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Fujio Ito,Zenya Ito,Motohide Shibayama,Shu Nakamura,Minoru Yamada,Hideki Yoshimatu,Mikinobu Takeuchi,Kenzo Shimizu,Yasushi Miura 대한척추신경외과학회 2019 Neurospine Vol.16 No.1
Objective: Spinal stenosis is increasingly common due to population aging. In elderly patients with lumbar central canal stenosis (LCCS), minimizing muscle damage and bone resection is particularly important. We performed a step-by-step operation with a newly designed spinal endoscope to obtain adequate decompression in patients with spinal stenosis. Methods: From April 2015 to August 2016, 78 patients (48 males, 30 females) with LCCS (91 segments) underwent endoscopic decompression using a newly designed endoscope system. The inclusion criteria were: (1) neurogenic intermittent claudication with or without radiculopathy, (2) LCCS, and (3) having exhausted conservative treatment (>3 months). The exclusion criteria were: (1) >10° of instability, (2) spondylolisthesis grade II or greater according to the Meyerding criteria, (3) foraminal stenosis, (4) vascular intermittent claudication, (5) infection, and (6) stenosis combined with malignancy. We performed a step-by-step procedure using a newly designed endoscope system for unilateral-approach bilateral decompression. We used the same incision for 2–3 segments, only moving the skin. Results: The mean follow-up was 2.3±1.3 years. Excellent or good results were found according to the MacNab criteria in 85.9% of cases (67 of 78). The visual analogue scale, Japanese Orthopedic Association score, and Oswestry Disability Index showed significant decreases at 1 month, persisting until the 2-year follow-up. Dural tear occurred in 4 cases (5.1%), and patch repair was performed under endoscopy. No patients experienced aggravated instability requiring surgery. Conclusion: We obtained good results with endoscopic decompression surgery using a newly designed instrument that minimized muscle and bone damage in elderly patients with spinal stenosis.
Self-Tuning Control of a Two-Link Flexible Manipulator using Neural Networks
Minoru Sasaki,Akihiro Asai,Toshimi Shimizu,Satoshi Ito(편집자) 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, a self-tuning control of a two-link flexible manipulator using neural networks is presented. The neural networks learn the gains of PI controllers for the flexible manipulator. Numerical results show that this presented neural network control system can suppress the vibration of the flexible manipulator and track the desired joint angles.Simulation results show that the self-tuning control system using neural network can be used effectively for the position control of the two-link flexible manipulator.
Vibration Control of a Micro-Actuator for the Hard Disk Drive using Self-Sensing Actuation
Minoru Sasaki,Satoshi Ito 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, self-sensing control of a micro-actuator for the hard disk drive is presented. The micro-actuator is a suspension driving type. The micro-actuator uses a PZT actuator pair, installed on the assembly of the suspension. The self-sensing micro actuator can be used to form a combined actuation and sensing mechanism. Direct velocity feedback control and positive position feedback control of a self-sensing micro-actuator for an HDD is presented. The experimental results show that the direct velocity feedback controller and the positive position feedback controller are effective in suppressing the vibration modes. Experiments successfully demonstrate that the self-sensing actuator can be used for active feedback control of the HDD suspension assembly vibration.
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.