Rule-based supervisory control of a two-link flexible manipulator

In this paper, we propose a two level hierarchical control strategy to achieve accurate end-point position of a planar two-link flexible manipulator. The upper level consists of a feedforward rule-based supervisory controller that incorporates fuzzy logic, whereas the lower level consists of conventional controllers that combine shaft position-endpoint acceleration feedback for disturbance rejection properties and shaping of the (joint) actuator inputs to minimize the energy transferred to the flexible modes during commanded movements. The effectiveness of this hierarchical control strategy is verified by experimental results for various movements of the links, in various configurations. In particular, we illustrate how the hierarchical intelligent control strategy performs better than conventional control techniques for endpoint position control in the presence of flexure effects.     

Electron transport in InGaO3(ZnO)m (m=integer) studied using single-crystalline thin films and transparent MISFETs

We have investigated the characteristics of transparent metal-insulator-semiconductor field-effect transistors (MISFETs) fabricated using InGaO₃(ZnO)_m (m=integer) single-crystalline thin films as n-channel layers and amorphous alumina as gate insulator films. The MISFETs exhibit good characteristics such as insensitivity to visible light illumination, off-current as low as ∼1 nA with a positive threshold voltage of ∼3 V and on/off current ratio of 10⁵. The field-effect mobility increased from ∼1 to ∼10 cm² (V s)⁻¹ as the m-value increased. Room temperature Hall mobility also increased. However, unexpectedly these values were lower than the field-effect mobility. It is explained by existence of shallow localized state in the homologous compounds.     

A neural network architecture for understanding discrete three-dimensional scenes in medical imaging.

Magnetic resonance and computed tomography produce sets of tomograms which are termed discrete 3D scenes. Usually, discrete 3D scenes are analyzed in two dimensions by observing each tomogram on a screen so that the three-dimensional information contained in the scene can be recovered only partially and qualitatively. The three-dimensional reconstruction of the shape of biological structures from discrete 3D scenes would allow a complete and quantitative recovery of the available information, but this task has proved hard for conventional processing techniques. In this paper we present a system architecture based on neural networks for the fully automated segmentation and recognition of structures of interest in discrete 3D scenes. The system includes a retina and two main processing modules, an Attention-Focuser System and a Region-Finder System, which have been implemented by using feed-forward nets trained with the back-propagation algorithm. This architecture has been tested on computer-simulated structures and has been applied to the reconstruction of the spinal cord and the brain from sets of tomograms.     

A scheme of picosecond pulse shaping using gain saturationcharacteristics of semiconductor laser amplifiers

To obtain high power, well shaped picosecond pulses from gain-switched semiconductor lasers, the use of dynamic gain saturation characteristics of semiconductor laser amplifiers was investigated theoretically and experimentally. A configuration of a reflected-wave amplifier (RWA) with single-side external coupling is introduced for pulse shaping, which is found to be suitable for enhancing dynamic gain saturation. By a combination of a distributed feedback laser oscillator at 1.3 μm in wavelength and a reflected-wave amplifier of 400 μm cavity length with asymmetric facet reflectivities of 0.01% and 30%, single-mode optical pulses with almost no tailing, full width at half maximum of 15 ps, and peak power exceeding 50 mW were obtained without pulse broadening, despite the considerable tail structure of the incident pulse     

Responses of plasma norepinephrine and heart rate during exercise in patients after Fontan operation and patients with residual right ventricular outflow tract obstruction after definitive reconstruction

In a fetal autopsy series, we have explored the occurrence of renal tubular dysgenesis in twins. Renal tubular dysgenesis was found exclusively among those monozygotic twins with evidence of twin transfusion syndrome, particularly in those donor twins with oligohydramnios and growth restriction. We infer that hypotension in the donor twin of the twin transfusion syndrome pair is responsible for the failure of proximal convoluted tubule differentiation, and the disturbance of renal function is manifested as oligohydramnios prenatally, and either oliguria or tubular dysfunction postnatally.