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Adaptive Back stepping Control for a Two-Wheeled Autonomous Robot
Tatsuya Nomura,Yuta Kitsuka,Haruo Suemitsu,Takami Matsuo 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we deal with the backstepping control design of the two-wheeled inverted-pendulum-type autonomous robot, the e-nuvo-wheel, made in ZMP Inc.[5]. First, we derive a second-order motion equation of the angle and design an adaptive integral backstepping controller to stabilize the angle in the manner of the modeling in[1,3]. This controller requires the full-state measurements. In the output feedback case, the Kfilter or the observer backstepping is needed[7,8]. However, the structure of the controller becomes complicated. We have presented then on-model-based differentiator based on the adaptive update law citewada. Since the non-model-based differentiator does not need the knowledge of the dynamic structure of the signal, we can use it a save locity estimator for unknown nonlinear systems. Next, we replace the velocity measurement with the estimates by the non-model-based differentiator. Finally, simulation and experimental results for the proposed controller are presented.
Adaptive Estimation of Mass Flow Rate of a Four-Cylinder Spark Ignition Engine
Yuta Kitsuka,Tatsuya Nomura,Haruo Suemitsu,Takami Matsuo 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we propose a dynamic estimat or for the mass flow rate of the internal combustion engines based on the engine an gular speed and the spark advance measureents. The estimator is designed based on the nonmodel-based velocity estimator and allowsus to eliminate the requirements for in stalling in take manifold sensors that measure the manifold pressure and mssflowrate into manifold.
ON THE CONSTRUCTION OF OPTIMAL LINEAR CODES OF DIMENSION FOUR
Atsuya Kato,Tatsuya Maruta,Keita Nomura 대한수학회 2023 대한수학회보 Vol.60 No.5
A fundamental problem in coding theory is to find $n_q(k,d)$, the minimum length $n$ for which an $[n,k,d]_q$ code exists. We show that some $q$-divisible optimal linear codes of dimension $4$ over $\bF_q$, which are not of Belov type, can be constructed geometrically using hyperbolic quadrics in PG$(3,q)$. We also construct some new linear codes over $\bF_q$ with $q=7,8$, which determine $n_7(4,d)$ for $31$ values of $d$ and $n_8(4,d)$ for $40$ values of $d$.
Initial Impact of the COVID-19 Outbreak on ADHD Symptoms Among University Students in Japan
Takeda Toshinobu,Tsuji Yui,Akatsu Reiko,Nomura Tatsuya 대한소아청소년 정신의학회 2023 소아청소년정신의학 Vol.34 No.2
Objectives: The coronavirus disease 2019 pandemic and its associated societal responses are anticipated to have wide-ranging effects on youth development and mental health. Depression, anxiety, and attention deficit hyperactivity disorder (ADHD) are the three most common mental health problems among university students. Many factors that can threaten mental health during the outbreak affect these three conditions, as well as sleep conditions, in undergraduate students. Thus, determining how these abrupt changes in students’ circumstances impact their mental health is very important from a public health perspective. Methods: We investigated the usual conditions and changes in ADHD symptoms during the outbreak, in relation to depressive and sleep-related symptoms among undergraduate students. A total of 252 students, primarily juniors, completed the online survey. Results: The results showed that 12% of the students exceeded the cut-off score of the ADHD questionnaire before the pandemic. Approximately 6%–21% of the university students, especially those with ADHD traits, rated their ADHD behaviors as worse during the outbreak than that before the outbreak. Conclusion: Female students and undergraduates with ADHD traits are more susceptible to experiencing further deterioration of ADHD (inattention) symptoms during the pandemic. In cases where it is difficult to intervene with ADHD symptoms, approaching circadian rhythm or depression will be of considerable clinical use.