Decentralized robust control of mechanical systems

For mechanical systems described by Euler-Lagrange equations and involving high-order interconnections, this paper proposes a decentralized control, which guarantees the uniform ultimate stability when the control objective is tracking a smooth desired trajectory. The controller design is based on some physical properties of such systems and Lyapunov design methodology. The application of the proposed controller to robot manipulators is presented, and experiment results are included to illustrate the performance of the proposed control algorithm     

DYNAMIC ANALYSES AND ROBUST STEERING CONTROLLER DESIGN FOR AUTOMATED LANE GUIDANCE OF HEAVY‐DUTY VEHICLES

In this paper, we present various linear analyses of the linearized lateral dynamics of heavy‐duty vehicles (HDVs) (tractor‐semitrailer type), which include time domain, frequency domain and pole/zero analyses. These analyses are conducted to examine the vehicle response to the steering input subjected to variations of speed, road adhesion coefficient, cargo load in the trailer, and look‐ahead distance for the lateral deviation sensor. These parameters (uncertainties) have significant influence on vehicle dynamics. It has been shown that redefining the look‐ahead lateral error as the controlled output has a favorable impact on the lateral control problem. Based on these analyses, a robust steering controller using H_∞ loop‐shaping procedure is designed for a tractor semitrailer combination to follow the road center line on both curved and straight highway sections. The proposed controller ensures the robust performance under model uncertainties which include varying vehicle longitudinal speed, road adhesion coefficient, and cargo load in the trailer. The performance of the designed controller is evaluated by simulations and validated by experiments.     

Analysis of alcohol oxidase isozymes in gene-disrupted strains of methylotrophic yeast Pichia methanolica

A cell-free extract of methanol-grown Pichia methanolica cells was found to contain nine alcohol oxidase (AOD) isozymes by active staining of a native polyacrylamide electrophoresis gel. Our previous study revealed that AOD in P. methanolica was encoded by two genes, MOD1 and MOD2, and the results of an experiment involving Candida boidinii as an expression host suggested that the AOD isozymes observed in P. methanolica were due to random association of Mod1p and Mod2p into an active octamer [Nakagawa et al., Yeast, 15, 1223-1230 (1999)]. This study was conducted using P. methanolica MOD1- and/or MOD2-gene disrupted strains to confirm a previous hypothesis. While the cell-free extract of the wild-type strain gave nine ladder bands, the mod1delta and mod2delta strains gave a single active AOD band corresponding to the mobilities of Mod2p and Mod1p on a native electrophoresis gel, respectively. The cell-free extract of glyceorl-grown wild-type cells gave a single band corresponding to Mod1p, showing that only MOD1 is expressed in glycerol-grown cells. While the expression of both MOD1 and MOD2 was induced by methanol, this finding and our previous observations indicated that the expression of MOD1 and MOD2 was controlled by a distinct regulatory mechanism in P. methanolica.     

Short track seeking of hard disk drives under multirate control-computationally efficient approach based on initial value compensation

This paper proposes a design method for short track-seeking control based on one degree of freedom (ODOF) control and initial value compensation (IVC). IVC uses nonzero initial values of the feedback controller to improve the step reference response of the ODOF tracking control system. This makes feedforward control unnecessary to shape the transient response of short track seeking. As a result, the amount of computation during short track seeking may be minimal. The proposed design method minimizes tracking errors in multirate control framework for a step reference input taking into account the inter-sampling behavior. The effectiveness of the proposed method is shown by simulation and experiment.     

