Optimal operation of cogeneration system coordinated by aggregator for providing the demand and supply regulation capacity

Recent growth of renewable energy generations with natural variability, such as photovoltaic generation and wind turbine generation, would make the demand and supply control in a whole power system more difficult, and therefore, alternatives for demand and supply regulation resources would be required. The authors focus on cogeneration system (CGS) as one of regulation resources. In order to procure adequate volume of regulation capability, an aggregator coordinates a number of CGSs efficiently and flexibly considering the wide variety of electricity/thermal demands of CGS owners. This paper proposes a novel optimal operation strategy of CGS coordinated by the aggregator considering the energy balance and operation cost of individual CGS owner. This paper also demonstrates the availability of CGSs for regulation capability by numerical case studies in which the actual consumption profile is employed.     

Intelligent control for avoiding the joint limits of redundant planar manipulators

This article presents an intelligent control system for a redundant manipulator to avoid physical limits such as joint angle limits and joint velocity limits. In this method, a back-propagation neural network (NN) is introduced for the kinematic inversion of the manipulator. Since this inverse kinematics has an infinite number of joint angle vectors, a fuzzy-neuro system is constructed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector in order to guide the output of the NN within the self-motion. Simulations and a comparative study are made based on a four-link redundant manipulator to prove the efficacy of the proposed control system.     

A study on constructing a neuro-interface using the concept of a virtual master–slave system

To ease the control of a nonholonomic robot by a non-expert, a neuro-interface is proposed by using the concept of a virtual master–slave system. The design procedure for the interface is elaborated for the control of nonholonomic two-wheeled robots. In particular, it is shown that if the coordinate transformation from the slave to the master is assumed to be known, the resultant inverse mapping of the master robot can be simply realized by a neural network (NN) with all linear units. The training of the NN is performed by an offline method. As a result, the effectiveness of the proposed method is shown for some simulations to solve a trajectory tracking control problem with a nonholonomic mobile robot.This work was presented, in part, at the 9th International Symposium on Artifical Life and Robotics, Oita, Japan, January 28–30, 2004     

Adaptive actor-critic learning for the control of mobile robots by applying predictive models

In this paper, we propose two methods of adaptive actor-critic architectures to solve control problems of nonlinear systems. One method uses two actual states at time k and time k+1 to update the learning algorithm. The basic idea of this method is that the agent can directly take some knowledge from the environment to improve its knowledge. The other method only uses the state at time k to update the algorithm. This method is called, learning from prediction (or simulated experience). Both methods include one or two predictive models, which are assumed to be applied to construct predictive states and a model-based actor (MBA). Here, the MBA as an actor can be viewed as a network where the connection weights are the elements of the feedback gain matrix. In the critic part, two value-functions are realized as a pure static mapping, which can be reduced to a nonlinear current estimator by using the radial basis function neural networks (RBFNNs). Simulation results obtained for a dynamical model of nonholonomic mobile robots with two independent driving wheels are presented. They show the effectiveness of the proposed approaches for the trajectory tracking control problem.     

Effects of fibroblast growth factor-2 on longitudinal bone growth

In vivo, fibroblast growth factor-2 (FGF-2) inhibits longitudinal bone growth. Similarly, activating FGF receptor 3 mutations impair growth in achondroplasia and thanatophoric dysplasia. To investigate the underlying mechanisms, we chose a fetal rat metatarsal organ culture system that would maintain growth plate histological architecture. Addition of FGF-2 to the serum-free medium inhibited longitudinal growth. We next assessed each major component of longitudinal growth: proliferation, cellular hypertrophy, and cartilage matrix synthesis. Surprisingly, FGF-2 stimulated proliferation, as assessed by [3H]thymidine incorporation. However, autoradiographic studies demonstrated that this increased proliferation occurred only in the perichondrium, whereas decreased labeling was seen in the proliferative and epiphyseal chondrocytes. FGF-2 also caused a marked decrease in the number of hypertrophic chondrocytes. To assess cartilage matrix synthesis, we measured 35SO4 incorporation into newly synthesized glycosaminoglycans. Low concentrations (10 ng/ml) of FGF-2 stimulated cartilage matrix production, but high concentrations (1000 ng/ml) inhibited matrix production. We conclude that FGF-2 inhibits longitudinal bone growth by three mechanisms: decreased growth plate chondrocyte proliferation, decreased cellular hypertrophy, and, at high concentrations, decreased cartilage matrix production. These effects may explain the impaired growth seen in patients with achondroplasia and related skeletal dysplasias.     

