Adaptive backstepping control of wheeled inverted pendulum with velocity estimator

In this paper, we introduce a backstepping control design of a wheeled inverted pendulum. Based on a second-order motion equation of the body angle, an adaptive integral backstepping controller is designed to stabilize the body angle. It is shown that the σ-modification rule in the adaptive update law guarantees the boundedness of the errors in estimating the time-varying signal that is an output of a linear system with every bounded input signal. Then, the stabilizing controller for the wheel angle is constructed by a PD-type positive feedback. The derived controller requires the full-state measurements. In the output feedback case, the K filter or the observer backstepping is needed. However, the structure of the controller becomes complicated. We propose a non-model-based differentiator based on the adaptive update law. Since the non-model-based differentiator does not require any knowledge of the dynamic structure of the signal, we can use it as a velocity estimator for unknown nonlinear systems. Therefore, we replaced the velocity measurement with the estimates by the non-model-based differentiator. Finally, simulation results for the proposed controller are presented.     

Relationship between electron sensitivity and chemical structures of polymers as electron beam resists. VI: Electron sensitivity of various acetalized poly(vinyl alcohol)s

Acetalized poly(vinyl alcohol)s which were synthesized from poly(vinyl alcohol) (PVA) and aldehyde or ketone were evaluated as electron beam (EB) resists, in order to investigate the relationship between EB sensitivity and chemical structures of the polymers. It was found that the acetalized PVAs were easily crosslinked by EB exposure. The main mechanism of crosslinking may be radical reaction at acetal group. The sensitivity of the acetalized PVA depended on the structure of the acetal group. Acetalized PVAs synthesized from benzaldehyde, in which the electron attracting group was substituted on the benzene ring and from linear aliphatic aldehyde having a long alkyl chain, had high sensitivity. A high sensitivity of 7.2 × 10⁻⁷ C/cm² was attained when the acetalized PVA synthesized from p-chloro-benzaldehyde was used. Acetalized PVAs synthesized from PVA and aldehyde having a cyclic structure had an excellent dry etching durability and were suitable as negative EB resists.     

Large Magnetovolume Effect Induced by Embedding Ferromagnetic Clusters into Antiferromagnetic Matrix of Cobaltite Perovskite

Materials that show negative thermal expansion (NTE) have significant industrial merit because they can be used to fabricate composites whose dimensions remain invariant upon heating. In some materials, NTE is concomitant with the spontaneous magnetization due to the magnetovolume effect (MVE). Here the authors report a new class of MVE material; namely, a layered perovskite PrBaCo₂O_5.5+x (0 ≤ x ≤ 0.41), in which strong NTE [β ≈ ?3.6 × 10^?5 K^?1 (90–110 K) at x = 0.24] is triggered by embedding ferromagnetic (F) clusters into the antiferromagnetic (AF) matrix. The strongest MVE is found near the boundary between F and AF phases in the phase diagram, indicating the essential role of competition between the F‐clusters and the AF‐matrix. Furthermore, the MVE is not limited to the PrBaCo₂O_5.5+x but is also observed in the NdBaCo₂O_5.5+x . The present study provides a new approach to obtaining MVE and offers a path to the design of NTE materials.     

Three-dimensional expression of adhesion molecules on the superficial synovial intima of LPS-induced arthritis of the mouse knee analyzed by immuno-SEM

Three-dimensional microlocalization of adhesion molecules, i.e. ICAM-1 (intercellular adhesion molecule), VCAM-1 (vascular adhesion molecule), LFA-1 (lymphocyte function-associated antigen), Mac-1 (macrophage differentiation antigen) and VLA-4 (very late activation antigen), expressed on type-A synoviocyte (macrophage-like cell) and type-B synoviocyte (fibroblast-like cell), were detected by immuno-scanning electron microscopy (SEM) to investigate the immunoreactive microenvironment of the superficial synovial intima in lipopolysaccharide (LPS)-induced arthritis of the mouse knee. Type-B synoviocytes extended rich slender processes from the periphery and constructed a cytoplasmic network, to which ICAM-1 was restricted. VCAM-1 was expressed only in the LPS-stimulated group and was relatively limited to the microvilli of type-B synoviocytes. Type-A synoviocytes were located randomly among the network with a smoother surface and expressed Mac-1 and LFA-1, which were counter-receptors for ICAM-1, and VLA-4 for VCAM-1 on the microvilli or lamellipodia. Three-dimensional microlocalization of adhesion molecules suggests that the network constructed by cytoplasmic processes and microvilli of type-B synoviocytes forms the pathway for the migration or the foothold for the fixation of type-A synoviocytes and takes part in forming an immunoreactive environment in the articular cavity.     

