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Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance rejection: Deep Observation and Comparison

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 957-968页

作者： Jinhua She Kou Miyamoto Qing-Long Han Min Wu Hiroshi hashimoto Qing-Guo Wang School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan K.Miyamoto is with the Institute of Technology Shimizu CorporationKotoTokyo 135-0044Japan School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China School of Industrial Technology Advanced Institute of Industrial TechnologyTokyo 140-0011Japan Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Lab of AI and Multi-Modal Data Processing Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science BNUHKBU United International College Zhuhai 519087China

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state *** paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

关键词： Active disturbance-rejection control(ADrC) disturbance observer(DOB) equivalent input disturbance(EID) extendedstate observer(ESO) generalized extended-state observer(GESO)

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The Emergent Constructive Approach to Evolinguistics:Considering Hierarchy and Intention Sharing in Linguistic Communication

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Journal of Systems Science and Systems Engineering 2020年第6期29卷 675-696页

作者： Takashi hashimoto School of Knowledge Science Japan Advanced Institute of Science and Technology(JAIST)Nomi 923-1292Japan

Evolinguistics is an attempt to clarify the origins and evolution of language and communication,thereby deepening our understanding of humans from an evolutionary *** origins of language is characterized by the biological evolution of abilities related to language and communication,and the evolution of language by the structuralization and complexification of language knowledge as well as communication systems through cultural *** Evolinguistics,two idiosyncrasies of human linguistic communication are the primary focus,namely,using hierarchically organized symbol sequences in language and sharing intentions in *** believe that the integration of these two characteristics made humans co-creative and smart,and in particular gave us knowledge co-creation *** emergent constructive approach plays an important role in this research,which is a methodology to analyze complex systems by constructing and operating the evolutionary and emergent process of complex *** studies taking this approach are introduced in this *** is a language evolution experiment in a laboratory to consider the process,mechanisms,and neural basis of symbolic communication *** other is an evolutionary simulation of recursive combination,which is thought of as the essential ability to form hierarchical structures.A hypothesis integrating intention sharing and recursive combination is discussed as an abductive reasoning mechanism for understanding others intentions.

关键词： Evolinguistics origins and evolution of language hierarchy intention sharing symbolic communication recursive combination abduction

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Trajectory-free dynamic locomotion using key trend states for biped robots with point feet

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Science China(Information Sciences) 2023年第8期66卷 263-264页

作者： Lianqiang HAN Xuechao CHEN Zhangguo YU Xishuo ZHU Kenji hashimoto Qiang HUANG School of Mechatronical Engineering Beijing Institute of Technology Key Laboratory of Biomimetic robots and Systems Ministry of Education Intelligent Mine research Institute China Coal Research Institute Co. Ltd. Department of Mechanical Engineering Informatics Meiji University Humanoid robotics Institute (HrI) Waseda University

Dear editor,Biped robots can not only cross complex environment such as ravines and rocks [1], but can also interact in more diverse activities with people. A biped robot with point feet is called an underactuated bip... 详细信息

关键词： Trajectories

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A tree detection method based on trunk point cloud section in dense plantation forest using drone Li DAr data

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Forest Ecosystems 2023年第1期10卷 37-45页

作者： Yupan Zhang Yiliu Tan Yuichi Onda Asahi hashimoto Takashi Gomi Chenwei Chiu Shodai Inokoshi Center for research in Isotopes and Environmental Dynamics University of Tsukuba1-1-1TennodaiTsukubaIbaraki305-8572Japan Graduate School of Systems and Information Engineering University of Tsukuba1-1-1TennodaiTsukubaIbaraki305-8572Japan Department of International Environmental and Agricultural Science Tokyo University of Agriculture and Technology3-5-8SaiwaieFuchuTokyo183-8509Japan

Single-tree detection is one of the main research topics in quantifying the structural properties of forests. Drone Li DAr systems and terrestrial laser scanning systems produce high-density point clouds that offer great promise for forest inventories in limited areas. However, most studies have focused on the upper canopy layer and neglected the lower forest structure. This paper describes an innovative tree detection method using drone Li DAr data from a new perspective of the under-canopy structure. This method relies on trunk point clouds, with undercanopy sections split into heights ranging from 1 to 7 m, which were processed and compared, to determine a suitable height threshold to detect trees. The method was tested in a dense cedar plantation forest in the Aichi Prefecture, Japan, which has a stem density of 1140 stems·ha^(-1) and an average tree age of 42 years. Dense point cloud data were generated from the drone Li DAr system and terrestrial laser scanning with an average point density of 5000 and 6500 points·m^(-2), respectively. Tree detection was achieved by drawing point-cloud section projections of tree trunks at different heights and calculating the center coordinates. The results show that this trunk-section-based method significantly reduces the difficulty of tree detection in dense plantation forests with high accuracy(F1-Score=0.9395). This method can be extended to different forest scenarios or conditions by changing section parameters.

