Motion Control Systems Sabanovic, Asif; Ohnishi, Kouhei
2011, 2011-01-14, 2011-03-10
eBook
Motion Control Systemsis concerned with design methods that support the never-ending requirements for faster and more accurate control of mechanical motion. The book presents material that is ...fundamental, yet at the same time discusses the solution of complex problems in motion control systems. Methods presented in the book are based on the authors' original research results. Mathematical complexities are kept to a required minimum so that practicing engineers as well as students with a limited background in control may use the book. It is unique in presenting know-how accumulated through work on very diverse problems into a comprehensive unified approach suitable for application in high demanding, high-tech products. Major issues covered include motion control ranging from simple trajectory tracking and force control, to topics related to haptics, bilateral control with and without delay in measurement and control channels, as well as control of nonredundant and redundant multibody systems. Provides a consistent unified theoretical framework for motion control designOffers graduated increase in complexity and reinforcement throughout the bookGives detailed explanation of underlying similarities and specifics in motion controlUnified treatment of single degree-of-freedom and multibody systemsExplains the fundamentals through implementation examplesBased on classroom-tested materials and the authors' original research workWritten by the leading researchers in sliding mode control (SMC) and disturbance observer (DOB)Accompanying lecture notes for instructorsSimulink and MATLAB® codes available for readers to downloadMotion Control Systemsis an ideal textbook for a course on motion control or as a reference for post-graduates and researchers in robotics and mechatronics. Researchers and practicing engineers will also find the techniques helpful in designing mechanical motion systems.
Abstract
We report discovery of the lowest mass ratio exoplanet to be found by the microlensing method in the light curve of the event OGLE 2016–BLG–1195. This planet revealed itself as a small ...deviation from a microlensing single lens profile from an examination of the survey data. The duration of the planetary signal is ∼2.5 h. The measured ratio of the planet mass to its host star is q = 4.2 ± 0.7 × 10−5. We further estimate that the lens system is likely to comprise a cold ∼3 Earth mass planet in an ∼2 au wide orbit around a 0.2 Solar mass star at an overall distance of 7.1 kpc.
This paper presents a design method of time-delayed control systems. Because of the tremendous spread of computer networks, control strategies for time-delayed control systems are needed for ...network-based control systems (NBCSs) and other network applications. Although model-based or predictive control methods (like a Smith predictor) are often used for time-delay compensation, the performance often deteriorates when the value of time delay is uncertain. In these circumstances, a novel time-delay-compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB) has been proposed. The method has the same effectiveness for time-delay compensation as that of the Smith predictor. Furthermore, because the method works without delay-time model, it can be flexibly applied to many kinds of time-delayed control systems. In this paper, a design method of CDOB, considering the dynamic property of ND, is proposed in the situation of constant time delay. The dynamic property of ND leads to two design conditions of CDOB. Those design conditions are derived considering relationships between poles of CDOB and ND dynamics. Then, the actual design procedure of CDOB based on derived design conditions is presented in two different delay cases. The stability of the designed control systems is clarified by stability analysis. The validity of the proposed design method is verified by experimental results. Finally, we present experimental results in the case of random delay as an example of practical application of the time-delay compensation method to actual NBCSs.
We have examined a dynamical spin injection in a CoFeB/Pt/CoFeB trilayered structure. Although the contribution of the spin pumping was eliminated by the symmetric spin injection from the upper and ...lower CoFeB layers, a clear voltage change due to the inverse spin Hall effect has been observed. We find that the observed signal can be quantitatively explained by considering the thermal spin injection due to the heating effect during ferromagnetic resonance (FMR). This innovative demonstration indicates the significant contribution of FMR heating in the dynamical spin injection.
