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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.
Yasufumi Katanasaka,Naoki Yoshida,Hirotaka Naitou,Ryuya Naruta,Yusuke Miyazaki,Yoichi Sunagawa,Masafumi Funamoto,Kana Shimizu,Satoshi Shimizu,Numila Sari,Hajime Yamakage,Noriko Satoh-Asahara,Koji Hase 한국식품영양과학회 2021 Journal of medicinal food Vol.24 No.11
Black tea is a popular beverage worldwide. Theaflavins (TFs), which are active functional components of black tea, are potentially valuable for preventing and/or treating the progression of periodontal diseases. Our previous pilot study showed that TF intake decreases the number of Porphyromonas gingivalis (P. gingivalis) bacteria in the saliva. In this study, we aimed to determine whether TF intake improves periodontal disease attributed to oral bacteria in a randomized, placebo-controlled, and double-blind study. A total of 56 healthy subjects without periodontal diseases were enrolled and assigned to the placebo and TF groups (n = 28). TF intake for 6 weeks did not significantly alter the clinical evaluation of subjects. There was no significant adverse effect among the subjects. The number of P. gingivalis and Fusobacterium nucleatum (F. nucleatum) bacteria, which was the primary endpoint in this study, was not impacted by TF intake. The change ratio of Prevotella intermedia was significantly decreased by TF intake (P = .043) when compared with the placebo group. Collectively, our findings suggest that TFs have beneficial effects on oral bacteria for the prevention of periodontal disease. The study protocol was registered in the University Hospital Medical Information Network (UMIN000020049).