Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

Minimum switching control for adaptive tracking

The switching adaptive control method has been used for quite a few years to solve the adaptive stabilization and model reference adaptive control problems. However, a serious problem with the switching control method is that the number of ‘candidate’ controllers can potentially be very large, especially for multi‐input–multi‐output systems. In this paper, we consider a class of minimum‐phase multi‐input–multi‐output plants with some mild compactness assumptions. Given any polynomial reference input, we provide a switching control law which guarantees exponentially stability of the closed‐loop system with exponential tracking performance. The main contribution of the paper is that we give the minimum number of candidate controllers required for switching. In particular, the number is equal to 2 for single‐input–single‐output plants (one for each sign of the high‐frequency gain), and is equal to 2^m for m‐input–m‐output plants. That is, the number is independent of the degree and the relative degree of the plant. Copyright © 2006 John Wiley & Sons, Ltd.     

Dynamical adaptive synchronization

The notions of dynamical synchronization and adaptive dynamical synchronization problems are introduced. The algorithm solving adaptive synchronization problem for a subclass of Lurie systems with exciting input is proposed. The performance and potentialities of proposed solutions are demonstrated by two examples related to formation control and self‐organization of swarm systems. Copyright © 2006 John Wiley & Sons, Ltd.     

A novel robust current control approach using adaptive line enhancer for three‐phase current‐source active power filter

An effective system control method is presented for applying a three‐phase current‐source PWM converter with a deadbeat controller to active power filters (APFs). In the shunt‐type configuration, the APF is controlled such that the current drawn by the APF from the utility is equal to the current harmonics and reactive current required for the load. To attain the time‐optimal response of the APF supply current, a two‐dimensional deadbeat control scheme is applied to APF current control. Furthermore, in order to cancel both the delay in the two‐dimensional deadbeat control scheme and the delay in DSP control strategy, an Adaptive Line Enhancer (ALE) is introduced in order to predict the desired value three sampling periods ahead. ALE has another function of bringing robustness to the deadbeat control system. Due to the ALE, settling time is made short in a transient state. On the other hand, total harmonic distortion (THD) of source currents can be minimized compared to the case where ideal identification of the controlled system can be made. The experimental results obtained from the DSP‐based APF are also reported. The compensating ability of this APF is very high in accuracy and responsiveness although the modulation frequency is rather low. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 150(1): 50–61, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20014     

Effects of temperature, ammonium and glucose concentrations on yeast growth in a model wine system

In enology, alcoholic fermentation is a complex process involving several mechanisms. Slow and incomplete alcoholic fermentation is a chronic problem for the wine industry and factors leading to sluggish and stuck fermentations have been extensively studied and reviewed. The most studied cause of sluggish and stuck fermentation is the nitrogen content limitation. Nevertheless, other factors, such as temperature of fermentation and sugar concentration can affect the growth of yeasts. In this study we modelled the yeast growth‐cycle in wine model system as a function of temperature, sugar and ammonium concentrations; the individual effects and the interaction of these factors were analysed by means of a quadratic response surface methodology. Cell concentrations and weight loss were monitored in the whole wine fermentation process. The results of central composite design show that lower is the availability of nitrogen, higher is the cell growth rate; moreover, initial nitrogen concentration also influences survival time of Saccharomyces cerevisiae.     

Bioprocess applications of model-based estimation techniques

The last decade has seen the development of a number of approaches for estimating those variables which are difficult to measure on-line in industrial process situations. Whilst a range of techniques is available, a common element is the use of process knowledge in the form of a system model. In the case of bioprocess systems, although a large range of models has been presented in the literature, their use in estimation schemes on an industrial scale has been limited. A number of reasons can be identified for their low level of utilisation. Of particular significance is the uncertainty which exists in quantifying system performance and the process-model mismatch which inevitably results. The level of ‘pre-defined model’ uncertainty, together with the knowledge gained during the course of the fermentation, serves to dictate estimator structure. The paper considers a range of estimation strategies and contrasts, through industrial applications, their performance characteristics and utility.     

α-Fe_2O_3(SO_4~(2-),Sn)气敏电阻的温度响应特性

在气敏温度区域内研究了α-Fe_2O_3(SO_4~(2-),Sn)材料的电阻-温度特性,认为表面结构的变化导致温度特性出现峰值并呈现气敏性。可利用空气中电阻温度特性提供的信息改性或发现新的气敏材料。     

On the design of multiple key hashing files for concurrent orthogonal range retrieval between two disks

This paper concerns the following problem: given a set of multi-attribute records, a fixed number of buckets and a two-disk system, arrange the records into the buckets and then store the buckets between the disks in such a way that, over all possible orthogonal range queries (ORQs), the disk access concurrency is maximized. We shall adopt the multiple key hashing (MKH) method for arranging records into buckets and use the disk modulo (DM) allocation method for storing buckets onto disks. Since the DM allocation method has been shown to be superior to any other allocation methods for allocating an MKH file onto a two-disk system for answering ORQs, the real issue is knowing how to determine an optimal way for organizing the records into buckets based upon the MKH concept.

A performance formula that can be used to evaluate the average response time, over all possible ORQs, of an MKH file in a two-disk system using the DM allocation method is first presented. Based upon this formula, it is shown that our design problem is related to a notoriously difficult problem, namely the Prime Number Problem. Then a performance lower bound and an efficient algorithm for designing optimal MKH files in certain cases are presented. It is pointed out that in some cases the optimal MKH file for ORQs in a two-disk system using the DM allocation method is identical to the optimal MKH file for ORQs in a single-disk system and the optimal average response time in a two-disk system is slightly greater than one half of that in a single-disk system.     

Effect of Calcium Lactate, 4-Hexyl Resorcinol and Vacuum Packing on Physico-chemical, Sensory and Microbiological Qualities of Minimally Processed Litchi (Litchi chinensis Sonn.)

Litchi (Litchi chinensis Sonn.) fruits are very susceptible to pericarp browning which adversely affects consumer acceptability even though the aril portion remains in excellent condition. Litchi arils (litchis) were treated with a solution containing 0–2% (w/v) calcium lactate (CL), 0–0.02% (w/v) 4‐hexyl resorcinol (4‐HR) and 1% potassium sorbate. The pH of solution was adjusted to 4.0 with citric acid. Treated litchis were packed in polystyrene trays, over‐wrapped with polypropylene film, vacuum‐packed (0, 47409.3, 94831.9 Pa) and stored at 4 ± 2 °C. Drip losses, pH, total soluble solids (TSS), sensory attributes and microbiological quality of stored samples were estimated. A four‐factor, three‐level experimental design (D₆ Hokes design) with 19 experiments was chosen. Mathematical models were developed to analyse and predict the effect of CL, 4‐HR, in‐package vacuum and storage time on the responses. TSS, pH and sensory scores decreased significantly (P 0.01), whereas drip losses and microbial count increased significantly (P 0.01) with time. Drip loss was significantly (P 0.1) reduced by addition of CL. 4‐HR prevented browning and changes in colour score during storage were significantly less. Vacuum in packages exerted significant (P 0.01) effect over pH, TSS, sensory and microbiological qualities of minimally processed litchis.