Feedback control of decoupled bending and torsional vibrations of flexible beams

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.     

Reduction of 4-cyclohexyl-1-[(1R)-1,2-diphenylethyl]-piperazine-induced memory impairment of passive avoidance performance by sigma 1 receptor agonists in mice

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.     

Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

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.     

Prolonged degradation of end-capped polyelectrolyte multilayer films

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.     

Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

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.     

Human-centered design of a wearable kinesthetic haptic device for surgical teleoperation

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...     

Hybrid Petri net based modeling for biological pathway simulation

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.     

Region with velocity constraints: map information and its usage for safe motion planning of a mobile robot in a public environment

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.     

Integration of stochastic models by minimizing alpha-divergence

When there are a number of stochastic models in the form of probability distributions, one needs to integrate them. Mixtures of distributions are frequently used, but exponential mixtures also provide a good means of integration. This letter proposes a one-parameter family of integration, called alpha-integration, which includes all of these well-known integrations. These are generalizations of various averages of numbers such as arithmetic, geometric, and harmonic averages. There are psychophysical experiments that suggest that alpha-integrations are used in the brain. The alpha-divergence between two distributions is defined, which is a natural generalization of Kullback-Leibler divergence and Hellinger distance, and it is proved that alpha-integration is optimal in the sense of minimizing alpha-divergence. The theory is applied to generalize the mixture of experts and the product of experts to the alpha-mixture of experts. The alpha-predictive distribution is also stated in the Bayesian framework.     

Motion mapping and mode decision for MPEG-2 to H.264/AVC transcoding

This paper describes novel transcoding techniques aimed for low-complexity MPEG-2 to H.264/AVC transcoding. An important application for this type of conversion is efficient storage of broadcast video in consumer devices. The architecture for such a system is presented, which includes novel motion mapping and mode decision algorithms. For the motion mapping, two algorithms are presented. Both efficiently map incoming MPEG-2 motion vectors to outgoing H.264/AVC motion vectors regardless of the block sizes that the motion vectors correspond to. In addition, the algorithm maps motion vectors to different reference pictures, which is useful for picture type conversion and prediction from multiple reference pictures. We also propose an efficient rate-distortion optimised macroblock coding mode decision algorithm, which first evaluates candidate modes based on a simple cost function so that a reduced set of candidate modes is formed, then based on this reduced set, we evaluate the more complex Lagrangian cost calculation to determine the coding mode. Extensive simulation results show that our proposed transcoder incorporating the proposed algorithms achieves very good rate-distortion performance with low complexity. Compared with the cascaded decoder-encoder solution, the coding efficiency is maintained while the complexity is significantly reduced.