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Lyapunov function-based obstacle avoidance scheme for a two-wheeled mobile robot

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控制理论与应用（英文版） 2008年第4期6卷 399-404页

作者： akira inoue Katsuya SEKIGUCHI Department of Systems Engineering

An obstacle avoidance scheme of a two-wheeled mobile robot is shown by selecting an appropriate Lya- punov function. When considering the obstacle, the Lyapunov function may have some local minima. A method which erases the local minima is proposed by using a function which covers the minima with a plane surface. The effectiveness of the proposed method is verified by numerical simulations.

关键词： Obstacle avoidance Lyapunov function Mobile robot Robot control

Decentralized PD Control for Non-uniform Motion of a Hamiltonian Hybrid System

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International Journal of Automation and computing 2008年第2期5卷 119-124页

作者： Mingcong Deng Hongnian Yu akira inoue Department of Systems Engineering Okayama University 3-1-1 Tsushima-Naka Okayama 700-8530 Japan Faculty of Computing Engineering and Technology Staffordshire University Stafford ST18 0DG UK

In this paper, a decentralized proportional-derivative （PD） controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance. Simulation results are included to show the obtained non-uniform motion.

关键词： Decentralized proportional-derivative (PD) control hybrid system non-uniform motion local stability tracking performance

Fault Detection System Design for Actuator of a Thermal Process Using Operator Based Approach

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自动化学报 2010年第4期36卷 580-585页

作者： DENG Ming-Cong inoue akira EDAHIRO Kazunori Graduate School of Natural Science and Technology Okayama University Okayama 700-8530 Japan

This paper proposes an operator based fault detection method for an actuator fault of an aluminum plate thermal process with input constraints. Operator-based robust right coprime factorization(RCF)approach is utilized in this method. After developing a mathematical model of the thermal process,a robust tracking operator system is designed for the process with input constraints. Following this, design of the fault detection system is given by using operator-based robust RCF approach. Finally, experiment is conducted to support the proposed design method

关键词：自动化系统稳定性 RCF DIO

Framework of Combined Adaptive and Non-adaptive Attitude Control System for a Helicopter Experimental System

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International Journal of Automation and computing 2006年第3期3卷 229-234页

作者： akira inoue Department of Systems Engineering Okayama University 3-1-1 Tsushima-NakaOkayama 700-8530Japan

This paper presents a framework of a combined adaptive and non-adaptive attitude control system for a helicopter experimental system. The design method is based on a combination of adaptive nonlinear control and non-adaptive nonlinear control. With regard to detailed attitude control system design, two schemes are shown for different application cases.

关键词： Nonlinear control adaptive nonlinear control attitude control system helicopter.

rapid turnover proteins as prognostic nutritional indices in cancer patients

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中华临床营养杂志 1994年第4期 50+32-50+32页

作者： akira Okada,Yoshifumi inoue Department of Pediatric Surgery and Surgery Osaka University Medical SchooL Suita Osaka Japan 565 Department of Pediatric Surgery and Surgery Osaka University Medical SchooL Suita Osaka Japan 565

Cancer patients in advanced stages are frequentlyaccompanied by protein-malnutrition from variouscauses as disease advances and such an emaciated con-dition is generally termed“cancer cachexia”.The re-cent progress in total parenteral nutrition(TPN)hasmade it possible to maintain nutritional status of criti-cally ill patients and has thereby led to a great im-provement in cancer therapy. Unfortunately, ad-vanced cancer patients fail not infrequently to be ade-quately benefited even from TPN and this had report-edly been ascribed to metabolic derangements peculiarto cancer-bearing organisms. These cancer-specific

关键词： TPN Th rapid turnover proteins as prognostic nutritional indices in cancer patients

Modeling and Control of an Underactuated Helicopter Experimental System

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Modeling and Control of an Underactuated Helicopter Experime...

Continuous Saccharification of Laminarin by Immobilized Laminarinase ULam111 Followed by Ethanol Fermentation with a Marine-Derived Yeast

第二十六届中国控制会议

作者： inoue akira Kishida Takuya Ueki Nobuyuki Dept.Systems Eng. Okayama University 3-1-1 Tsushima-NakaOkayama 700-8530Japan

In this paper,modeling of an underactuated helicopter experimental system is *** modeled system has two inputs and three outputs,namely,this system is *** the modeled system,PD-based controller is designed,and an analysis to show the possibility of the proposed controller for the underactuated system is also *** shows the effectiveness of the proposal.