关键词： Tree detection Trunk sections Forest Drone LiDAr

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Experimental investigation of hypersonic flow induced separation over double wedges

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Journal of Thermal Science 2009年第3期18卷 220-225页

作者： Tokitada hashimoto Saga University

流动分离在偏斜的控制表面在极超音速的再废车辆上并且在入口产生的压缩角落上发生走开喷气引擎。象双楔和两倍锥模型一样的配置为学习分开的流动特征是有用的。在凹面角落附近的流动地是相对复杂的并且生产几古典粘滞取决于第一和第二... 详细信息

流动分离在偏斜的控制表面在极超音速的再废车辆上并且在入口产生的压缩角落上发生走开喷气引擎。象双楔和两倍锥模型一样的配置为学习分开的流动特征是有用的。在凹面角落附近的流动地是相对复杂的并且生产几古典粘滞取决于第一和第二楔或锥一半的联合的流动特征顶角度。特别地典型的现象主要是吃惊 / 边界层，吃惊 / 吃惊相互作用，不稳定砍层和非线性的吃惊摆动。尽管大多数这些基本煤气的动力学特征是众所周知的，什么以高热含量条件发生，不是清楚的。这篇论文在 4.8 MJ/kg 的停滞热含量在双楔上报导流动领域的结果。实验在 6.99 的一个名字的马赫数字在一条免费活塞吃惊隧道被执行。Schlieren 和两倍暴露 holographic interferometry 被使用在双楔上设想流动地。

关键词：高超声速流动流动分离双楔实验双曝光全息干涉动力学特征引发发动机进气道

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Primary hepatic neuroendocrine neoplasm diagnosed by somatostatin receptor scintigraphy:A case report

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World Journal of Clinical Cases 2022年第7期10卷 2222-2228页

作者： Miho Akabane Yuta Kobayashi Keiichi Kinowaki Satoshi Okubo Junichi Shindoh Masaji hashimoto Division of Hepatobiliary-pancreatic Surgery Department of Gastroenterological SurgeryToranomon HospitalTokyo 105-8470Japan Department of Diagnostic Pathology Toranomon HospitalTokyo 105-8470Japan

BACKGrOUND Primary hepatic neuroendocrine neoplasm(NEN)is a rare condition,and it is difficult to differentiate between primary and metastatic hepatic ***,we report a case of primary hepatic NEN that initially mimicked a hemangioma but showed a gradual increase in size on long-term careful *** SUMMArY A 47-year-old woman was incidentally diagnosed with a 12-mm liver mass,suspected to be a *** then,regular follow-up had been carried *** years later,she was referred to our institute due to the tumor(located in segment 4)having increased to 20 *** imaging studies depicted no apparent extrahepatic *** emission tomography(PET)/computed tomography exhibited significant accumulation in the mass lesion,which made us consider the possibility of *** hepatectomy was *** histopathological diagnosis was neuroendocrine tumor grade 2,with somatostatin receptor 2 a/5 *** somatostatin receptor scintigraphy(SrS)showed no other site,leading to the diagnosis of NEN of primary hepatic *** gradual growth of the hepatic NEN over 10 years suggested that it was likely to be a primary liver *** In this case,positivity on PET and postoperative SrS may have helped determine whether the tumor was primary or metastatic.

关键词： Hepatic neoplasm Scintigraphy Surgery Positron-emission tomography Clinical decision-making Case report

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PEO coating on Mg-Ag alloy:The incorporation and release of Ag species

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镁合金学报(英文) 2023年第6期11卷 2182-2195页

作者： Xinxin Zhang Yupeng Zhang You Lv Zehua Dong Lei Yang Erlin Zhang Teruo hashimoto Xiaorong Zhou Key Laboratory of Material Chemistry for Energy Conversion and Storage Ministry of EducationHubei Key Laboratory of Material Chemistry and Service FailureSchool of Chemistry and Chemical EngineeringHuazhong University of Science and TechnologyWuhan 430074China Hubei Engineering research Centre for Biomaterials and Medical Protective Materials Huazhong University of Science and TechnologyWuhan 430074China Key Laboratory for Anisotropy and Texture of Materials Education Ministry of ChinaSchool of Materials Science and EngineeringNortheastern UniversityShenyang 110819China Corrosion and Protection Centre Department of MaterialsThe University of ManchesterManchester M139PLUnited Kingdom

In the present study,the distribution of Ag in the coating formed on Mg-Ag alloy by plasma electrolytic oxidation(PEO)and its ionic release kinetics when exposed to a 0.9 wt.%Na Cl solution at 37℃have been *** metallic Ag and Ag oxide particles with~5 to~40 nm in diameters were observed in the PEO ***,an Ag-enriched layer of~20 nm in thickness at the substrate/coating interface was also *** PEO coating on the Mg-Ag alloy not only increases its corrosion resistance with the corrosion current density decreasing by up to 3 orders of magnitude from 8.04×10^(-3)to 4.03×10^(-6)A/cm^(2),but also controls the release of Ag+to the level that is sufficient for anti-infective efficacy without causing cytotoxicity to mammal cells.

