Stability tests and stabilization for piecewise linear systems based on poles and zeros of subsystems

This paper provides several stability tests for piecewise linear systems and proposes a method of stabilization for bimodal systems. In particular, we derive an explicit and exact stability test for planar systems, which is given in terms of coefficients of transfer functions of subsystems. Restricting attention to the bimodal and planar case, we show simple stability tests. In addition, we drive a necessary stability condition and a sufficient stability condition for higher-order and bimodal systems. They are given in terms of the eigenvalue loci and the observability of subsystems. All the stability tests provided in this paper are computationally tractable, and our results are applied to the stabilizability problem. We confirm the exactness and effectiveness of our approach by illustrative examples.     

A Social Robot that Stands in Line

Recent research in mobile robot navigation make it feasible to utilize autonomous robots in service fields. But, such applications require more than just navigation. To operate in a peopled environment, robots should recognize and act according to human social behavior. In this paper, we present the design and implementation of one such social behavior: a robot that stands in line much as people do. The system employs stereo vision to recognize lines of people, and uses the concept of personal space for modeling the social behavior. Personal space is used both to detect the end of a line and to determine how much space to leave between the robot and the person in front of it. Our model of personal space is based on measurements from people forming lines. We demonstrate our ideas with a mobile robot navigation system that can purchase a cup of coffee, even if people are waiting in line for service.     

Spatial indexing of high-dimensional data based on relative approximation

We propose a novel index structure, the A-tree (approximation tree), for similarity searches in high-dimensional data. The basic idea of the A-tree is the introduction of virtual bounding rectangles (VBRs) which contain and approximate MBRs or data objects. VBRs can be represented quite compactly and thus affect the tree configuration both quantitatively and qualitatively. First, since tree nodes can contain a large number of VBR entries, fanout becomes large, which increases search speed. More importantly, we have a free hand in arranging MBRs and VBRs in the tree nodes. Each A-tree node contains an MBR and its children VBRs. Therefore, by fetching an A-tree node, we can obtain information on the exact position of a parent MBR and the approximate position of its children. We have performed experiments using both synthetic and real data sets. For the real data sets, the A-tree outperforms the SR-tree and the VA-file in all dimensionalities up to 64 dimensions, which is the highest dimension in our experiments. Additionally, we propose a cost model for the A-tree. We verify the validity of the cost model for synthetic and real data sets. Edited by T. Sellis. Received: December 8, 2000 / Accepted: March 20, 2002 Published online: September 25, 2002     

Generalized stress intensity factors in the interaction between two fibers in matrix

To evaluate the mechanical strength of fiber reinforced composites it is necessary to consider singular stresses at the end of fibers because they cause crack initiation, propagation, and final failure. The singular stress is expressed by generalized stress intensity factors defined at the corner of fibers. As a 2D model an interaction between rectangular inclusions under longitudinal tension is treated in this paper. The body force method is used to formulate the problem as a system of singular integral equations with Cauchy-type or logarithmic-type singularities, where the unknown functions are the densities of body forces distributed in infinite plates having the same elastic constants as those of the matrix and inclusions. In order to analyze the problem accurately, the unknown functions are expressed as piecewize smooth functions using two types of fundamental densities and power series, where the fundamental densities are chosen to represent the symmetric stress singularity of 1/r ^1– ₁ and the skew-symmetric stress singularity of 1/r ^1– ₂. Then, generalized stress intensity factors at the end of inclusions are systematically calculated for various locations, spacings and elastic modulus of two rectangular inclusions in a plate subjected to longitudinal tension.     

Surface magnetism of type II superconductors

The magnetization of a type II superconductor in the mixed state is a sum of two contributions, one from an array of flux lines and the other from shielding currents flowing along the surface. The former can be evaluated with the help of results of neutron diffraction experiments, using an extrapolation procedure. The observed magnetization curve thus enables us to estimate the surface contribution. This process is applied to the data on niobium obtained by Schelten, Ullmaier, and Lippmann. It is found that at low temperatures (T/T _c =0.161 and 0.457), the surface contribution may not be reduced atH _c2 as much as theories predict. At higher temperatures (T/T _c =0.717 and 0.891), it is likely to be paramagnetic in a region rather close toH _c1 . Attractive interaction between flux lines is suggested to be a mechanism of this anomaly. However, more experimental and theoretical work is needed to establish these findings to help us understand the surface magnetism of type II superconductors.     

