An adaptive observer for a spacecraft–manipulator system using a camera mounted on its spacecraft

This paper deals with a motion control system for a space robot with a manipulator. Many motion controllers require the positions of the robot body and the manipulator hand with respect to an inertial coordinate system. In order to measure them, a visual sensor using a camera is frequently used. However, there are two difficulties in measuring them by means of a camera. The first one is that a camera is mounted on the robot body, and hence it is difficult to directly measure the position of the robot body by means of it. The second one is that the sampling period of a vision system with a general-purpose camera is much longer than that of a general servo system. In this paper, we develop an adaptive state observer that overcomes the two difficulties. In order to investigate its performance, we design a motion control system that is constructed by combining the observer with a PD control input, and then conduct numerical simulations for the control system. Simulation results demonstrate the effectiveness of the proposed observer.     

Wide gamut LCD using locally dimmable four‐primary‐color LED backlight

This paper proposes a wide gamut LCD using locally dimmable four‐primary‐color (4PC) LED backlight. Although the color gamut of LCDs has been improved in recent years, it is insufficient to reproduce all the colors in the real world. The objective of this paper is to propose a wide gamut LCD that reproduces all the colors in the real world while keeping the cost increases to a minimum. We evaluated the color gamut reproduced by LEDs of multiple primary colors and selected cyan as the optimal color to be added to the three primary colors to reproduce all the colors in the real world. Therefore, we designed an LED backlight consisting of an additional only‐cyan LED with three‐primary‐color LEDs and developed a prototype LCD with 4PC LED backlight. Furthermore, we developed a local dimming algorithm for the 4PC LED backlight. As a result, we confirmed that the prototype LCD with the 4PC LED backlight is able to cover almost all the colors in the real world and also able to display natural images with highly saturated colors by local dimming.     

Analysis of a manipulator in relation to collision between a link and an object

In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally.     

LC GRIN lens mode with wide viewing angle for rotatable 2D/3D tablet

To widen the vertical and horizontal angular ranges where the lens performs well, the off‐axis performance of a liquid crystal gradient index (LC GRIN) lens is analyzed by the combined simulation system of an LC director simulator and a ray‐tracing simulator. We found that the angular difference between an LC alignment direction and an electrode array direction of the LC GRIN lens is one of significant parameters, and detailed conditions of structure are established. The measurement result shows that the developed structure reduces the degradation ratio in a luminance profile from 61% to 3.2%. We have applied a user tracking system for the rotatable 3D display, equipped with a detection of a panel orientation and a face position. As a result, we have developed a rotatable 2D/3D tablet whose 3D viewing azimuth angle is over 30° in both landscape and portrait orientations.     

Retrieval of clothing images based on relevance feedback with focus on collar designs

The content-based image retrieval methods are developed to help people find what they desire based on preferred images instead of linguistic information. This paper focuses on capturing the image features representing details of the collar designs, which is important for people to choose clothing. The quality of the feature extraction methods is important for the queries. This paper presents several new methods for the collar-design feature extraction. A prototype of clothing image retrieval system based on relevance feedback approach and optimum-path forest algorithm is also developed to improve the query results and allows users to find clothing image of more preferred design. A series of experiments are conducted to test the qualities of the feature extraction methods and validate the effectiveness and efficiency of the RF-OPF prototype from multiple aspects. The evaluation scores of initial query results are used to test the qualities of the feature extraction methods. The average scores of all RF steps, the average numbers of RF iterations taken before achieving desired results and the score transition of RF iterations are used to validate the effectiveness and efficiency of the proposed RF-OPF prototype.     

Control and design problems in material processing—how can process systems engineers contribute to material processing?

‘Process control and systems engineering’ is not just a subject of study for controlling and designing ‘a plant’ and/or ‘a unit operation’. It also deals with any control and design problems related to physical and chemical phenomena occurring in short time-scale and at nano, meso as well as micro-scale levels. In materials processing, controlling the material structure is of primary importance for realizing high material performance and functions. The phenomena determining the material structure often involve phase separation and/or occur on the surface of the materials, at small level and in short time-scale. To control these phenomena, the current feedback design schemes, where controlled variables are measured by ‘externally equipped sensors’ and fed back to a ‘externally designed controller’, are no longer effective due to the shortness of time and smallness of spatial scales of the objects. Making reference to two novel polymer-processing processes, a micro-cellular polymeric foaming process and surface coating injection-molding process, we discuss how process control and process systems engineers can contribute to controlling the structure of materials.     

A comment on pure-strategy Nash equilibria in competitive diffusion games

In [N. Alon, M. Feldman, A.D. Procaccia, M. Tennenholtz, A note on competitive diffusion through social networks, Inform. Process. Lett. 110 (2010) 221–225], the authors introduced a game-theoretic model of diffusion process through a network. They showed a relation between the diameter of a given network and existence of pure Nash equilibria in the game. Theorem 1 of their paper says that a pure Nash equilibrium exists if the diameter is at most two. However, we have an example which does not admit a pure Nash equilibrium even if the diameter is two. Hence we correct the statement of Theorem 1 of their paper.     

Stochastic model predictive braking control for heavy-duty commercial vehicles during uncertain brake pressure and road profile conditions

When heavy-duty commercial vehicles (HDCVs) must engage in emergency braking, uncertain conditions such as the brakepressure and road profile variations will inevitably affect braking control. To minimize these uncertainties, we propose acombined longitudinal and lateral controller method based on stochastic model predictive control (SMPC) that is achieved viaChebyshev–Cantelli inequality. In our method, SMPC calculates braking control inputs based on a finite time prediction thatis achieved by solving stochastic programming elements, including chance constraints. To accomplish this, SMPC explicitlydescribes the probabilistic uncertainties to be used when designing a robust control strategy. The main contribution of thispaper is the proposal of a braking control formulation that is robust against probabilistic friction circle uncertainty effects.More specifically, the use of Chebyshev–Cantelli inequality suppresses road profile influences, which have characteristicsthat are different from the Gaussian distribution, thereby improving both braking robustness and control performance againststatistical disturbances.Additionally, since theKalman filtering (KF) algorithm is used to obtain the expectation and covarianceused for calculating deterministic transformed chance constraints, the SMPC is reformulated as a KF embedded deterministicMPC. Herein, the effectiveness of our proposed method is verified via a MATLAB/Simulink and TruckSim co-simulation.     

On-chip fabrication of magnetic alginate hydrogel microfibers by multilayered pneumatic microvalves

Alginate hydrogel has widespread applications in tissue engineering, cancer therapy, wound management and drug/cell/growth factor delivery due to its biocompatibility, hydrated environment and desirable viscoelastic properties. However, the lack of controllability is still an obstacle for utilizing it in the fabrication of 3D tissue constructs and accurate targeting in mass delivery. Here, we proposed a new method for achieving magnetic alginate hydrogel microfibers by dispersing magnetic nanoparticles in alginate solution and solidifying the magnetic alginate into hydrogel fiber inside microfluidic devices. The microfluidic devices have multilayered pneumatic microvalves with hemicylindrical channels to fully stop the fluids. In the experiments, the magnetic nanoparticles and the alginate solution were mixed and formed a uniform suspension. No aggregation of magnetic nanoparticles was found, which is crucial for flow control inside microfluidic devices. By regulating the flow rates of different solutions with the microvalves inside the microfluidic device, magnetic hydrogel fibers and nonmagnetic hydrogel fibers were fabricated with controlled sizes. The proposed method for fabricating magnetic hydrogel fiber holds great potential for engineering 3D tissue constructs with complex architectures and active drug release.