Design of nonlinear controllers for active vehicle suspension with state constraints

Design of active vehicle suspension has tradeoffs between three main performance metrics (passenger comfort, suspension deflection and road holding ability). It has been known that each performance can be achieved by H _∞ controller and they can be gathered by LPV (Linear Parameter Varying) method. However, because the suspension deflection limit was not explicitly considered, this limit may be exceeded. In this paper, the authors propose a “reference shaping“ based method in order to improve the control performance. In this approach, a “virtual reference” signal is imposed to the system such that the suspension deflection is kept small. The effectiveness of the approach is examined by numerical simulations. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Pectoralis major tendon avulsion in association with a proximal humerus fracture

We report a very rare case of an avulsion of the pectoralis major tendon in association with a two-part proximal humerus fracture. Pectoralis major tendon avulsion was confirmed intraoperatively during open reduction and internal fixation of the humerus fracture. In retrospect, the preoperative radiographic finding of posterolateral and proximal displacement of the humeral shaft suggested an injury to the pectoralis major. Because others have reported that the best treatment of a pectoralis major tendon avulsion is surgical repair, we feel that it is important to suspect such an injury in a proximal humerus fracture when this anatomic displacement is present.     

Surface-state electrons on a hydrogen film. 1. Annealing of the film

We have investigated the surface of thin films (thickness 2 µm) of solid H₂ between 1.5 and 4.2 K by measuring the ac conductivity of surface-state electrons (SSE). The films were prepared on a glass substrate by quench condensation at 1.5 K and were therefore initially strongly disordered. In fact the surface of the virgin films before any heat treatment was so rough that no current due to SSE could be observed. Annealing the films decreased the surface roughness and gave rise to a thermal-activation-type temperature dependence of the SSE conductivity. By proper heat treatment up to 8 K the activation energy could be reduced to 10k _B.On leave from the Hyogo University of Teacher Education, Shimokume 942-1, Yashiro, 673-14, Japan.     

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.     

Bottom-up pyramid cellular acceptors with three-dimensional layers

In 1997, C.R. Dyer and A. Rosenfeld introduced an acceptor on a two-dimensional pattern (or tape), called the pyramid cellular acceptor, and demonstrated that many useful recognition tasks are executed by pyramid cellular acceptors in time proportional to the logarithm of the diameter of the input. They also introduced a bottom-up pyramid cellular acceptor which is a restricted version of the pyramid cellular acceptor, and proposed some interesting open problems of the bottom-up pyramid cellular acceptors. On the other hand, we think that the study of threedimensional automata has been meaningful as the computational model of three-dimensional information processing such as computer vision, robotics, and so forth. In this paper, we investigate about bottom-up pyramid cellular acceptors with three-dimensional layers, and show their some accepting powers. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Trajectory tuning for the tracking problem of the underactuated mechanical systems: application to the PVTOL aircraft

The Planer vertical take-off and landing (PVTOL) aircraft is a typical example of an underactuated mechanical system and has a nonminimum-phase nature. When considering output tracking control, the Input/Output (I/O) linearization method is not appropriate since the stability of the internal dynamics is not guaranteed. Hauser et al. regarded this system as a slightly nonminimum-phase system which approximates to a minimum-phase one. Their control scheme yielded good results when the coupling factor was small, but the results were not acceptable when the coupling factor increased. In this article, we propose two approaches to improve the control performance. First, we consider the approximation error of Hauser's scheme as uncertainty, and apply the Linear Quadratic Regulator (LQR) method, which possesses robustness against uncertainty, to determine the stabilizing feedback coefficients. Second, from the fact that the tracking error is unavoidable, we use the “virtual reference trajectory” to design the tracking control law, and optimize this trajectory to reduce the tracking error between the “actual reference trajectory” and the “resulting trajectory”. This optimization also improves the control performance by choosing a suitable performance index. By using our approach, we achieve better performance even if the coupling factor is increased. We show these results by numerical simulation. This work was presented, in part, at the Seventh International Symposium on Artificial Life and Robotics, Oita, Japan, January 16–18, 2002     

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     

Simultaneous structure and elastic wave velocity measurement of SiO2 glass at high pressures and high temperatures in a Paris-Edinburgh cell

An integration of multi-angle energy-dispersive x-ray diffraction and ultrasonic elastic wave velocity measurements in a Paris-Edinburgh cell enabled us to simultaneously investigate the structures and elastic wave velocities of amorphous materials at high pressure and high temperature conditions. We report the first simultaneous structure and elastic wave velocity measurement for SiO(2) glass at pressures up to 6.8 GPa at around 500°C. The first sharp diffraction peak (FSDP) in the structure factor S(Q) evidently shifted to higher Q with increasing pressure, reflecting the shrinking of intermediate-range order, while the Si-O bond distance was almost unchanged up to 6.8 GPa. In correlation with the shift of FSDP position, compressional wave velocity (Vp) and Poisson's ratio increased markedly with increasing pressure. In contrast, shear wave velocity (Vs) changed only at pressures below 4 GPa, and then remained unchanged at ~4.0-6.8 GPa. These observations indicate a strong correlation between the intermediate range order variations and Vp or Poisson's ratio, but a complicated behavior for Vs. The result demonstrates a new capability of simultaneous measurement of structures and elastic wave velocities at high pressure and high temperature conditions to provide direct link between microscopic structure and macroscopic elastic properties of amorphous materials.     

Effects of High Irradiance and Low Water Temperature on Photoinhibition and Repair of Photosystems in Marimo (Aegagropila linnaei) in Lake Akan,Japan

The green alga Aegagropila linnaei often forms spherical aggregates called “marimo” in Lake Akan in Japan. In winter, marimo are exposed to low water temperatures at 1–4 °C but protected from strong sunlight by ice coverage, which may disappear due to global warming. In this study, photoinhibition in marimo was examined at 2 °C using chlorophyll fluorescence and 830 nm absorption. Filamentous cells of A. linnaei dissected from marimo were exposed to strong light at 2 °C. Photosystem II (PSII) was markedly photoinhibited, while photosystem I was unaffected. When the cells with PSII damaged by the 4 h treatment were subsequently illuminated with moderate repair light at 2 °C, the maximal efficiency of PSII was recovered to the level before photoinhibition. However, after the longer photoinhibitory treatments, PSII efficiency did not recover by the repair light. When the cells were exposed to simulated diurnal light for 12 h per day, which was more ecological, the cells died within a few days. Our results showed new findings of the PSII repair at 2 °C and serious damage at the cellular level from prolonged high-light treatments. Further, we provided a clue to what may happen to marimo in Lake Akan in the near future.     

Contamination levels of PCDDs, PCDFs and Co-PCBs in commercial baby foods in Japan

To examine dioxin contamination in commercial baby foods in Japan, congener analyses of polychlorinated dibenzo-p-dioxins (PCDDs), polychlorinated dibenzofurans (PCDFs) and coplanar polychlorinated biphenyls (Co-PCBs) were performed on 102 varieties of baby foods obtained from supermarkets in 2001-2002. The toxic equivalent quantity (TEQ) levels for dioxins in samples ranged from < 0.001 to 0.135 pg-TEQ/g wet weight when undetected or trace levels of congeners were taken as zero. Among 102 samples tested, 26 samples exceeded 0.010 pg-TEQ/g. The highest TEQ value was for "sardine, vegetables" (0.135 pg-TEQ/g), followed by "Japanese radish (daikon), sardine" (0.080 pg-TEQ/g). Thus, dioxins were detected at low levels in baby foods containing animal products such as fishes and/or dairy products.