关键词： Mg-Ag alloy Plasma electrolytic oxidation Ag distribution Ag release Corrosion resistance

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Stand-Up Assistive Devices Allowing Patients to Perform Voluntary Movements within the Safety Movement Tolerance

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Journal of Artificial Intelligence and Technology 2022年第4期2卷 164-173页

作者： Daisuke Chugo Satoshi Muramatsu Sho Yokota Jinhua She Hiroshi hashimoto Kwansei Gakuin University Japan Tokai University Japan Tokyo University Japan Advanced Institute of Industrial Technology Japan

This paper proposes a novel standing assistance robot,which realizes voluntary movements of the patient within a safety motion *** the previous studies,conventional assistive robots did not require patients to use their own physical strength to stand,which led to decreased strength in the *** general assistive robots helped patients by using a fixed motion reference pathway in spite of their original intention,and as a result,these robots failed to use the physical strength of the ***,this study proposes a novel method for assisting the patient to stand up safely while using their physical abilities,by determining the range of movements that can be safely performed from the patient’s physical condition and allowing the patient to move freely within this *** standing motion is a set of different movements:inclining the trunk forward,lifting the trunk,and extending the *** this study,the range of movements in which the patient can safely stand in each movement is determined in terms of body stability and the muscle output that the patient can ***,this study proposes a robot control method that allows movements based on the patient’s free will if the patient’s posture is within the safety tolerance,and it corrects the movements when the patient’s posture is estimated to fall outside of *** proposed idea is implemented in our new prototype,and its effectiveness is verified by experimental results with elderly subjects who live in the nursing care house.

关键词： standing assistance assistive robot safety tolerance musculoskeletal simulation

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How Do Patients and Providers react to Different Incentives in the Chinese Multiple Health Security Systems？

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Chinese Medical Journal 2015年第5期128卷 632-637页

作者： Chun-Yu Zhang Hideki hashimoto Department of Health reform and Development China-Japan Friendship Hospital Beijing 100029 China Department of Health and Social Behavior School of Public Health The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan

Background：China has achieved universal health insurance *** study examined how patients and hospitals react to the different designs of the plans and to monitoring of patients by the local authority in the Chinese multiple health security ***：The sample for analysis consisted of 1006 orthopedic inpatients who were admitted between January and December 2011 at a tertiary teaching hospital located in *** conducted general linear regression analyses to investigate whether medical expenditure and length of stay differed according to the different ***：Patients under plans with lower copayment rates consumed significantly more medication compared with those under plans with higher copayment *** plans with an annual ceiling for insurance coverage,patients spent significantly more in the second half of the year than in the first half of the *** length of stay was shorter among patients when there were government monitoring and a penalty to the hospital service ***：Our results indicate that the different designs and monitoring of the health security systems in China cause opportunistic behavior by patients and *** is necessary to reduce those incentives,and improve equity and efficiency in healthcare use.

关键词： Different Behaviors Financial Incentives Government Monitoring Multiple Systems

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Is Goshinjo therapy effective in cognitive impairment after severe traumatic brain injury?

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Neural regeneration research 2013年第12期8卷 1146-1150页

作者： Keiji hashimoto Kisho Kida hashimoto Cognitive research Institute Tokyo 156-0051 Japan Kihodo Head Office Clinic Tokyo 151-0065 Japan

We report a case of a 21-year-old man who had severe traumatic brain injury as a result of an accident at the age of 16 years. Two years and 4 months after the trauma, at the age of 19 years, he still had severe right hemiplegia and cognitive dysfunction including aphasia and attention and memory disturbance. Conventional rehabilitation programs cou（d not resolve all of the neuropsychological problems. He started receiving Goshinjo therapy over a period of 22 months. Following the therapy, significant improvements in verbal intelligence quotient （assessed by the Wechsler Adult Intelligence Scale-Third Edition） and attention and concentration function （using the Wechsler Memory Scale-revised）, and remission of traumatic epilepsy were observed. Goshinjo therapy is suspected to be effective in the treatment of cognitive dysfunction in the chronic stage after severe traumatic brain injury.

关键词： neural regeneration brain injury traumatic brain injury clinical practice Goshinjo therapy rehabilitation cognitive impairment energy field in human body Jaki neuroregeneration

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