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1.
Design of active vehicle suspension has tradeoffs between three main performance metrics (passenger comfort, suspension deflection
and road holding ability). It has been known that each performance can be achieved by H
∞ controller and they can be gathered by LPV (Linear Parameter Varying) method. However, because the suspension deflection
limit was not explicitly considered, this limit may be exceeded. In this paper, the authors propose a “reference shaping“
based method in order to improve the control performance. In this approach, a “virtual reference” signal is imposed to the
system such that the suspension deflection is kept small. The effectiveness of the approach is examined by numerical simulations.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
2.
We report a very rare case of an avulsion of the pectoralis major tendon in association with a two-part proximal humerus fracture. Pectoralis major tendon avulsion was confirmed intraoperatively during open reduction and internal fixation of the humerus fracture. In retrospect, the preoperative radiographic finding of posterolateral and proximal displacement of the humeral shaft suggested an injury to the pectoralis major. Because others have reported that the best treatment of a pectoralis major tendon avulsion is surgical repair, we feel that it is important to suspect such an injury in a proximal humerus fracture when this anatomic displacement is present. 相似文献
3.
Natsuhiko Kuratomi Shinichi Takano Mitsuharu Fukasawa Shinya Maekawa Makoto Kadokura Hiroko Shindo Ei Takahashi Sumio Hirose Yoshimitsu Fukasawa Satoshi Kawakami Hiroshi Hayakawa Hitomi Takada Natsuko Nakakuki Ryoh Kato Tatsuya Yamaguchi Yasuhiro Nakayama Hiromichi Kawaida Hiroshi Kono Taisuke Inoue Tetsuo Kondo Daisuke Ichikawa Nobuyuki Enomoto 《International journal of molecular sciences》2021,22(6)
New biomarkers are needed to further stratify the risk of malignancy in intraductal papillary mucinous neoplasm (IPMN). Although microRNAs (miRNAs) are expected to be stable biomarkers, they can vary owing to a lack of definite internal controls. To identify universal biomarkers for invasive IPMN, we performed miRNA sequencing using tumor-normal paired samples. A total of 19 resected tissues and 13 pancreatic juice samples from 32 IPMN patients were analyzed for miRNA expression by next-generation sequencing with a two-step normalization of miRNA sequence data. The miRNAs involved in IPMN associated with invasive carcinoma were identified from this tissue analysis and further verified with the pancreatic juice samples. From the tumor-normal paired tissue analysis of the expression levels of 2792 miRNAs, 20 upregulated and 17 downregulated miRNAs were identified. In IPMN associated with invasive carcinoma (INV), miR-10a-5p and miR-221-3p were upregulated and miR-148a-3p was downregulated when compared with noninvasive IPMN. When these findings were further validated with pancreatic juice samples, miR-10a-5p was found to be elevated in INV (p = 0.002). Therefore, three differentially expressed miRNAs were identified in tissues with INV, and the expression of miR-10a-5p was also elevated in pancreatic juice samples with INV. MiR-10a-5p is a promising additional biomarker for invasive IPMN. 相似文献
4.
For the elucidation of the crystal structures of the two crystalline allomorphs of cellulose triacetate (CTA), namely CTA I and CTA II, two-dimensional (2D) solid-state through-bond 13C-13C and 1H-13C correlations NMR techniques applied to the two crystalline allomorphs of CTA. As a result, the 13C and 1H chemical shifts of the glucopyranose ring of CTA I and CTA II were completely assigned by the 2D NMR spectra of these allomorphs. On the 2D 13C-13C correlation spectrum of CTA II, two sets of the 13C-13C correlations from C1 to C6 were observed. This indicated that the CP/MAS 13C NMR spectrum of CTA II can be characterized by its overlapping of the 13C subspectra of two kinds of 2,3,6-triacetyl-anhydroglucopyranose units and that there are two magnetically non-equivalent sites in the unit cell of CTA II. In the case of CTA I, the numbers of respective 13C and 1H shifts of CTA I agreed with the those of the glucopyranose residue in the allomorph, strongly suggesting that the asymmetric unit of CTA I is only one glucose residue. In addition, conformational differences in the exocyclic C5-C6 bonds between CTA I and CTA II were strongly suggested by the notable differences in the 1H and 13C chemical shifts at the C6 sites of these allomorphs. 相似文献
5.
We have investigated the surface of thin films (thickness 2 µm) of solid H2 between 1.5 and 4.2 K by measuring the ac conductivity of surface-state electrons (SSE). The films were prepared on a glass substrate by quench condensation at 1.5 K and were therefore initially strongly disordered. In fact the surface of the virgin films before any heat treatment was so rough that no current due to SSE could be observed. Annealing the films decreased the surface roughness and gave rise to a thermal-activation-type temperature dependence of the SSE conductivity. By proper heat treatment up to 8 K the activation energy could be reduced to 10k
B.On leave from the Hyogo University of Teacher Education, Shimokume 942-1, Yashiro, 673-14, Japan. 相似文献
6.