Aim: To isolate and characterize lactic acid bacteria (LAB) and determine whether they could potentially be used as heavy metal (cadmium and lead) absorbing probiotics. Methods and Results: The study ...used 53 environmental (mud and sludge) samples to isolate cadmium‐ and lead‐resistant LAB, by following spared plate technique. A total of 255 cadmium‐ and lead‐resistant LAB were isolated from these samples. The survival of 26 of the LAB was found after passing through sequential probiotic characterizations. These 26 probiotic LAB exhibited remarkable variations in their metal‐resistant and metal‐removal abilities. Of 26, seven (Cd54‐2, Cd61‐7, Cd69‐12, Cd70‐13, Pb82‐8, Pb96‐19 and Cd109‐16) and four (Pb71‐1, Pb73‐2, Pb85‐9 and Pb96‐19) strains displayed relatively elevated cadmium‐ and lead‐removal efficiencies from water, respectively, compare with that of the remaining strains. Strains Cd70‐13 and Pb71‐1 showed the highest cadmium (25%) and lead (59%) removal capacity from MRS (De Man, Rogosa and Sharpe) culture medium, respectively, amongst the selected strains and showed a good adhesive ability on fish mucus. A phylogenetic analysis of their 16S rDNA sequences revealed that the strains Cd70‐13 and Pb71‐1 belong to Lactobacillus reuteri. Conclusion: Excellent probiotic, metal sorption and adhesive characteristics of newly identified Lact. reuteri strains Cd70‐13 and Pb71‐1 were isolated, which indicated their high potential abilities to survive in the intestinal milieu and to uptake the tested metals from the environment. Significance and Impact of the Study: To our knowledge, this is the first study that has aimed to isolate, characterize and identify metal‐resistant LAB strains that have potential to be a probiotic candidate for food and in vivo challenge studies in the intestinal milieu of fish for the uptake and control of heavy metal bioaccumulation.
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BFBNIB, FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
High-dose methotrexate (Hd-MTX) therapy has recently been applied to the treatment of adult acute lymphoblastic leukemia (ALL) based on pediatric protocols; however, its effectiveness for adult ALL ...has not yet been confirmed in a rigorous manner. We herein conducted a randomized phase III trial comparing Hd-MTX therapy with intermediate-dose (Id)-MTX therapy. This study was registered at UMIN-CTR (ID: C000000063). Philadelphia chromosome (Ph)-negative ALL patients aged between 25 and 64 years of age were enrolled. Patients who achieved complete remission (CR) were randomly assigned to receive therapy containing Hd-MTX (3 g/m
) or Id-MTX (0.5 g/m
). A total of 360 patients were enrolled. The CR rate was 86%. A total of 115 and 114 patients were assigned to the Hd-MTX and Id-MTX groups, respectively. The estimated 5-year disease-free survival rate of the Hd-MTX group was 58%, which was significantly better than that of the Id-MTX group at 32% (P=0.0218). The frequencies of severe adverse events were not significantly different. We herein demonstrated the effectiveness and safety of Hd-MTX therapy for adult Ph-negative ALL. Our results provide a strong rationale for protocols containing Hd-MTX therapy being applied to the treatment of adult ALL.
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EMUNI, FIS, FZAB, GEOZS, GIS, IJS, IMTLJ, KILJ, KISLJ, MFDPS, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, SBMB, SBNM, UKNU, UL, UM, UPUK, VKSCE, ZAGLJ
Controlling robots in contact with the environment is an important problem in industry applications. In the conventional force control, much research has paid attention to develop novel force control ...systems and implemented force sensors to detect external force. This paper shows that narrow bandwidth of force sensor has a big influence on the force control system. Generally, to solve the instability in force control, the velocity feedback gain is enlarged. The system becomes unstable with small velocity feedback gain, and robot's response becomes slow with large one. Inasmuch as there is a tradeoff between the stability and the response, it is considered that force control by robots is difficult. This paper proposes a force control system with disturbance observer. It is possible to obtain the force information with wide bandwidth by using the disturbance observer. This paper shows that bandwidth of force sensing is very important for contact motion control. By using the wide bandwidth of force sensing, both stability and response are improved. Furthermore, force control is attainable by the construction of the easiest force control architecture. Therefore, the ideal zero-stiffness-force control is attained. The numerical and experimental results show viability of the proposed method.
A mesoscopic multi-terminal superconducting Nb strip with a spin injection terminal has been developed. We investigate the influence of spin polarization on the relaxation process of the ...quasiparticle in the superconducting Nb. The position dependence of the nonlocal voltage provides the quasiparticle relaxation length. The relaxation length for the spin-polarized quasiparticle is found to show a 12.5% increase from that for the un-polarized quasiparticle. This demonstration opens a new avenue for utilization of the spin current in a superconducting device.
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