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This paper addresses a phase space partitioning problem in motion planning systems. A class of kinematic and dynamic motion planning systems, including rapid semioptimal motion-planning (RASMO), uses partitions for phase spaces in cumulative optimization criteria. In these systems, a partition results in a uniquely planned motion with a quality that is determined by a selected optimization criterion. In this paper, state-dispersion-based phase space partitioning (SDPP) that generates adaptive partitions is proposed. These partitions allow the motion planning systems to plan better motions. Uniform partitions and adaptively fixed partitions of SDPP are compared under several conditions using RASMO and a double inverted pendulum model while setting the optimality criterion of RASMO to time. The results reveal that RASMO with SDPP plans smaller time motions than those obtained with RASMO using uniform partitions. 相似文献
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This paper proposes a synthesis method of gain‐scheduled control systems that switch linear time‐invariant controllers according to hysteresis of the scheduling parameter. Stability and L2‐gain analysis and synthesis methods for switched systems are applied to the switched gain‐scheduled control synthesis using reset of the controller state, where also the reset law is computed via linear matrix inequalities (LMIs). In addition to optimization of an upper bound of L2‐gain, we reduce jumps of control input via an auxiliary optimization. Numerical examples are presented to illustrate the switched gain‐scheduled controller. 相似文献
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S Asari T Satoh M Sakurai Y Yamamoto K Sadamoto 《Canadian Metallurgical Quarterly》1981,33(12):1201-1206
In this paper, the authors report biplane computed cerebral angiotomographic findings in 5 cases of Moyamoya disease. The specific features of Moyamoya disease on the CT image were as follows: On the axial plane, the linear structures of the anterior half of the circle of Willis and the proximal portion of the middle cerebral arteries disappeared, and instead of these normal structures, irregular, tortuous or patchy high-density areas just like a "caterpillar" were shown in the basal cistern and medial Sylvian fissures. On the modified coronal plane, the supraclinoid internal carotid arteries and the carotid fork could be identified only with a difficulty, and abnormal, "nebular" high-density areas consisting of irregular, tortuous or patchy high-density vascular components became visible in the basal cistern extending to the basal ganglia. A modified coronal plane and intravenous minimum dose bolus injection method seemed to be more useful for the visualization of these specific features on the CT image. Even before carotid angiography, we can suspect Moyamoya disease for finding these specific features on the CT image. Carotid angiography has been the only method of diagnosing Moyamoya disease. Instead of this invasive examination, computed cerebral angiotomography is useful in detecting Moyamoya disease conveniently and non-invasively. Therefore, we may conclude that computed cerebral angiotomography is very useful method for screening and follow up study of Moyamoya disease. 相似文献
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Chienru Lung Shota Miyake Hiroaki Kakigano Yushi Miura Toshifumi Ise Toshinari Momose Hideki Hayakawa 《Electrical Engineering in Japan》2013,182(4):29-46
For the past few years, hybrid generation systems including solar panel and gas cogeneration have been used for residential houses. Solar panels can generate electronic power at daytime but not at night. But the power consumption of residential houses usually peaks in the evening. The gas engine cogeneration system can generate electronic power without such a restriction, and it also can generate heat power to warm up a house or to produce hot water. In this paper we propose a solar panel and gas engine cogeneration hybrid system with an energy storage device, combined by a DC bus. If a blackout occurs, the system still can supply electronic power for special house loads. We propose a control scheme for the system related to the charging level of the energy storage device and the voltage of the utility grid, which can be applied to both grid‐connected and standalone operation. Finally, we report experiments designed to demonstrate system operation and calculations for loss estimation. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 182(4): 29–46, 2013; Published online in Wiley Online Library ( wileyonlinelibrary.com ).DOI 10.1002/eej.22321 相似文献
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Shota Sato Kunihiko Ohta Kaoru Kojima Takuya Kozeki Tetsuo Ohmachi Takashi Yoshida 《Journal of Applied Glycoscience》2016,63(1):13
Xyloglucan is a major hemicellulosic component in plant cell walls. Phytopathogenic fungi secrete cell wall-degrading enzymes on their infection to hosts, while the nature of the cell wall-lytic enzymes of such fungi are yet to be fully understood. Verticillium dahliae is a soil-borne fungus that causes vascular wilt diseases in a variety of commercially important crops worldwide. We purified two types of xyloglucanases, XEG12A and XEG74B, from the culture of naturally isolated Verticillium dahliae strain 2148. XEG12A showed a molecular size of 23 kDa with its maximal activity at pH 7.5. XEG12A specifically hydrolyzed xyloglucan with no activity on other β-glucans. XEG74B had a molecular size of 110 kDa with its optimum pH at 6.0. XEG74B primarily hydrolyzed xyloglucan, with a slight activity on β-1,3-1,4-glucan. Analysis of hydrolytic products of xyloglucanooligasaccharide (XXXGXXXG) by matrix-assisted laser desorption/ionization time-of-flight mass spectrometry (MALDI-TOF MS) revealed that the both enzymes cleaved β-1,4-glucosidic linkage at the position of unbranched chain, while XEG74B showed a little fluctuation with the cleavage site. Both enzymes did not hydrolyzed xyloglucanoheptasaccharide (XXXG) at all. N-Terminal and internal amino acid sequencing of the enzymes revealed that XEG12A and XEG74B belonged to Glycoside Hydrolase (GH) Families 12 and 74, respectively. Based on these results we concluded that V. dahliae XEG12A and XEG74B were xyloglucan-specific endo-β-1,4-glucanases (EC 3.2.1.151). 相似文献
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