Robust control method for the inverted pendulum system with structured uncertainty caused by measurement error 总被引:1,自引:1,他引:0
In this article, we propose a design method for an inverted pendulum system with a structured uncertainty. We consider that
such an uncertainty is caused by a measurement error in the rotation angle of the pendulum and effects on the system structure
that cannot be included in the nominal elements. For the uncertain system obtained, we apply an integral tracking control
and the guaranteed cost control to design a robust, stable, tracking control system. Finally, we show the effectiveness of
our method through a numerical example. 相似文献
7.
Makoto Sakamoto Kaoru Kajisa Naoko Tomozoe Takao Ito Hiroshi Furutani Michio Kono Satoshi Ikeda 《Artificial Life and Robotics》2008,13(1):61-64
In 1997, C.R. Dyer and A. Rosenfeld introduced an acceptor on a two-dimensional pattern (or tape), called the pyramid cellular acceptor, and demonstrated that many useful recognition tasks are executed by pyramid cellular acceptors in time proportional to the
logarithm of the diameter of the input. They also introduced a bottom-up pyramid cellular acceptor which is a restricted version of the pyramid cellular acceptor, and proposed some interesting open problems of the bottom-up
pyramid cellular acceptors. On the other hand, we think that the study of threedimensional automata has been meaningful as
the computational model of three-dimensional information processing such as computer vision, robotics, and so forth. In this
paper, we investigate about bottom-up pyramid cellular acceptors with three-dimensional layers, and show their some accepting
powers.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
8.
The Planer vertical take-off and landing (PVTOL) aircraft is a typical example of an underactuated mechanical system and has
a nonminimum-phase nature. When considering output tracking control, the Input/Output (I/O) linearization method is not appropriate
since the stability of the internal dynamics is not guaranteed. Hauser et al. regarded this system as a slightly nonminimum-phase
system which approximates to a minimum-phase one. Their control scheme yielded good results when the coupling factor was small,
but the results were not acceptable when the coupling factor increased. In this article, we propose two approaches to improve
the control performance. First, we consider the approximation error of Hauser's scheme as uncertainty, and apply the Linear
Quadratic Regulator (LQR) method, which possesses robustness against uncertainty, to determine the stabilizing feedback coefficients.
Second, from the fact that the tracking error is unavoidable, we use the “virtual reference trajectory” to design the tracking
control law, and optimize this trajectory to reduce the tracking error between the “actual reference trajectory” and the “resulting
trajectory”. This optimization also improves the control performance by choosing a suitable performance index. By using our
approach, we achieve better performance even if the coupling factor is increased. We show these results by numerical simulation.
This work was presented, in part, at the Seventh International Symposium on Artificial Life and Robotics, Oita, Japan, January
16–18, 2002 相似文献
9.
This article considers feedback control systems wherein the control loops are closed through a real-time network, and expresses
the linear time-invariant system with the constraint in an input or output as a periodic discrete time system. It is shown
that this system is stabilized by using output sample hold contol. This method has the merit that the capacity of a sensor-controller
communication bus is small.
This work was presented, in part, at the 8th International Symposium on Artificial Life and Robotics, Oita, Japan, January
24–26, 2003 相似文献
10.
Kono Y Park C Sakamaki T Kenny-Benson C Shen G Wang Y 《The Review of scientific instruments》2012,83(3):033905
An integration of multi-angle energy-dispersive x-ray diffraction and ultrasonic elastic wave velocity measurements in a Paris-Edinburgh cell enabled us to simultaneously investigate the structures and elastic wave velocities of amorphous materials at high pressure and high temperature conditions. We report the first simultaneous structure and elastic wave velocity measurement for SiO(2) glass at pressures up to 6.8 GPa at around 500°C. The first sharp diffraction peak (FSDP) in the structure factor S(Q) evidently shifted to higher Q with increasing pressure, reflecting the shrinking of intermediate-range order, while the Si-O bond distance was almost unchanged up to 6.8 GPa. In correlation with the shift of FSDP position, compressional wave velocity (Vp) and Poisson's ratio increased markedly with increasing pressure. In contrast, shear wave velocity (Vs) changed only at pressures below 4 GPa, and then remained unchanged at ~4.0-6.8 GPa. These observations indicate a strong correlation between the intermediate range order variations and Vp or Poisson's ratio, but a complicated behavior for Vs. The result demonstrates a new capability of simultaneous measurement of structures and elastic wave velocities at high pressure and high temperature conditions to provide direct link between microscopic structure and macroscopic elastic properties of amorphous materials. 相似文献