Robust control method for the inverted pendulum system with structured uncertainty caused by measurement error

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.     

Stabilization of linear time-invariant systems with periodic communication constraints by output sample hold control

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     

Structural analysis and transistor properties of hetero-molecular bilayers

We examined the film morphologies and transistor properties of hetero-molecular bilayer consisting of N, N’-dioctyl-3, 4, 9, 10-perylenedicarboximide (PTCDI-C₈) and quaterrylene. First, the structure and carrier conduction of PTCDI-C₈ films were studied, followed by an analysis of the carrier accumulation process in a PTCDI-C₈/quaterrylene hetero-bilayer transistor. Based on the displacement current measurement (DCM), we stress the potential of the hetero-bilayer for tuning carrier accumulation like carrier doping techniques in field-effect transistors.     

TEM Observations of the Initial Oxidation Stages of Nb-Ion-Implanted TiAl

Coupon specimens of TiAl were implanted with Nb ions at an acceleration voltage of 50 kV with a dose of 10²¹ ions m.^–2 They were then slightly oxidized during heating to 900 or 1200 K, or at 1200 K for 3.6 ksec (1 hr) in a flow of purified oxygen under atmospheric pressure. The implanted specimens and oxidized specimens were characterized and observed by AES, X-ray diffractometry, SEM, TEM, EDS, and EPMA. Implantation improves the oxidation resistance significantly by forming virtually -Al₂O₃ scales. The implanted layer is about 75 nm thick; the outer part of 30-nm thickness is -Ti phase and the rest of 45-nm thickness is amorphous. Heating to 900 K in O₂ results in partial crystallization of the amorphous layer to Ti₅Al₃O₂ (Z-phase) and to 1200 K results in oxide scales of 270 to 400 nm thickness consisting mainly of Al₂O₃. The fraction of Al₂O₃ in the scale increases toward the substrate. Oxidation at 1200 K for 3.6 ksec results in Al₂O₃-rich scales of about 400-nm thickness. The oxide grain size is very fine, about 80 nm in size, and becomes smaller toward the outer scale surface. This implies that implantation enhanced the nucleation of Al₂O₃ grains relative to the growth of TiO₂ grains. This finding and the formation of -Ti phase are thought to be responsible for the excellent oxidation resistance obtained.     

Dietary CLA and DHA modify skin properties in mice

This study investigated the influence of PUFA on the properties of mouse skin. Mice (3 wk old) were given free access to oils high in linoleic acid, CLA, or DHA for 4 wk. At the end of the experiment, their skins were compared by both biochemical and histological methods. No significant differences in lipid and collagen contents were detected among treatments, although the FA composition in the skin was altered depending upon the FA composition of the supplemented oils. Electron microscopy revealed that the subcutaneous tissue layers in the CLA and DHA groups were significantly thinner than that in the high linoleic acid group, whereas no differences in the thickness of dermis layers were observed among the three groups. These results suggest that skin properties in mice are readily modified by dietary FA sources within 4 wk of dietary oil supplementation.     

Estimating forest canopy density of tropical mixed deciduous vegetation using Landsat data: a comparison of three classification approaches

Although a number of image classification approaches are available to estimate forest canopy density (FCD) using satellite data, assessment of their relative performances with tropical mixed deciduous vegetation is lacking. This study compared three image classification approaches – maximum likelihood classification (MLC), multiple linear regression (MLR) and FCD Mapper – in estimating the FCD of mixed deciduous forest in Myanmar. The application of MLC and MLR was based on spectral reflectance of vegetation, whereas FCD Mapper was operated on integrating the biophysical indices derived from the reflectance of the vegetation. The FCD was classified into four categories: closed canopy forest (CCF; FCD ≥ 70%), medium canopy forest (MCF; 40% ≥ FCD < 70%), open canopy forest (OCF; 10% ≥ FCD < 40%) and non-forest (NF; FCD < 10%). In the three classification approaches, producer's and user's accuracies were higher for more homogeneous vegetation such as NF and CCF than for heterogeneous vegetation density (VD) such as OCF and MCF. FCD Mapper produced the best overall accuracy and kappa coefficient. This study revealed that only spectral reflectance is not enough to get good results in estimating FCD in tropical mixed deciduous vegetation. This study indicates that FCD Mapper, an inexpensive approach because it requires only validation data and thus saves time, can be applied to monitor tropical mixed deciduous vegetation over time at lower cost than alternative methods.     

Analysis of a manipulator in relation to collision between a link and an object

In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally.     

A study of manipulator with passive revolute joint

In this article, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of the characteristics of driving source. Considering the fi nal condition of displacement and velocity of the passive joint, trajectories of velocity for energy saving are calculated by iterative dynamic programming. And the dynamic characteristics of manipulator control based on the trajectory for energy saving are analyzed theoretically and investigated experimentally. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Suppression of by-product generation in the treatment of aromatic perfumery substances using a surface discharge

Treatment of perfumery materials such as aromatic hydrocarbons was attempted using atmospheric surface discharge and UV light irradiation. The maximum decomposition rate of phenyl ethyl benzene with a concentration of 8% using the discharge with UV light is 96%, that is 12% higher than that without UV light. Combination of surface discharge and UV light enhances the decomposition rate and energy efficiency, and enables to suppress the generation of by-products such as benzene.     

Cloning and Characterization of the Biosynthetic Gene Cluster of 16‐Membered Macrolide Antibiotic FD‐891: Involvement of a Dual Functional Cytochrome P450 Monooxygenase Catalyzing Epoxidation and Hydroxylation

FD‐891 is a 16‐membered cytotoxic antibiotic macrolide that is especially active against human leukemia such as HL‐60 and Jurkat cells. We identified the FD‐891 biosynthetic (gfs) gene cluster from the producer Streptomyces graminofaciens A‐8890 by using typical modular type I polyketide synthase (PKS) genes as probes. The gfs gene cluster contained five typical modular type I PKS genes (gfsA, B, C, D, and E), a cytochrome P450 gene (gfsF), a methyltransferase gene (gfsG), and a regulator gene (gfsR). The gene organization of PKSs agreed well with the basic polyketide skeleton of FD‐891 including the oxidation states and α‐alkyl substituent determined by the substrate specificities of the acyltransferase (AT) domains. To clarify the involvement of the gfs genes in the FD‐891 biosynthesis, the P450 gfsF gene was inactivated; this resulted in the loss of FD‐891 production. Instead, the gfsF gene‐disrupted mutant accumulated a novel FD‐891 analogue 25‐O‐methyl‐FD‐892, which lacked the epoxide and the hydroxyl group of FD‐891. Furthermore, the recombinant GfsF enzyme coexpressed with putidaredoxin and putidaredoxin reductase converted 25‐O‐methyl‐FD‐892 into FD‐891. In the course of the GfsF reaction, 10‐deoxy‐FD‐891 was isolated as an enzymatic reaction intermediate, which was also converted into FD‐891 by GfsF. Therefore, it was clearly found that the cytochrome P450 GfsF catalyzes epoxidation and hydroxylation in a stepwise manner in the FD‐891 biosynthesis. These results clearly confirmed that the identified gfs genes are responsible for the biosynthesis of FD‐891 in S. graminofaciens.