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Vehicle Braking Control Using Sliding Mode Control
Misawa Kasahara,Yuki Kanai,Yasuchika Mori 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In recent years, anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics [1] and a hybrid control of the brake using model reference adaptive control [2] are done so far. However, in the former case, speed following that be comes a target exists physically impossible situation by saturation of tire frictional force because only speed following is one. In the latter, the model error is caused because the simulation model and the controller design model are different. There fore, there is a problem that an accurate follow can not be done. In this paper, the braking control is performed using the sliding mode control [3] which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims attheachievement of optimal braking control to switch wheel speed following to slip rati o following.
Status of a Carbon-Ion Therapy Facility and Development for Advanced Treatment
Atsushi Kitagawa,Takashi Fujita,Akifumi Fukumura,Takuji Furukawa,Taku Inaniwa,Yoshiyuki Iwata,Tatsuaki Kanai,Mitsutaka Kanazawa,Nobuyuki Kanematsu,Yuki Kase,Masataka Komori,Koji Noda,Yumiko Ohno,Shinj 한국물리학회 2008 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.53 No.6
Over 3000 cancer patients have already been treated with 140- to 400-MeV/n carbon beams produced by the heavy ion medical accelerator in Chiba (HIMAC) at the National Institute of Radiological Sciences (NIRS) since 1994. These clinical results have clearly verified the advantages of carbon ions. Based on our experience at HIMAC, a hospital-specific facility optimized for carbon-ion therapy has been designed. The prototype developments of an electron cyclotron resonance (ECR) ion source, a radio frequency quadruple (RFQ) linac, an inter digital H (IH) linac, an acceleration system of synchrotron, a beam-delivery system and other key-technology parts have been successfully finished. Thus, in co-operation with NIRS, Gunma University has been constructing a carbon-therapy facility since April, 2006. If the present clinical results are to be improved, it is necessary to create a more accurate dose distribution on tumors without an undesired dose being deposited in normal tissue. Beam-scanning methods with respiration-gated irradiation are especially important to treat a cancer tumor located in the trunk of a patient. Over 3000 cancer patients have already been treated with 140- to 400-MeV/n carbon beams produced by the heavy ion medical accelerator in Chiba (HIMAC) at the National Institute of Radiological Sciences (NIRS) since 1994. These clinical results have clearly verified the advantages of carbon ions. Based on our experience at HIMAC, a hospital-specific facility optimized for carbon-ion therapy has been designed. The prototype developments of an electron cyclotron resonance (ECR) ion source, a radio frequency quadruple (RFQ) linac, an inter digital H (IH) linac, an acceleration system of synchrotron, a beam-delivery system and other key-technology parts have been successfully finished. Thus, in co-operation with NIRS, Gunma University has been constructing a carbon-therapy facility since April, 2006. If the present clinical results are to be improved, it is necessary to create a more accurate dose distribution on tumors without an undesired dose being deposited in normal tissue. Beam-scanning methods with respiration-gated irradiation are especially important to treat a cancer tumor located in the trunk of a patient.