Observer based stochastic trajectory tracking control of mechanical systems

Satoshi Satoh,Kenji Fujimoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper concerns an observer based stochastic trajectory tracking control of mechanical systems. We consider mechanical systems in the presence of noise as stochastic systems and derive a condition for a stabilizing and tracking controller to achieve each control objective in probability. Here we assume that only position measurements can be available. Velocity information is reconstructed by the position information. The condition for the combined controller-observer is derived. Since our method is based on bounded stability, the norm of tracking error with respect to a given desired trajectory remains bounded in probability and the margin of error is assignable.

The Efficacy of Yellow Tape Formulation of Pyriproxyfen against the Sweet Potato Whitefly, Bemisia tabaci (Gennadius) (Homoptera: Aleyrodidae)

Satoshi Nakamura,Masao Inoue,Hiroaki Fujimoto,Kiyoshi Kasamatsu 한국응용곤충학회 2007 Journal of Asia-Pacific Entomology Vol.10 No.1

A tape formulation of pyriproxyfen was prepared by coating the chemical onto yellow plastic film. We evaluated the transovarial ovicidal activity of the tape formulation against Bemisia tabaci and investigated the optimal application method and efficacy in a greenhouse. The tape formulation showed high ovicidal activity of over 80% mortality against B. tabaci for 4 days by a 30-second compulsory contact test. The formulation controlled the B. tabaci population on tomatoes by both “sideways spreading application” and “vertical hanging application”. “Sideways spreading application” was considered to be more practical, although there was no significant difference in efficacy between the two application methods. In a large-scale greenhouse trial of “sideways spreading application”, the tape formulation suppressed the B. tabaci population for 77 days. The results suggested that the tape formulation is promising as a tool for IPM because of its high efficacy and lower environmental impact.

The Efficacy of Yellow Tape Formulation of Pyriproxyfen against the Sweet Potato Whitefly, Bemisia tabaci (Gennadius) (Homoptera: Aleyrodidae)

Nakamura, Satoshi,Inoue, Masao,Fujimoto, Hiroaki,Kasamatsu, Kiyoshi Korean Society of Applied Entomology 2007 Journal of Asia-Pacific Entomology Vol.10 No.1

A tape formulation of pyriproxyfen was pre-pared by coating the chemical onto yellow plastic film. We evaluated the trans ovarial ovicidal activity of the tape formulation against Bemisia tabaci and investigated the optimal application method and efficacy in a greenhouse. The tape formulation showed high ovicidal activity of over 80% mortality against B. tabaci for 4 days by a 30-second compulsory contact test. The formulation controlled the B. tabaci population on tomatoes by both "sideways spreading application" and "vertical hanging application". "Sideways spreading application" was considered to be more practical, although there was no significant difference in efficacy between the two application methods. In a large-scale greenhouse trial of "sideways spreading application", the tape formulation suppressed the B. tabaci population for 77 days. The results suggested that the tape formulation is promising as a tool for IPM because of its high efficacy and lower environmental impact.

Robust Pelvic Coordinate System Determination for Pose Changes in Multidetector-row Computed Tomography Images

Kobashi, Syoji,Fujimoto, Satoshi,Nishiyama, Takayuki,Kanzaki, Noriyuki,Fujishiro, Takaaki,Shibanuma, Nao,Kuramoto, Kei,Kurosaka, Masahiro,Hata, Yutaka Korean Institute of Intelligent Systems 2010 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.10 No.1

For developing navigation system of total hip arthroplasty (THA) and evaluating hip joint kinematics, 3-D pose position of the femur and acetabulum in the pelvic coordinate system has been quantified. The pelvic coordinate system is determined by manually indicating pelvic landmarks in multidetector-row computed tomography (MDCT) images. It includes intra- and inter-observer variability, and may result in a variability of THA operation or diagnosis. To reduce the variability of pelvic coordinate system determination, this paper proposes an automated method in MDCT images. The proposed method determines pelvic coordinate system automatically by detecting pelvic landmarks on anterior pelvic plane (APP) from MDCT images. The method calibrates pelvic pose by using silhouette images to suppress the affect of pelvic pose change. As a result of comparing with manual determination, the proposed method determined the coordinate system with a mean displacement of $2.6\;{\pm}\;1.6$ mm and a mean angle error of $0.78\;{\pm}\;0.34$ deg on 5 THA subjects. For changes of pelvic pose position within 10 deg, standard deviation of displacement was 3.7 mm, and of pose was 1.28 deg. We confirmed the proposed method was robust for pelvic pose changes.

