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THE VLBI MONITORING PROJECT FOR 6.7 GHz METHANOL MASERS USING THE JVN/EAVN
SUGIYAMA, KOICHIRO,FUJISAWA, KENTA,HACHISUKA, KAZUYA,YONEKURA, YOSHINORI,MOTOGI, KAZUHITO,SAWADA-SATOH, SATOKO,MATSUMOTO, NAOKO,SAITO, YU,HIRANO, DAIKI,HAYASHI, KYONOSUKE,SHEN, ZHIQIANG,HONMA, MAREKI The Korean Astronomical Society 2015 天文學論叢 Vol.30 No.2
We have initiated a Very Long Baseline Interferometer (VLBI) monitoring project of 36 methanol maser sources at 6.7 GHz using the Japanese VLBI Network (JVN) and East-Asian VLBI Network (EAVN), starting in August 2010. The purpose of this project is to systematically reveal 3-dimensional (3-D) kine-matics of rotating disks around forming high-mass protostars. As an initial result, we present proper mo- tion detections for two methanol maser sources showing an elliptical spatial morphology, G 002.53+00.19 and G 006.79-00.25, which could be the best candidates associated with the disk. The detected proper motions indicate a simple rotation in G 002.53+00.19 and rotation with expansion in G 006.79-00.25, respectively, on the basis of disk model fits with rotating and expanding components. The expanding motions might be caused by the magnetic-centrifugal wind on the disk.
Application of Model Predictive Control to Polishing Robot for Pushing Operation
Nobuaki Endo,Takashi Yoshimi,Koichiro Hayashi,Hiroki Murakami 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Much of the polishing work is done manually by skilled workers. It is not easy to teach robots to perform the detailed work of theirs and to configure and operate an appropriate control system to achieve this, and automation of this process has been delayed. Polishing is performed by pressing a rotating tool against the workpiece to be machined. To achieve this motion, PID control is used in the controllers of many robots. However, to determine the appropriate control gain, it is necessary to repeatedly adjust the control gain according to the processing target and processing conditions. The purpose of this research is to introduce Model Predictive Control (MPC) as a new control system for polishing robots. MPC is a control that predicts control output using a model of the control target. Therefore, we considered the target force value could be achieved without changing the MPC parameters when the force condition, a machining condition, is changed. In this paper, control block diagrams were created in MATLAB Simulink to apply MPC. The block diagram was then mounted on the actual machine to check whether it could be pressed with appropriate force, and the differences from PID were evaluated.