Design of nonlinear controllers for active vehicle suspension with state constraints

Design of active vehicle suspension has tradeoffs between three main performance metrics (passenger comfort, suspension deflection and road holding ability). It has been known that each performance can be achieved by H _∞ controller and they can be gathered by LPV (Linear Parameter Varying) method. However, because the suspension deflection limit was not explicitly considered, this limit may be exceeded. In this paper, the authors propose a “reference shaping“ based method in order to improve the control performance. In this approach, a “virtual reference” signal is imposed to the system such that the suspension deflection is kept small. The effectiveness of the approach is examined by numerical simulations. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Modelling asymmetry in the peripheral auditory system of the lizard

The ears of lizards are highly directional. The directionality is generated by strong acoustical coupling of the eardrums. A simple lumped-parameter model of the ear followed by binaural comparisons has been shown to perform successful phonotaxis in robot implementations. However, such a model will produce localization errors in the form of response bias if the ears are asymmetrical. We have evaluated how large errors are generated by asymmetry using simulations of the ear model in Mathematica 5.2. The study shows that the effect of asymmetry is minimal around the most directional frequency of the ear, but that biases reduce the useful bandwidth of localization. This work was presented in part at the First European Workshop on Artificial Life and Robotics, Vienna, Austria, July 12–13, 2007     

2D artificial life system using network-type assembly-like language: influence of change in environment with costs of instructions

To unlock the full potential of evolution in digital media, a Tierra-like system using network-type assembly-like language has been constructed. In the system, like Avida, digital creatures, self-replicating programs, live in a discrete 2D torus space and an interaction between creatures is restricted locally. Bearing a genetic network in mind, network structure is introduced. In the previous works, it is shown that the possibility that the network-type model has more potential of evolution than a linear-type model like Avida in a simple environment. In this paper, to study the potential of evolution more precisely, we model the effects of environment other than creatures. As one of the simplest models of such environment, the cost of execution, i.e. executing time, is introduced. The difficult environment to live in costs high to execute instructions, the easy environment does low. In computer experiments, we have investigated the influence of change in environment by analyzing the process of evolution and diversity of the system. Experimental results show that the network-type system keeps more stable diversity than the linear-type system does, even when the environment changes drastically. This indicates the possibility that the network-type system has more potential of evolution than the linear-type system has. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

A probabilistic simulator for population dynamics of quasispecies

We constructed a probabilistic simulator that allows all the events in population dynamics such as death, birth, mutation, and suppression/stimulation to be described by probabilistic rules. The simulator also facilitates a lattice used for expressing distribution and diversity (number of distinct strains) of quasispecies. The simulator is used to investigate the diversity threshold in HIV and T-cell interaction. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Syntheses and Structural Characterization of Triorganotin Derivatives of Bis(carboxymethyl)trithiocarbonate: X-ray Crystal Structures of 2D Network Polymers

Six triorganotin(IV) complexes of the type {(R₃Sn)₂[C₃S₃(COO)₂]}_n (R = C₆H₅ 1; n-Bu 2; PhCH₂ 4; p-F-PhCH₂ 5; o-F-PhCH₂ 6) and {(R₃Sn)₂[C₃S₃(COO)₂]}_n·[EtOH] (R = Me 3) have been synthesized by the reaction of bis(carboxymethyl)trithiocarbonate with triorganotin(IV) chloride in the presence of sodium ethoxide. All complexes were characterized by elemental analysis IR, ¹H, ¹³C and ¹¹⁹Sn NMR spectroscopy. Except for 4–6, all complexes were also characterized by X-ray crystallography. The X-ray date revealed that complexes 1–3 show two-dimensional network polymeric structure in which the geometries of tin atoms are trigonal bipyramid with the axial positions occupied by carboxylic oxygen atoms.     

Concomitant Crystallization of Copper(II) Sachharinato Complexes with 2-methylpyrazine as a Monomer and an One-dimensional Polymer: Syntheses,Crystal Structures,Spectroscopic and Thermal Properties

The reaction of [Cu(sac)₂(H₂O)₄] · 2H₂O with 2-methylpyrazine (mpyz) leads two complexes, concomitant crystallization of a mononuclear complex [Cu(sac)₂(mpyz)(H₂O)₂] (1) and a polymeric complex [Cu(sac)₂(μ-mpyz)]_n (2). Both complexes have been characterized by elemental analyses, magnetic measurements, FT-IR and ESR, TG-DTA and single-crystal X-ray diffraction analyses. Single-crystal X-ray analyses show that complex 1 consists of discrete molecules in which the copper(II) ions exhibits a square-pyramidal coordination geometry. The individual molecules of 1 are connected into a hydrogen-bonded chain structure, which is further assembled to form a three-dimensional network by π–π stacking interactions. Complex 2 is an 1D coordination polymer in which copper(II) centers are bridged by the mpyz ligand. The chains are further assembled to form two-dimensional frameworks by π–π and C–H···π stacking interactions.