Robust Pelvic Coordinate System Determination for Pose Changes in Multidetector-row Computed Tomography Images

Syoji Kobashi,Satoshi Fujimoto,Takayuki Nishiyama,Noriyuki Kanzaki,Takaaki Fujishiro,Nao Shibanuma,Kei Kuramoto,Masahiro Kurosaka,Yutaka Hata 한국지능시스템학회 2010 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.10 No.1

For developing navigation system of total hip arthroplasty (THA) and evaluating hip joint kinematics, 3-D pose position of the femur and acetabulum in the pelvic coordinate system has been quantified. The pelvic coordinate system is determined by manually indicating pelvic landmarks in multidetector-row computed tomography (MDCT) images. It includes intra- and inter-observer variability, and may result in a variability of THA operation or diagnosis. To reduce the variability of pelvic coordinate system determination, this paper proposes an automated method in MDCT images. The proposed method determines pelvic coordinate system automatically by detecting pelvic landmarks on anterior pelvic plane (APP) from MDCT images. The method calibrates pelvic pose by using silhouette images to suppress the affect of pelvic pose change. As a result of comparing with manual determination, the proposed method determined the coordinate system with a mean displacement of 2.6 ± 1.6 mm and a mean angle error of 0.78 ± 0.34 deg on 5 THA subjects. For changes of pelvic pose position within 10 deg, standard deviation of displacement was 3.7 mm, and of pose was 1.28 deg. We confirmed the proposed method was robust for pelvic pose changes.

Mechatronics Education Using Robot Competition in Okayama University of Science

Akagi, Tetsuya,Fujimoto, Shinsaku,Kuno, Hiroaki,Araki, Keisuke,Yamada, Satoshi,Dohta, Shujiro Korean Society for Engineering Education 2010 공학교육연구 Vol.13 No.2

Electronics machines make daily human life more convenient and comfortable and try to ease burdens. When designing and manufacturing such mechatronic systems, the engineers need to have a wide range of knowledge. The purpose of our education is for students to learn to use mechatronic techniques. To realize our goal, we regard "an interest in creation" of our student as an important educational method. In this paper, we propose and try an educational method for mechatronics creation using "their interest". The method is to hold robot competitions between 1st and 3rd year students as a regular curriculum. In order to confirm the progress of our students in our engineering course, in the last year, some students entered the Rescue Robot Contest held in Kobe Japan. As a result, our student team got second place, a great honor considering it was our first attempt. We confirm that the robot competition is a useful method to make students study by themselves.

정어리표피중에 존재하는 지방산화촉진물질의 검색확인 및 그 특성구명

조순영,모리사토시,엔도야스시,후지모토겐시로 한국수산학회 1992 한국수산과학회지 Vol.25 No.6

정어리표피 중에 존재하는 지방산화촉진물질의 검색확인 및 그 특성구명을 시도하였다. 정어리표피중의 산화촉진물질은 0.05M 인산염 완충액으로 거의 모두 추출되었고, 이 조추출액에 대해 Sephadex G-200, DEAE-Sephadex A-50 및 CM-Sephadex A-50 등으로 연속적인 분리를 행하였다. 정어리표피 중의 주 산화촉진물질은 열에 극히 불안정하고, 지방산화촉진의 최적 작용 pH가 7이며, 특징적인 Sohret흡수를 나타내는 점 등으로부터 햄을 가진 효소임을 알 수 있었다. 특히 이들은 기질인 유리 및 에스테르화 리놀산에 모두 잘 작용하여 빠른 속도로 공역과산화물을 형성하였다. 이상의 결과로부터 정어리표피 중의 주 지방산화촉진물의 본태는 새로운 형태의 리폭시지네이스유사 효소인 것으로 추정되었다. Lipid prooxidants in sardine skin was characterized. Prooxidants in the sardine skin extract with 0.05M phosphate buffer was purified by successive chromatography on Sephadex G-200, DEAE-Sephadex A-50 and CM-Sephadex A-50. Prooxidants of sardine skin exist mainly in the intermediate molecular weight fractions. Observations of the thermounstability and optimum pH(pH 7.0) suggest that the major prooxidants are enzymes and hemoproteins. They can oxidize well both free and esterified linoleic acid and form conjugated hydroperoxides. From these results, the major prooxidants in sardine skin are assumed to be lipoxygenase-like enzymes.