Selective isopentane formation from CH3OH on a new one-atomic layer ZrO2/ZSM-5 hybrid catalyst

A new one-atomic layer ZrO₂/ZSM-5 hybrid catalyst was prepared by using the repeated reactions between Zr(OC₂H₅)₄ and of the OH groups of the external surfaces of ZSM-5, followed by calcination. The one-atomic layer ZrO₂ attached on the ZSM-5 surface was characterized by means of X-ray diffraction, X-ray fluorescence and EXAFS. The ZrO₂ overlayer is suggested to epitaxially grow on the ZSM-5(001) plane in a [111] direction of tetragonal ZrO₂. The one-atomic layer ZrO₂/ZSM-5 is a unique catalyst which produces selectively isopentane from CH₃OH.     

Basic design of 70-MW-class superconducting generators

The application of superconductivity technology to electric power apparatus is very important from the viewpoint of energy saving. Especially, the superconducting generators using superconductors as the field windings have many merits compared with conventional generators. Super-GM has been researching and developing 70-MW-class model machines since FY 1988 for a scheduled period of eight years, aiming at a 200-MW-class superconducting generator. This paper describes the basic specifications and designs of 70-MW-class superconducting generators by Super-GM and also describes the propriety of these basic specifications and designs.     

Multiplexed toxin analysis using four colors of quantum dot fluororeagents

Quantum dots (QDs) have the potential to simplify the performance of multiplexed analysis. In this work, we prepared bioinorganic conjugates made with highly luminescent semiconductor nanocrystals (CdSe-ZnS core-shell QDs) and antibodies to perform multiplexed fluoroimmunoassays. Sandwich immunoassays for the detection of cholera toxin, ricin, shiga-like toxin 1, and staphylococcal enterotoxin B were performed simultaneously in single wells of a microtiter plate. Initially the assay performance for the detection of each toxin was examined. We then demonstrated the simultaneous detection of the four toxins from a single sample probed with a mixture of all four QD-antibody reagents. Using a simple linear equation-based algorithm, it was possible to deconvolute the signal from mixed toxin samples, which allowed quantitation of all four toxins simultaneously.     

A decentralized control system for cooperative transportation by multiple non-holonomic mobile robots

In this paper, we propose a decentralized control system for transporting a single object by multiple non-holonomic mobile robots. Each agent used in the proposed system has two arms, which can steer around a joint offset from the centre point between two driving wheels. One of these mobile robots acts as a leader, who is assumed to be able to plan and to manipulate the omnidirectional motion of the object by using a resolved velocity control. Other robots, referred to as followers, cooperatively transport the object by keeping a constant relative position with the object using a simple PI control. Different from conventional leader–follower type systems that transport an object by multiple robots in coordination, the present followers can plan an action based on their local coordinate and need no absolute positional information. In addition, as a special case, a system consisting of only two robots is introduced, in which the follower robot not only has an arm length controller to follow the leader but also has a fuzzy controller as an avoidance controller to avoid obstacles or a posture controller to keep a desired posture of the object. Simulation results are given to demonstrate the good performance of the proposed systems.     

Effects of polyglycerol esters of fatty acids and ethylene‐vinyl acetate co‐polymer on crystallization behavior of biodiesel

Biodiesel fuels (BDF) have many problems in the cold due to their crystallization properties. In particular, precipitation of large crystals of high‐melting fractions in BDF at low temperatures remarkably changes cold flow property of BDF and, thereby, it increases the values of cold filter plugging point. In this study, we evaluated polyglycerol esters of fatty acids (PGE) and ethylene‐vinyl acetate co‐polymer (EVA) as chemical additives to improve the cold flow property of palm oil‐based FAME (PFME). The results of solid fat content measurement indicate that the simultaneous addition of PGE and EVA showed synergistic effects on suppression of crystallization of PFME, however such effect was not observed when EVA was used alone. DSC thermograms indicated that the PGE additives not only decreased the crystallization temperature but also kinetically suppressed the crystal growth. Polarized light microscopy showed that the simultaneous addition of PGE and EVA led to the formation of considerably small and fine‐dispersed crystals of PFME. These results indicate that combined effects of PGE and EVA caused the formation of fine‐dispersed PFME crystals, which could improve the viscous properties of palm oil‐based BDF at relatively cold temperatures.