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1.
In this article, we consider a flexible beam with a rigid body, of which the bending vibration and the torsional vibration are decoupled. Therefore we need two control motors to suppress the vibrations. Each set of dynamic equations is treated in the form of an appropriate Hilbert space. A stabilizing feedback control law of each rotation motor will be established on the basis of modal analysis. A set of experiments has been carried out, and the results demonstrate the effectiveness of the dynamic model and the proposed control law. © 1994 John Wiley & Sons, Inc. 相似文献
2.
The laryngeal chemoreflex (LCR) is a potentially life-threatening reflex that is elicited in immature animals by the topical application of water to the laryngeal mucosa. The reflex response is characterized by immediate apnea and laryngeal adduction and delayed cardiovascular instability. The cardiorespiratory changes of the LCR may be life-threatening, particularly in very immature animals such as piglets under 2 weeks of age. The afferent and efferent limbs of the LCR are mediated through the vagus nerve, but the neuromediators responsible for the reflex changes have not yet been clearly elucidated. Previous agonist and antagonist studies in immature dogs demonstrated that substance P, a sensory tachykinin, mediates the life-threatening esophagolaryngeal adductor reflex elicited by distal esophageal sensory nerve stimulation. This study was conducted to determine if substance P also plays a role in mediating the LCR. The LCR response was compared before and after treatment with intravenous substance P antagonist (Pfizer CP-96,345-1) in eight piglets (mean 27.7 days of age). The laryngeal and cardiovascular responses of the animals following intravenous administration of the tachykinins substance P, neurokinin A, and neurokinin B were also assessed. Pretreatment with substance P antagonist did not alter the LCR's duration of apnea (p > .10), laryngeal adductor response, or early change in mean arterial pressure (p > .10), although the early maximal heart rate response was significantly altered (p < .01). Intravenous substance P, neurokinin A, and neurokinin B did not reproduce the laryngeal respiratory response of the LCR. We conclude that substance P, neurokinin A, and neurokinin B are not key neurotransmitters of the LCR. 相似文献
3.
Tae Hyon Kim Kiyohiro Goto Hiroki Igarashi Kazuyuki Kon Noritaka Sato Fumitoshi Matsuno 《Artificial Life and Robotics》2012,16(4):514-518
Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the
real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real
environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in
real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety
of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can
consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated
in the Real World Robot Challenge 2010. The experimental results are given. 相似文献
4.
Takeshi Kikuchi Yoshizo Kitami Masato Yokoyama Hiroshi Sakai 《Journal of Materials Science》1989,24(12):4275-4278
The phase equilibria in the pseudo-binary system Bi2O3-TeO2 at 600° 950° C in air were examined by solid-state reaction techniques and X-ray powder diffraction method. Four pseudo-binary compounds appeared, i.e., -Bi2O3 type solid solution having a compositional range of (1-x)Bi2O3·xTeO2 wherex=0 0.4 a new compound Bi6Te2O15 which has an orthorhombic cell of a=2.27(4) nm, b=1.06(1) nm and c = 0.539(8) nm, 2Bi2O3 · 3TeO2, and an unidentified phase Bi2O3·2TeO2. The formation of the phase Bi6Te2O15, in which all the Te ions are hexavalent, was confirmed by the thermogravimetry and by the Mössbauer spectra. The liquidus curves for whole system were determined by DTA method. 相似文献
5.
Cationic chitosan (CT) and anionic dextran sulfate (Dex) were layer-by-layer (LbL) assembled from aqueous solutions containing
1 M NaCl on a quartz crystal microbalance (QCM) substrate, and the original films ((CT-Dex)3-CT)) were end-capped with LbL assembly from CT solutions containing 1 M NaCl and Dex solutions without NaCl. The enzymatic
degradation of films by chitosanase was quantitatively analyzed by QCM in terms of numbers of end-capping steps. The degradation
of films end-capped with (Dex-CT)3 was considerably prolonged when compared to those end-capped with other end-capping steps. A mechanism for the prolonged
degradation was proposed by quantitative QCM data and zeta potential results. 相似文献
6.
Naoji Shiroma Ryo Miyauchi Akira Nagafusa Youhei Haga Fumitoshi Matsuno 《Advanced Robotics》2015,29(3):149-163
In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method. 相似文献
7.
Artificial Life and Robotics - This paper describes the design and performance evaluation of a flexible wearable haptic device that aims to realize full kinesthetic haptic feedback for application... 相似文献
8.
Hybrid Petri net (HPN) is an extension of the Petri net formalism, which enables us to handle continuous information in addition
to discrete information. Firstly, this paper demonstrates how biological pathways can be modeled by the integration of discrete
and continuous elements, with an example of the λ phage genetic switch system including induction and retroregulation mechanisms.
Although HPN allows intuitive modeling of biological pathways, some fundamental biological processes such as complex formation
cannot be represented with HPN. Thus, this paper next provides the formal definition of hybrid functional Petri net with extension
(HFPNe), which has high potential for modeling various kinds of biological processes. Cell Illustrator is a software tool
developed on the basis of the definition of HFPNe. Hypothesis creation by Cell Illustrator is demonstrated with the example
of the cyanobacterial circadian gene clock system. Finally, our ongoing tasks, which include the development of a computational
platform for systems biology, are presented. 相似文献
9.
Recently, various autonomous mobile robots have been developed for practical use. To support the coexistence of robots and humans in real environments, we propose a concept named ‘Region with Velocity Constraints (RVC),’ which is set around hazardous areas. RVCs are regions where the velocities of the robot are constrained to predefined values. Inside the RVCs, the robot has to reduce its translational velocity to avoid predicted hazards such as collisions with obstacles, and to reduce its rotational velocity to prevent undesirable motions such as sharp turns. We also propose a motion planning method for navigating the mobile robot in an environment with RVCs based on the Navigation Function and Global Dynamic Window Approach. Our method generates a trajectory satisfying both translational and rotational velocity constraints to be compatible with the surroundings. Moreover, to demonstrate the validity of our method, we performed numerical simulations and experiments. 相似文献
10.
Yasumasa?Minemoto Shuji?AdachiEmail author Yuji?Shimada Toshihiro?Nagao Toshio?Iwata Yoshie?Yamauchi-Sato Takaya?Yamamoto Tadashi?Kometani Ryuichi?Matsuno 《Journal of the American Oil Chemists' Society》2003,80(7):675-678
The autoxidation processes of the cis-9,trans-11 (c9,t11) and trans-10,cis-12 (t10,c12) isomers of CLA were separately observed at ca. 0% RH and different temperatures. The t10,c12 CLA oxidized faster than the c9,t11 isomer at all tested temperatures. The first half of the oxidation process of t10,c12 CLA obeyed an autocatalytic-type rate expression, but the latter half followed first-order kinetics. On the other hand,
the entire oxidation process of c9,t11 CLA could be expressed by the autocatalytic-type rate expression. The apparent activation energies and frequency factors
for the autoxidation of the isomers were estimated from the rate constants obtained at various temperatures based on the Arrhenius
equation. The apparent activation energies for the CLA isomers were greater than those for the nonconjugated n−6 and n−3 PUFA
or their esters. However, the enthalpyentropy compensation held during the autoxidation of both the CLA and PUFA. This suggested
that the autoxidation mechanisms for the CLA and PUFA were essentially the same. 相似文献