Low Iodine Dose is Related with Overestimation of Extracellular Volume Derived from Cardiac CT

Hiroaki Arakawa,Nobuo Tomizawa,Shengpu Chou,Satoshi Matsuoka,Kodai Yamamoto,Shinichi Inoh,Takeshi Nojo,Kanako Kunishima Kumamaru,Shinichiro Fujimoto,Sunao Nakamura 아시아심장혈관영상의학회 2020 Cardiovascular Imaging Asia Vol.4 No.2

Objective: To assess the relationship between the amount of injected contrast medium and the extracellular volume (ECV) value during cardiac CT and to propose a minimum amount of contrast medium necessary to correctly calculate ECV. Materials and Methods: A total of 95 patients who underwent comprehensive cardiac CT were included. Patients first underwent myocardial CT perfusion (CTP) with a contrast medium dose determined by the body weight (<70 kg: 50 mL; 70–89 kg: 55 mL; ≥90 kg: 60 mL). Coronary CT angiography (CTA) scan followed with a contrast medium dose of 0.8×body weight (kg). We defined the ECV value calculated after CTP as ECVCTP, and we used the ECV value calculated after the CTA exam as the reference standard (ECVref). We calculated the difference in ECV values (ECVdiff) as ECVCTP-ECVref. Results: The injected iodine doses during CTP and the entire exam were 284±50 and 559± 69 mg iodine/kg, respectively. There was a weak but significant negative relationship (R2 =0.07, p=0.01) between the injected iodine dose during CTP and ECVdiff. The ECVdiff of patients who received an injected iodine dose of <285 mg iodine/kg during CTP was significantly higher (2.7±4.1 vs. 0.8±3.4%, p=0.02) than that of the remaining patients. Conclusion: ECV derived from cardiac CT might be overestimated when a small amount of contrast medium is injected. Inj

Optimizing Contrast Medium Injection for Coronary CT Angiography Using Myocardial CT Perfusion Data

Tomizawa Nobuo,Chou Shengpu,Matsuoka Satoshi,Yamamoto Kodai,Inoh Shinichi,Nojo Takeshi,Kumamaru Kanako Kunishima,Fujimoto Shinichiro,Nakamura Sunao 아시아심장혈관영상의학회 2019 Cardiovascular Imaging Asia Vol.3 No.4

Objective: To derive and validate a formula to predict the optimal amount of contrast medium for coronary CT angiography (CTA) from CT perfusion (CTP) data during comprehensive cardiac CT. Materials and Methods: The derivation and validation group consisted of 196 and 41 patients, respectively. Dynamic CTP was performed under adenosine triphosphate stress of 0.14 mg/kg/min, followed by rest coronary CTA. Time to peak (TTP) and peak enhancement (PE) in the left ventricle during CTP was recorded. The amount of contrast medium during CTA was 0.8×body weight (kg) in the derivation group. A formula to determine the amount of contrast medium needed to achieve an enhancement of 370 Hounsfield unit (HU) in CTA was derived using TTP, PE, body weight, and heart rate. The amount of contrast medium required during CTA in the validation group was determined by this formula. Results: The mean amount of contrast medium during CTA did not differ between the derivation and validation groups (49.3±8.0 mL vs. 47.9±12.9 mL, p=0.39). The mean coronary artery enhancement was slightly lower in the validation group (400±55 HU vs. 380±46 HU, p=0.03) with smaller interpatient variability (p=0.02) than in the derivation group. The proportion of patients with an optimal enhancement of 320 HU to 420 HU significantly increased from 54% to 75% (p=0.01) when the formula was used. Conclusion: Adjusting the amount of contrast medium using dynamic CTP data could reduce the interpatient variability of coronary enhancement during comprehensive cardiac CT.

Spin-wave eigenmodes in single disk-shaped FeB nanomagnet

Cho, Jaehun,Miwa, Shinji,Yakushiji, Kay,Tamaru, Shingo,Kubota, Hitoshi,Fukushima, Akio,Fujimoto, Satoshi,Tamura, Eiiti,You, Chun-Yeol,Yuasa, Shinji,Suzuki, Yoshishige American Physical Society 2016 Physical Review B Vol.94 No.18

<P>Spin-wave eigenmodes in a disk-shaped FeB nanomagnet were investigated using magnetic tunnel junctions with a FeB magnetic layer and MgO barrier. Noise spectrum measurements for a perpendicularly magnetized junction of 120 nm in diameter showed thermal excitation of distinct spin-wave modes. The measured spectra were compared with analytical calculations and numerical simulations. As a result, the observed modes were classified as spin-wave eigenmodes with various nodal circles and nodal diameter modes by taking into account splitting between directional spin-wave modes originating from dynamic dipolar interaction instead of Dzyaloshinskii-Moriya interaction. These results provide a fundamental understanding of spin dynamics in nanosize spintronic devices.</P>