Comments on “Zeros of discretized continuous systemsexpressed in the Euler operator-an asymptotic analysis” [andreply]

In the original paper by Tesfaye and Tomizuka (ibid., vol.40, p.743-7, 1995), an asymptotic analysis was used to address the zero structure of discretized continuous-time systems expressed in the Euler (or forward difference) operator. The method was developed for application to multivariable control systems. The authors state that the analysis is flawed, so that a theorem is true as stated only when the continuous time relative degree is equal to two. They indicate how the analysis may be rectified. Tesfaye and Tomizuka acknowledge the error and the correctness of the result in this paper     

Carbonization of tetra-(octadecyl) titanate under very high pressures

Tetra-(octadecyl) titanate, a less reactive organic titanate, was carbonized under pressures up to 60 kb and the products were investigated by X-ray diffractometry and electron microscopy. The carbonization occurred on the high temperature side of a line connecting atmospheric-pressure/200°C and 60kb/480°C in the p-T chart. Due to explosions, however, flawless products could be recovered only above 30 kb and not far off the line. All the recovered carbonized products showed higher carbon yields and larger X-ray L_c-values than the equivalents obtained by pyrolyses under atmospheric pressure. The product at 30kb/420°C was composed of rutile and needle-shaped carbon fragments of various lengths, in which short graphitic lattice fringes were found to be stacked across the fragment axis. The products under pressures of 50 kb or higher contained rutile, β-titania and carbon fragments of numerous shapes, in which lattice fringes appeared rather irregular as compared with those in the 30 kb/420°C product.     

On a relaxation of SPR condition in parallel MRAS-continuous-timecase

It is shown that the strict positive realness (SPR) condition for asymptotic stability of the continuous-time parallel model reference adaptive system (MRAS) can be removed provided that the parameter adaption law includes a proportional term and the information matrix is made sufficiently large. The present result a continuous-time counterpart of an earlier result (M. Tomizuka, ibid., vol.27, no.4, p.505-6, 1982) on the discrete-time parallel MRAS     

Distribution, diversity and regulation of alcohol oxidase isozymes, and phylogenetic relationships of methylotrophic yeasts

In this study, we attempted to classify the methylotrophic yeasts based on diversities of alcohol oxidase (AOD), i.e. zymogram patterns and partial amino acid sequences. According to zymogram patterns for AOD, members of the methylotrophic yeasts separate into two major lineages, one group involving strains having a single AOD and the other group, including Pichia methanolica, Candida pignaliae and C. sonorensis, showing nine AOD isozymes. Based on partial amino acid sequences of AOD, the methylotrophic yeasts could be divided into five groups, and this classification agrees mostly with grouping based on 26S domain D1/D2 rDNA nucleotide sequences, except for some strains. Moreover, the strains having AOD isozymes constitute one group with P. trehalophila, P. glucozyma and Pichia sp. strain BZ159, although these strains are divided into two types, based on amino acid sequences of second AODs. On the other hand, these AOD isozymes consist of two subunits; the first subunits are induced not only by methanol but also by glycerol and pectin, although the second subunits are mainly induced by methanol. These data indicate that AOD isozymes and second AOD genes distribute widely in several methylotrophic yeasts in the natural environment, and second AOD genes may have evolved as methylotrophic genes that can adapt to the environmental conditions of higher methanol concentrations.     

Effects of administration of Bifidobacterium animalis subsp. lactis GCL2505 on defecation frequency and bifidobacterial microbiota composition in humans

The aim of this study was to evaluate the changes in endogenous bifidobacteria and administered Bifidobacterium animalis subsp. lactis (B. lactis) GCL2505 (GCL2505) in the intestine after administration of GCL2505 by means of a randomized, placebo-controlled double-blind, cross-over study. An increase in the number of total bifidobacteria (the sum of B. bifidum, B. breve, B. longum subsp. longum, B. adolescentis, B. anglatum, B. catenulatum, B. pseudocatenulatum, B. dentium, B. longum subsp. infantis and B. lactis) in the feces were observed after administration of GCL2505 using species- and subspecies-specific real-time polymerase chain reaction analysis. However, the number of endogenous bifidobacteria species (excluding B. lactis) remained unchanged. B. lactis also became the predominant bifidobacterial species. Taking into account the number of GCL2505 administered, the findings further suggested that GCL2505 proliferated in the intestine. In addition, the defecation frequency increased during GCL2505 administration compared with the placebo. Moreover, a single administration study (n=17) clearly demonstrated that GCL2505 successfully reached the intestine before proliferating at least 10-fold. This is the first report to show an increase in intestinal bifidobacteria, with no changes to the endogenous species, and improvements in constipation following proliferation of administered bifidobacteria.