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Applying Particle Filter to Genetic Regulatory Networks Identification
Kotaro Miake,Toshiharu Hatanaka,Katsuji Uosaki 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The genetic regulatory networks(GRNs) identification problem is considered in this paper. Since it prefers to capture the characteristic behavior of GRN, which seems natural to describe as a hybrid system, a piecewise affine type model is often used as a simple model of GRN sinrecent years. A particle filter is introduced to identify a piece wise ARX model, where the system mode and parameters should be estimated simultaneously. The system mode is estimated by maximum a posteriori probability and the unknown parameters are estimated by particles. A numerical simulation studies are carried out by using the carbon starvation response model of the bacterium Escherichia coli, and the proposed method is able to estimate the system mode with high accuracy.
Development of a Pneumatically Driven Forceps Manipulator IBIS IV
Kotaro Tadano,Kenji Kawashima 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to theoperator is a problem. We have proposed a pneumatic surgical manipulator that is capable of estimating external force,without the use of force sensors. However, the force estimation had a sensitivity of only 3[N] because of inertia andfriction effect. In this paper, we newly developed an improved model of the surgical manipulator IBIS IV to solve thisproblem. The base part of the forceps becomes compact and succeeded in reduce the weight. We conducted someexperiments including in-vivo experiment and confirmed that the effectiveness and improvement of the manipulator. Keywords: Medical Robots and Systems, Telerobotics, Force control, Pneumatic actuators
Robust Washout Control for Supporting Bicycle Riding
Kotaro Shima,Shigeru Yamamoto,Takashi Takimoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we consider a reduction problem of vibration in riding and rider’s burden by stabilizing the bicycle at slow speed. In riding a bicycle, the reference input which is generally required by feedback methods is implicitly determined by a rider. Hence, the preassigned reference input may be biased against the rider’s intention. To compensate the bias, we adopt robust washout control which can asymptotically reject the influence of the bias and is robust against the speed fluctuation of the bicycle. Furthermore, by introducing a scaling in designing robust washout control, we improve the resulting control performance.
Kotaro Hatta,Hiroto Ito 대한정신약물학회 2014 CLINICAL PSYCHOPHARMACOLOGY AND NEUROSCIENCE Vol.12 No.1
As a strategy for antipsychotic treatment of schizophrenia, monotherapy is clearly optimal when both effective and tolerated. When a patient fails to respond to an adequate dose of an antipsychotic, alternatives include switching, administering a higherdose (above the licensed dose), polypharmacy or clozapine. Clozapine is the only option with established efficacy, but is lessmanageable than other antipsychotics. We therefore reviewed other options, focusing on the treatment of acute-phaseschizophrenia. According to recent evidence, an antipsychotic may be viewed as ineffective within 1-4 weeks in acute-phasepractice, although some differences may exist among antipsychotics. Whether a switching strategy is effective might dependon the initial antipsychotic and which antipsychotic is switched to. As weak evidence points toward augmentation being superiorto continuation of the initial antipsychotic, inclusion of augmentation arms in larger studies comparing strategies for earlynon-responders in the acute-phase is justified. With respect to high-doses, little evidence is available regarding acute-phasetreatment, and the issue remains controversial. Although evidence for antipsychotic switching, augmentation, and high-doseshas gradually been accumulating, more studies performed in real clinical practice with minimal bias are required to establishstrategies for early non-response to an antipsychotic drug in the treatment of acute-phase schizophrenia.