Overview of measurement-based connection admission control methods in ATM networks

An overview is given of previously-proposed measurement-based connection admission control (CAC) methods. First we address requirements for CAC methods, and then provide a taxonomy for CAC methods. Measurement-based CAC methods are discussed in detail, classified according to the taxonomy, and compared against each other with respect to the requirements. We conclude that measurement-based CAC methods based on effective bandwidth and bufferless models are promising because they do not require complex hardware and are less dependent on assumptions regarding traffic than methods in which the effect of buffer is considered.     

Providing scalable NH-diverse iBGP route re-distribution to achieve sub-second switch-over time

The role of BGP inside an AS is to disseminate the routes learned from external peers to all routers of the AS. A straightforward, but not scalable, solution, is to resort to a full-mesh of iBGP sessions between the routers of the domain. Achieving scalability in the number of iBGP sessions is possible by using Route Reflectors (RR). Relying on a sparse iBGP graph using RRs however has a negative impact on routers’ ability to quickly switch to an alternate route in case of a failure. This stems from the fact that routers do not often know routes towards distinct next-hops, for any given prefix.In this paper, we propose a solution to build sparse iBGP topologies, where each BGP router learns two routes with distinct next-hops (NH) for each prefix. We qualify such iBGP topologies as NH-diverse. We propose to leverage the “best-external” option available on routers. By activating this option, and adding a limited number of iBGP sessions to the existing iBGP topology, we obtain NH-diverse iBGP topologies that scale, both in number of sessions and routing table sizes. We show that NH diversity enables to achieve sub-second switch-over time upon the failure of an ASBR or interdomain link. The scalability of our approach is confirmed by an evaluation on a research and a Service Provider network.     

Multilingual disaster information system: information delivery using graphic text for mobile phones

A multilingual disaster information system (MLDI) has been developed to overcome the language barrier during times of natural disaster. MLDI is a web-based system that includes templates in nine languages so that translated texts can be made available immediately. Mobile phone e-mail with graphic text is a useful tool for delivering multilingual disaster information. The visibility of graphic text on mobile phones was measured and found to be equivalent to the built-in font. However, visibility deteriorates as the character size becomes smaller, especially, on displays with poor resolution. This article also discusses the necessity of multilingual information and measures for a safe and barrier-free society.     

A novel spectroelectrochemical cell for in situ surface X-ray scattering measurements of single crystal disk electrodes

A newly designed spectroelectrochemical cell was constructed for surface X-ray scattering (SXS) to study single crystal electrodes. Electrochemical characteristics of a specific face of a single crystal electrode can be investigated in the meniscus mode, and SXS measurement can be easily carried out using the spectroelectrochemical cell. The usefulness of the present cell was demonstrated by studying the electrochemical deposition of thin Pd layers on Au(111) and Au(100) that require precise amounts of Pd deposits.     

TANGENTIAL VELOCITY CHANGE WITH TIME OF POLYACRYLAMIDE SOLUTION IN A CONCENTRIC ANNULUS

Tangential velocity change with time of polyacrylamide solution, which had not only viscosity but also elasticity, in a concentric annulus after step motion of the inner cylinder was measured by using a LDV method. By adapting a conception of a second order lag control system which had a feedback connection, an equation for estimating the velocity change with time was presented. Each parameter in the equation was determined based on the experimental results, and the relationships between each parameter and viscosity or elasticity of the solutions was made clear. By using this equation, the tangential velocity change with time of a viscoelastic liquid in the annulus can be estimated when the viscosity and elasticity of the liquid and the rotational speed of the inner cylinder are given. Additionally, it was confirmed that the equation was applicable to the case of polyethyleneoxide solution, which had different ranges of the viscosity and elasticity from those of the test solutions described above.