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排序方式: 共有197条查询结果,搜索用时 15 毫秒
1.
Kazunori Sakurama Kazushi Nakano 《International Journal of Control, Automation and Systems》2012,10(1):50-60
This paper addresses a path tracking problem with obstacle avoidance for Lagrange systems. The proposed method is based on
field potential methods in combination with navigation functions for obstacle avoidance. First, it is shown that a simple
combination of the navigation function with the conventional path tracking controller does not work. Therefore, in order to
cope with this problem, a new feedback law is proposed for a path parameter which characterizes the reference path. It is
proved that the proposed controller achieves both path following and collision avoidance. Moreover, since the method adopts
bounded navigation functions, the proposed controllers generate bounded input signals even when target systems approach obstacles.
Finally, an experimental evaluation is performed with a two-link manipulator to illustrate the effectiveness of the proposed
method. 相似文献
2.
A highly active superacid of 2 wt% Fe-supported ZrO2 for the skeletal isomerization of butane to isobutane was obtained by sfexposing Fe2O3/ZrO2 to 1 N H2SO4 followed by calcining in air at 700°C for more than 24 h; the Fe2O3/ZrO2 was prepared by impregnating zirconia gel with a solution of Fe(NO3)3 followed by drying at 300°C (2 wt% Fe). A much lower activity was observed with the opposite procedure, where the first impregnation was sulfation of the gel, followed by a second impregnation with the iron compound. It was proved from analysis of the sulfur content in the catalysts that residual sulfur species were not related with generation of the superacidic sites. XPS showed the catalyst to be Fe2O3 supported on ZrO2.Superacids by metal oxides, VIII. For previous publications VI and VII in this series see refs. [10,11]. 相似文献
3.
Keisuke Fujita Kohji Higuchi Kazushi Nakano Koji Matsushita Tatsuyoshi Kajikawa Fumiho Chino 《Artificial Life and Robotics》2009,14(3):433-439
There is a need for robust current control of a pulse width modulation (PWM) power amplifier whose transient response characteristics
do not deteriorate with extensive load changes and/or direct-current power supply voltage changes. In this article, we propose
a digital robust controller with bumpless mode switching to control the current of a PWM power amplifier to satisfy the demands
and extend the range of an inductive load width. It is necessary to measure the value of the load in order to implement this
bumpless mode switching automatically depending on the load range. Therefore, a method of estimating the inductive load is
shown. The bumpless mode switching is automatically performed by estimating an inductive value without specifying the value
of the inductive load beforehand. That is, the value of the inductive load is estimated during the DDC execution, and the
control mode is automatically switched bumplessly according to this estimated value. A digital controller equipped with inductance
estimation and bumpless mode switching is realized by a DSP. Some experiments show that the digital controller with the proposed
bumpless mode switching can satisfy larger specifications. 相似文献
4.
5.
Hieida Chie Yamamoto Tomoaki Kubo Takatomi Yoshimoto Junichiro Ikeda Kazushi 《Artificial Life and Robotics》2023,28(2):388-393
Artificial Life and Robotics - Recent advanced driver assistance systems’ (ADASs) control cars to avoid accidents, but few of them consider driver’s comfort. To realize comfortable... 相似文献
6.
Kazushi Yawata Daisuke Ito Hiroki Ikegami Hidehiko Ishimoto Hiroshi Fukuyama 《Journal of Low Temperature Physics》1998,113(5-6):769-774
Experimental methods and preliminary results of high-precision measurements of the
3
He melting curve in high magnetic fields have been described. The purpose of this work is twofold. One is to establish a reliable millikelvin temperature scale in high fields (T 10 mK, B 15 T), The other is to investigate a high field region of the magnetic phase diagram of solid
3
He by measuring the melting pressure down to temperatures below 1 mK. Besides the two superfluid transitions, the phase transition temperatures between the spin ordered solid and the paramagnetic solid, T
HFP
, were determined at B = 12 and 10 T with good accuracy, which is an extension of previous measurements up to 8 T. The present T
HFP
(B) line can not be scaled to that at a higher density with a single Grüneisen parameter, indicating a variation of density dependencies of the multiple-spin exchange interactions. 相似文献
7.