关键词： Helicopter Underactuated System Modeling Control

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Advances in Microbiology 2017年第5期7卷 387-403页

作者： Daisuke Mitsuya Masashi Yamamoto Masahiko Okai akira inoue Tomohiro Suzuki Takao Ojima Naoto Urano Laboratory of Marine Biochemistry Department of Ocean Sciences Tokyo University of Marine Science and Technology Tokyo Japan Laboratory of Marine Biotechnology and Microbiology Graduate School of Fisheries Sciences Hokkaido University Hakodate Japan

We isolated a novel laminarinase ULam111 from Flavobacterium sp. strain UMI-01. Purified ULam111 showed degradation activity against laminarin with the specific activity of 224 ± 18 U/mg at 30°C and pH 6.0. Its optimum temperature was 50°C, and degradation activities against laminarin were observed at 4°C - 80°C. With a laminarin degradation system, we investigated the preparation and properties of immobilized ULam111 with the use of the 11 types of carriers. The high activity recoveries of immobilized ULam111 were as follows: 19.4% for IB-S60P carrier beads (the non-ionic type), 15.6% for IB-S60S carrier beads (the non-ionic type), 11.9% for IB-150P carrier beads (the covalent type), and 7.1% for IB-C435 carrier beads (the cationic type). With the repeated use of immobilized ULam111, the enzyme activities immobilized on IB-S60S and those on IB-S60P remained at 40% and 30% respectively after the sixth trial. We selected IB-S60S as suitable beads for enzyme immobilization, and we attempted to construct a reactor system with ULam111 immobilized on IB-S60S beads. In this system, 1.2 - 1.9 g/L glucose was repeatedly produced from 30 mg/mL laminarin solutions after 20 hr when the reactor operation was repeated 10 times. We examined ethanol fermentation from the saccharified solutions with a marine-derived yeast (Saccharomyces cerevisiae C-19), and 0.51 - 0.58 g/L bioethanol was produced from the saccharified solution that contained 1.71 - 1.86 g/L of glucose.

关键词： Laminarin Laminarinase β-1 3-Glucanase Immobilization Ethanol Fermentation

Experimental Study on Simultaneous Swing-up of a Parallel Double Inverted Pendulum

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Experimental Study on Simultaneous Swing-up of a Parallel Do...

Quantum advantages for image filtering on images with efficient encoding and lower-bounded signal-to-noise ratio

第二十三届中国控制会议

作者： akira inoue Shinichiro Nakagawa Tomohiro Henmi Nobuyuki Ueki Yoichi Hirashima Department of Systems Engineering Okayama University 3-1-1 Tsushima-nakaOkayama 700-8530Japan Department of Systems Engineering Okayama University 3-1-1 Tsushima-nakaOkayama 700-8530Japan Department of Systems Engineering Okayama University 3-1-1 Tsushima-nakaOkayama 700-8530Japan Department of Systems Engineering Okayama University 3-1-1 Tsushima-nakaOkayama 700-8530Japan Department of Systems Engineering Okayama University 3-1-1 Tsushima-nakaOkayama 700-8530Japan

＜正＞ This paper considers an experimental study on simultaneous swing-up of a parallel cart-type double inverted pendulum. The method is based on the energy control by using a Lyapunov function. An additional controller is also proposed to restrict the cart travel while swinging up the two pendulums. The control experiment is successfully conducted.

关键词： Energy control swing-up cart-type parallel double inverted pendulum.

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Science China(Physics,Mechanics & Astronomy) 2024年第9期67卷 2-12页

作者： Zidong Cui Shan Jin akira Sone Xiaoting Wang Institute of Fundamental and Frontier Sciences University of Electronic Science and Technology of ChinaChengdu 610051China Key Laboratory of Quantum Physics and Photonic Quantum Information Ministry of EducationUniversity of Electronic Science and Technology of ChinaChengdu 611731China Department of Physics University of MassachusettsBoston 02125USA

Quantum image processing has long been a fascinating field,but establishing the existence of quantum speedup for all images remains *** this study,we aim to identify a subset of images for which a quantum algorithm can be developed with a guaranteed ***,we present a quantum image filtering algorithm that exhibits an exponential speedup for efficiently encoded images with a lower-bounded signal-to-noise *** approach relies on a fixed-point Grover's search to emulate the effect of Hadamard multiplication with the filtering *** demonstrate its effectiveness,we apply our method to three typical filtering ***,we emphasize the significance of the efficient-encoding assumption by illustrating that the quantum speedup may diminish for images lacking efficient *** work underscores the importance of exploring image types and features to realize potential quantum advantages in image processing.

关键词： quantum computing quantum image filtering quantum speedup