Master-slave system with force feedback based on dynamics of virtual model

A master-slave system can extend manipulating and sensing capabilities of a human operator to a remote environment. But the master-slave system has two serious problems: one is the mechanically large impedance of the system; the other is the mechanical complexity of the slave for complex remote tasks. These two problems reduce the efficiency of the system. If the slave has local intelligence, it can help the human operator by using its good points like fast calculation and large memory. The authors suggest that the slave is a dextrous hand with many degrees of freedom able to manipulate an object of known shape. It is further suggested that the dimensions of the remote work space be shared by the human operator and the slave. The effect of the large impedance of the system can be reduced in a virtual model, a physical model constructed in a computer with physical parameters as if it were in the real world. A method to determine the damping parameter dynamically for the virtual model is proposed. Experimental results show that this virtual model is better than the virtual model with fixed damping

The well-posedness of the stochastic nonlinear Schr\"odinger equations in H2(Rd)H^2(\mathbb{R}^d)

The Cauchy problem for the stochastic nonlinear Schr\"odinger equation with a multiplicable noise is considered where the nonlinear term is of a power type and its coefficients are complex numbers. In particular, it is extremely important to consider the complex coefficients in the noise which cover non-conservative case, because they include measurement effects in quantum physics. The main purpose of this paper is to construct classical solutions in $H^2(\mathbb{R}^d)$ for the problem in question. The time local well-posedness in $L^2(\mathbb{R}^d)$ and $H^1(\mathbb{R}^d)$ was investigated in the papers [7,8]. In this paper we study the well-posedness in $H^2(\mathbb{R}^d)$ by making use of the rescaling approach as a main tool for dealing with the multiple noise, where we need to take advantage of a slight modification of the deterministic Strichartz estimate to fit into requirements under the setting of $H^2(\mathbb{R}^d)$. The other difficulty lies on the discussion on smoothness of functions in the nonlinear term, where the proof of time local well-posedness for the case of $H^2$-solutions does not go similarly as in the cases of $L^2$-solutions or $H^1$-solutions, because of the complexity in the computation of the nonlinear term with lower exponent $\alpha$. The techniques of Kato [18,19] work well on this difficulty even for the stochastic equations. We use the stochastic Strichartz estimate [4,16,17] as well to deal with white noise which did not appear in the proof for $L^2$-solutions or $H^1$-solutions. We also discuss time-global solutions in $H^2(\mathbb{R}^d)$.Comment: 31 pages, no figures. arXiv admin note: text overlap with arXiv:1404.5039 by other author

Unsteady State Effectiveness Factor for Immobilized-Enzyme Reaction

The unsteady state concentration profiles of substrate in immobilized-enzyme particles were calculated numerically for the Michaelis-Menten kinetics. The analytical solution of the profile was also derived when the reaction was approximated to be of the first-order. The integration of the profile gives an unsteady state effectiveness factor. The unsteady state effectiveness factor was obtained under various conditions. The critical time at which a pseudo-steady state approximately holds, was presented graphically as a function of the steady state effectiveness factor for various V₀( ＝Kₘ/Cᴀ₀) values. The charts indicate that the pseudo-steady state is achived within 10-20s under usual operating conditions

Global solutions of stochastic nonlinear Schr\"odinger system with quadratic interaction

The time-global existence of solutions to a system of stochastic Schr\"odinger equations with multiplicative noise and the quadratic nonlinear terms are discussed in this paper. The same system in the deterministic treatment was studied in [18] where the mass and energy are conserved. In our stochastic situation, those are not conserved and which causes several difficulties in the arguments of composing a-priori estimate.Comment: 28 pages, no figure

A MULTICLASS CLASSIFICATION METHOD BY DISTANCE MAPPING LEARNING NETWORK

ABSTRACT In this paper, we propose a method of multiclass classification by utilizing a distance mapping learning network that is a distance-based multilayer perceptro

A Study on Robot System to Hand Surgical Intrument to a Surgeon in a Surgery (1st Report, Development of Surgical Instrument Recognition System)

The nurse supporting robot system to prepare and hand surgical instruments to a surgeon is proposed to reduce work of nurse in a surgical operation. In this paper, the surgical instrument recognition system (SIRS) is developed to hand the surgical instruments to a surgeon by the robot. The characteristics ot the instruments are area of the instruments, ratio of minimum center-contour distance to maximum one and its outline contour, are recognized by using the image processing. Kinds of the instruments are distinguished by these characteristics

A Study on Robot System to Hand Surgical Intrument to a Surgeon in a Surgery (1st Report, Development of Surgical Instrument Recognition System)

The nurse supporting robot system to prepare and hand surgical instruments to a surgeon is proposed to reduce work of nurse in a surgical operation. In this paper, the surgical instrument recognition system (SIRS) is developed to hand the surgical instruments to a surgeon by the robot. The characteristics ot the instruments are area of the instruments, ratio of minimum center-contour distance to maximum one and its outline contour, are recognized by using the image processing. Kinds of the instruments are distinguished by these characteristics

Methods for Estimating Effective Diffusivity of Substrate and Kinetic Parameters of Immobilized Enzyme

Two methods were presented for estimating simultaneously the kinetic parameters in the Michaelis-Menten equation, Kₘ and Vₘₐₓ, and the intraparticle effective diffusivity of substrate, Dₑᴀ, from the results of the transient changes in a batch reactor. The methods were applied to the estimation of the Kₘ and Vₘₐₓ values of α-chymotrypsin immobilized into firebrick particles or acrylamide gel, and the Dₑᴀ values of substrate through the supports. The experimental data of conversions both in the batch and tubular reactors were found to be calculated successfully by using the kinetic and transport parameters estimated by the proposed methods