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An Output Feedback Flight Control based on Integral-type Optimal Servomechanism
Hiroyuki Kondo,Yoshimasa Ochi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a design method of an output and/or error signal feedback controller for a single-input-single-output plant based on integral-type optimal servomechanism. The obtained closed-loop controlsystem has as sufficient stability margins and good control performance as a state feedback one with an observer.Particularly the resultant controller for a second-order delay plant becomes exactly a typical I-PD (proportional-derivative preceded integral) one. This feature motivated us to reduce the order of an original plant tosecond based on the ??-gap metric, and then design an I-PD controller. Simulation studies demonstrate the effectiveness and usefulness of the proposed method.
Design of a PID Flight Control System for an MAV having a Side-force Fin
Yoshimasa Ochi,Hiroyuki Kondo,Nobuhiro Yokoyama,Hideo Adachi,Natsuki Kondo,Toshiaki Yamashita,Takanari Arai 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
This paper describes dynamic properties and a night control system of an MAY (mini aerial vehicle) hal ing a side-force fin. We are developing a nonlinear model of the MAY through flight/wind tunnel experiments and CFD anal) sis. A linear model is obtained from the current nonlinear model. Using the linear model, we have designed a !light control system (FCS) that controls the altitude, forward speed, roll angle. and heading angle with thrust. elevator. aileron. and the sideforce fin. respectively. The side-force fin produces direct side-force that achieves skid-to-turn without bank in cooperation with the aileron. The FCS is designed as a PID control system, whose gains are determined based on the integral-type optimal servo, Although the design method has theoretically not been established, it provides PID gains via a simple design procedure and its usefulness and effectiveness have been proved through various design examples, Also in this study, computer simulation and analysis demonstrate how the FCS works.
Clinical and MRI Characteristics of Uterine Cervical Adenocarcinoma: Its Variants and Mimics
Tsukasa Saida,Akiko Sakata,Yumiko Oishi Tanaka,Hiroyuki Ochi,Toshitaka Ishiguro,Masafumi Sakai,Hiroaki Takahashi,Toyomi Satoh,Manabu Minami 대한영상의학회 2019 Korean Journal of Radiology Vol.20 No.3
Adenocarcinoma currently accounts for 10–25% of all uterine cervical carcinomas and has a variety of histopathological subtypes. Among them, mucinous carcinoma gastric type is not associated with high-risk human papillomavirus (HPV) infection and a poor prognosis, while villoglandular carcinoma has an association with high-risk HPV infection and a good prognosis. They show relatively characteristic imaging findings which can be suggested by magnetic resonance imaging (MRI), though the former is sometimes difficult to be distinguished from lobular endocervical glandular hyperplasia. Various kinds of other tumors including squamous cell carcinoma should be also differentiated on MRI, while it is currently difficult to distinguish them on MRI, and HPV screening and pathological confirmation are usually necessary for definite diagnosis and further patient management.
Mamiko Onuki,Koji Matsumoto,Manabu Sakurai,Hiroyuki Ochi,Takeo Minaguchi,Toyomi Satoh,Hiroyuki Yoshikawa 대한부인종양학회 2016 Journal of Gynecologic Oncology Vol.27 No.1
Objective: We conducted a pooled analysis of published studies to compare the performance of human papillomavirus (HPV) testing and cytology in detecting residual or recurrent diseases after treatment for cervical intraepithelial neoplasia grade 2 or 3 (CIN 2/3). Methods: Source articles presenting data on posttreatment HPV testing were identified from the National Library of Medicine (PubMed) database. We included 5,319 cases from 33 articles published between 1996 and 2013. Results: The pooled sensitivity of high-risk HPV testing (0.92; 95% confidence interval [CI], 0.90 to 0.94) for detecting posttreatment CIN 2 or worse (CIN 2+) was much higher than that of cytology (0.76; 95% CI, 0.71 to 0.80). Co-testing of HPV testing and cytology maximized the sensitivity (0.93; 95% CI, 0.87 to 0.96), while HPV genotyping (detection of the same genotype between pre- and posttreatments) did not improve the sensitivity (0.89; 95% CI, 0.82 to 0.94) compared with high-risk HPV testing alone. The specificity of high-risk HPV testing (0.83; 95% CI, 0.82 to 0.84) was similar to that of cytology (0.85; 95% CI, 0.84 to 0.87) and HPV genotyping (0.83; 95% CI, 0.81 to 0.85), while co-testing had reduced specificity (0.76; 95% CI, 0.75 to 0.78). For women with positive surgical margins, high-risk HPV testing provided remarkable risk discrimination between test-positives and test-negatives (absolute risk of residual CIN 2+ 74.4% [95% CI, 64.0 to 82.6] vs. 0.8% [95% CI, 0.15 to 4.6]; p<0.001). Conclusion: Our findings recommend the addition of high-risk HPV testing, either alone or in conjunction with cytology, to posttreatment surveillance strategies. HPV testing can identify populations at greatest risk of posttreatment CIN 2+ lesions, especially among women with positive section margins.