Etching characteristics of high-k dielectric materials (HfO2) and metal electrode materials (Pt, TaN) have been studied in high-density chlorine-containing plasmas at pressures around 10 mTorr. The etching of HfO2 was performed in BCl3 without rf biasing, giving an etch rate of about 5 nm/min with a high selectivity of >10 over Si and SiO2. The etching of Pt and TaN was performed in Ar/O2 with high rf biasing and in Ar/Cl2 with low rf biasing, respectively, giving a Pt etch rate of about several tens nm/min and a TaN etch rate of about 200 nm/min with a high selectivity of >8 over HfO2 and SiO2. The etched profiles were outwardly tapered for Pt, owing to the redeposition of etch or sputter products on feature sidewalls, while the TaN profiles were almost anisotropic, probably owing to the ion-enhanced etching that occurred. 相似文献
8.
Kazushi Terada Shoji Nakamura Taro Nakao Atsushi Kimura Osamu Iwamoto Hideo Harada 《Journal of Nuclear Science and Technology》2016,53(11):1881-1888
Gamma-ray emission probabilities of 241, 243Am and 239Np have been precisely measured with gamma- and alpha-ray spectroscopic methods. The activities of the samples were determined by measuring alpha particles using a Si semiconductor detector. Gamma rays emitted from the samples were measured with a planar type High-Purity Germanium (HPGe) detector. An efficiency curve of the HPGe detector was derived with uncertainties from 0.7% to 2.5% by combining measured efficiencies and Monte Carlo simulation. The gamma-ray emission probabilities for the major gamma rays of these nuclides were determined with uncertainties less than 1.2%. 相似文献
9.
Nishanth Koganti Tomohiro Shibata Tomoya Tamei Kazushi Ikeda 《Advanced Robotics》2019,33(15-16):800-814
ABSTRACTMotor-skill learning for complex robotic tasks is a challenging problem due to the high task variability. Robotic clothing assistance is one such challenging problem that can greatly improve the quality-of-life for the elderly and disabled. In this study, we propose a data-efficient representation to encode task-specific motor-skills of the robot using Bayesian nonparametric latent variable models. The effectivity of the proposed motor-skill representation is demonstrated in two ways: (1) through a real-time controller that can be used as a tool for learning from demonstration to impart novel skills to the robot and (2) by demonstrating that policy search reinforcement learning in such a task-specific latent space outperforms learning in the high-dimensional joint configuration space of the robot. We implement our proposed framework in a practical setting with a dual-arm robot performing clothing assistance tasks. 相似文献
10.
Control of the 1D self‐assembly pattern of colloidal quantum dots (QDs) on PbSO4 nanoribbon (NRb) templates is achieved. The internal structure of the NRbs is investigated by X‐ray diffraction, revealing the isotropic packing of the PbSO4 nanoclusters in the NRbs. Colloidal QDs in a chloroform/hexane mixture are adsorbed onto the region close to the edges of the NRbs and form a 1D assembly of straight single line or double lines by controlling the amount of OAm. This is the first demonstration of a densely packed 1D self‐assembly of colloidal QDs with a straight line pattern without the use of any molecular bridge or adhesive. Atomic force microscopy measurements of the NRbs show depressions in the phase profile along the width of the NRbs, corresponding to the position of the 1D QD chain. The amount of adsorbed QDs on the NRbs in solution decreases as the addition of OAm increases, suggesting that additional OAm prevents interaction between the QDs and NRbs but facilitates the uniform adsorption of the 1D assembly. The low‐dimensional self‐assembly of colloidal QDs in this study opens up the possibility for the creation of anisotropically assembled QD superstructures. 相似文献