Evaluation of TEM samples of an Mg-Al alloy prepared using FIB milling at the operating voltages of 10 kV and 40 kV

Transmission electron microscopy (TEM) samples of an Mg-Al alloy has been prepared using a Ga-focused ion beam (FIB) milling at two different operating voltages of 10 kV and 40 kV to investigate the influence of the FIB energy on the sample quality. The fine structures of the samples have been studied using a high resolution TEM, and the concentration of the implanted Ga was analysed using an energy dispersive X-ray (EDX) analysis. The result of the TEM observation revealed that point defects were introduced to the sample finally milled at 40 kV but not at 10 kV. However, crystal lattice images and electron diffraction patterns were clearly observed on both the samples. The typical influence of the FIB energy was indicated in the elemental analysis. The relative Ga concentration in the thin sample finally milled at 10 kV was 1.0-2.0 at% that is less than half of 4.0-6.0 at% of the Ga concentration in the sample finally milled at 40 kV. A comparison between the experimental results of the Ga concentration measurement with simulation was also discussed.     

Development of service-oriented products based on the inverse manufacturing concept

To achieve sustainability, resource consumption and waste generation must be drastically decreased. For societal acceptance, preservation of both quality of life and corporate profits are essential. One promising approach is to shift the source of value from the amount of product sold to the quality of services the product provides. This paper describes the need for redesigning recycling systems from a manufacturing perspective and then discusses the possibility of this "servicification" of products, describing our experience with prototype development. We discuss development of product prototypes and their business, using consumer facsimile machines as an example of "service-oriented products". Traditional thought presumes that only products comprising new materials and components are valuable. Consideration of a service-oriented product can serve as a stimulus to revise this mode of thought and to control delivery and quality of disposed products. This paper also provides a life cycle simulation of the developed service-oriented business. Simulation results indicate that service-oriented business can potentially reduce environmental impact while extending business opportunities from the viewpoint of whole product life cycles.     

Production and performance of the inFOCmicroS 20-40-keV graded multilayer mirror

The International Focusing Optics Collaboration for microCrab Sensitivity (InFOCmicroS) balloonborne hard x-ray telescope incorporates graded Pt/C multilayers replicated onto segmented Al foils to obtain the significant effective area at energies previously inaccessible to x-ray optics. Reflectivity measurements of individual foils demonstrate our capability to produce a mass quantity of multilayered foils with a rms roughness of 0.5 nm. The effective area of the completed mirror is 78 and 22 cm2 at 20 and 40 keV, respectively. The measured half-power diameter is 2.0 +/- 0.6 are min (90% confidence). The successful completion of this mirror demonstrates its applicability to future x-ray telescopes such as Constellation-X.     

Urban growth and change analysis using remote sensing and spatial metrics from 1975 to 2003 for Hanoi,Vietnam

Since the beginning of the ‘Doi Moi’ policy in 1986, Hanoi has witnessed significant changes in its urban areas. Landsat and Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) scenes were used to identify built-up areas in Hanoi, and spatial metrics were used to characterize urban change patterns from 1975 to 2003. Firstly, a spatial metric called the ‘percentage of like adjacency’ was used to discern urban growth patterns, which were classified into three sub-patterns: expansion growth, infill growth and outlying growth. Secondly, the driving force underlying the urbanization of the city for the 1975–1984, 1984–1992, 1992–2001, 2001–2003 periods was investigated using a spatial metric analysis programme (FRAGSTATS). The expansion of urban areas along major transportation routes in the latter 1980s was identified as the main form of urbanization in Hanoi. This paper shows the potential application of spatial metrics as secondary sources of information for supporting remotely sensed data and their use to characterize urban growth patterns.     

Displacement fields around 1/2[111] screw dislocations in bcc metals and their defocus convergent-beam electron diffraction patterns

Displacement fields have been calculated around 1/2[111] screw dislocations with various types of core structures in bcc metals. Three types of cores are studied: two types of polarized cores with large and small extensions of the displacement fields and an isotropic core. The difference in the displacement along the [111] direction Δu_z from that for the elastic solution has been evaluated for each type of dislocation. In the outside of the core region, the Δu_z values are close to zero along the six directions and the regions with Δu_z>0 and Δu_z<0 are alternately arranged, lying between those directions. Appreciable difference in Δu_z has been detected between the polarized cores and the isotropic core up to large distance from the core region. The defocus convergent-beam electron diffraction patterns have been calculated for the dislocations with the incident beam parallel to the dislocation line. Winding and spiral features have been shown in the higher-order Laue zone (HOLZ) lines for the dislocated structures, which have been confirmed by a preliminary experiment. In addition, small shifts of the HOLZ lines have been shown by the calculation between the polarized cores and the isotropic one.