluation pattern is designed by combining the representative patterns. In addition, the quantitative evaluation pattern can be designed in a short time.
사료내 단백원의 차이가 참돔(Pagrus major)과 교잡어 (P. major ♀×Acanthopagrus schlegeli ♂)의 성장과 에너지수지에 미치는 영향
김양수,Biswajit Kumar Biswas,Amal Biswas,지승철,정관식,Osamu Murata,Yoshifumi Sawada,Kenji Takii 전남대학교 수산과학연구소 2013 수산과학연구소논문집 Vol.21 No.-
This study investigated the growth and energy partition of juvenile red sea bream Pagrus major (159.3±9.5 g; RSB) and hybrid sea bream P. major (♀)×Acanthopagrus schlegeli (♂) (144.8± 10.0 g; F1) on satiation feeding of fish meal (FM) and soybean meal (SM) based isocaloric diets (21.1 kJ/g diet) at 21.6℃ water temperature for 4 weeks. Two sea bream species offered no significant influence on final mean body weight, condition factor, viscera somatic index and apparent digestibility coefficient in both dietary groups, and both fish species were increased the relative stomach and intestine weight in SM than that in FM. RSB fed FM diet showed larger growth rate, feed efficiency, protein efficiency ratio, and apparent nutrients and energy retention efficiency than that fed SM diet, but this was inverse in F1. Whereas, Energy partitions of RSB and F1 in FM and SM dietary groups observed a similar tendency on fecal, digestible, urinary, metabolizable and standard metabolizable energy. However, retained energy of RSB in fed FM diet higher than that in SM, was inverse in F1. Moreover, heat increment plus voluntary activity energy consumption of F1 fed SM diet compare with fed FM diet lower than that of RSB. These results suggest that RSB and F1 has similar the energy consumption metabolism for digestive absorption in both diets, however, the energy accumulation pattern from absorbed nutrients appear to differ on SM fed.