Direct yaw-moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer

A stabilizing observer-based control algorithm for an in-wheel-motored vehicle is proposed, which generates direct yaw moment to compensate for the state deviations. The control scheme is based on a fuzzy rule-based body slip angle (beta) observer. In the design strategy of the fuzzy observer, the vehicle dynamics is represented by Takagi-Sugeno-like fuzzy models. Initially, local equivalent vehicle models are built using the linear approximations of vehicle dynamics for low and high lateral acceleration operating regimes, respectively. The optimal beta observer is then designed for each local model using Kalman filter theory. Finally, local observers are combined to form the overall control system by using fuzzy rules. These fuzzy rules represent the qualitative relationships among the variables associated with the nonlinear and uncertain nature of vehicle dynamics, such as tire force saturation and the influence of road adherence. An adaptation mechanism for the fuzzy membership functions has been incorporated to improve the accuracy and performance of the system. The effectiveness of this design approach has been demonstrated in simulations and in a real-time experimental settin

免疫グロブリン製剤 (IVIg) が有する新たな免疫抑制作用の発見

広島大学(Hiroshima University)博士(工学)Doctor of Engineeringdoctora

Charged-particle multiplicities in pp interactions at √s = 900 GeV measured with the ATLAS detector at the LHC

The first measurements from proton–proton collisions recorded with the ATLAS detector at the LHC are presented. Data were collected in December 2009 using a minimum-bias trigger during collisions at a centre-of-mass energy of 900 GeV. The charged-particle multiplicity, its dependence on transverse momentum and pseudorapidity, and the relationship between mean transverse momentum and charged- particle multiplicity are measured for events with at least one charged particle in the kinematic range |η| 500 MeV. The measurements are compared to Monte Carlo models of proton–proton collisions and to results from other experiments at the same centre-of-mass energy. The charged-particle multiplicity per event and unit of pseudorapidity at η = 0 is measured to be 1.333 ± 0.003(stat.) ± 0.040(syst.), which is 5–15% higher than the Monte Carlo models predict

Systematic study of the decay rates of antiprotonic helium states

A systematic study of the decay rates of antiprotonic helium (\pbhef and \pbhet) at CERN AD (Antiproton Decelerator) has been made by a laser spectroscopic method. The decay rates of some of its short-lived states, namely those for which the Auger rates $\gamma_{\mathrm{A}}$ are much larger than their radiative decay rates ($\gamma_{\mathrm{rad}} \sim 1$ $\mu$s$^{-1}$), were determined from the time distributions of the antiproton annihilation signals induced by laser beams, and the widths of the atomic resonance lines. The magnitude of the decay rates, especially their relation with the transition multipolarity, is discussed and compared with theoretical calculations.Comment: 6 pages, 5 figures, and 1 tabl

Study on System Control for Wireless In-Wheel Motor with Multiple Power Sources

University of Tokyo(東京大学

Optimal control design for robust fuzzy friction compensation in a robot joint

This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals

A change in the optical polarization associated with a gamma-ray flare in the blazar 3C 279

It is widely accepted that strong and variable radiation detected over all accessible energy bands in a number of active galaxies arises from a relativistic, Doppler-boosted jet pointing close to our line of sight. The size of the emitting zone and the location of this region relative to the central supermassive black hole are, however, poorly known, with estimates ranging from light-hours to a light-year or more. Here we report the coincidence of a gamma-ray flare with a dramatic change of optical polarization angle. This provides evidence for co-spatiality of optical and gamma-ray emission regions and indicates a highly ordered jet magnetic field. The results also require a non-axisymmetric structure of the emission zone, implying a curved trajectory for the emitting material within the jet, with the dissipation region located at a considerable distance from the black hole, at about 10^5 gravitational radii.Comment: Published in Nature issued on 18 February 2010. Corresponding authors: Masaaki Hayashida and Greg Madejsk