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京都大学0048新制・課程博士工学博士甲第1604号工博第416号新制||工||304(附属図書館)UT51-50-E28京都大学大学院工学研究科合成化学専攻(主査)教授 松浦 輝男, 教授 庄野 達哉, 教授 吉田 善一学位規則第5条第1項該当Kyoto UniversityDFA

Synthesis of Formation Control Systems for Multi-Agent Systems under Control Gain Perturbations

This paper proposed a linear matrix inequality (LMI)-based design method of non-fragile guaranteed cost controllers for multi-agent systems (MASs) with leader-follower structures. In the guaranteed cost control approach, the resultant controller guarantees an upper bound on the given cost function together with asymptotical stability for the closed-loop system. The proposed non-fragile guaranteed cost control system can achieve consensus for MASs despite control gain perturbations. The goal is to develop an LMI-based sufficient condition for the existence of the proposed non-fragile guaranteed cost controller.  Moreover, a design problem of an optimal non-fragile guaranteed cost controller showe that minimizing an upper bound on the given quadratic cost function can be reduced to constrain a convex optimization problem. Finally, numerical examples were given to illustrate the effectiveness of the proposed non-fragile controller for MASs

A Robust Formation Control Strategy for Multi-Agent Systems with Uncertainties via Adaptive Gain Robust Controllers

This paper deals with a design problem of an adaptive gain robust controller which achieves consensus for multi-agent system (MAS) with uncertainties. In the proposed controller design approach, the relative position between the leader and followers are considered explicitly, and the proposed adaptive gain robust controller consisting of fixed gains and variable ones tuned by time-varying adjustable parameters can reduce the effect of uncertainties. In this paper, we show that sufficient conditions for the existence of the proposed adaptive gain robust controller are reduced to solvability of linear matrix inequalities (LMIs). Finally, the effectiveness of the proposed robust formation control system is verified by simple numerical simulations. A main result of this study is that the proposed adaptive gain robust controller can achieve consensus and formation control giving consideration to relative distance in spite of uncertainties

Analysis of EEG signal to detect motor command generation towards stroke rehabilitation

Our aim is to reconstruct the brain-body loop of stroke patients via an EEG-driven robotic system. After the detection of motor command generation, the robotic arm should assist patient’s movement at the correct moment and in a natural way. In this study we performed EEG measurements from healthy subjects performing discrete spontaneous motion. An EEG analysis based on the temporal correlation of the brain activity was employed to determine the onset of single motion motor command generation

A feasible study of EEG-driven assistive robotic system for stroke rehabilitation

Stroke is a medical emergency and can cause a neurological damage, affecting the motor and sensory systems. Harnessing brain plasticity should make it possible to reconstruct the closed loop between the brain and the body, i.e., association of the generation of the motor command with the somatic sensory feedback might enhance motor recovery. In order to aid reconstruction of this loop with a robotic device it is necessary to assist the paretic side of the body at the right moment to achieve simultaneity between motor command and feedback signal to somatic sensory area in brain. To this end, we propose an integrated EEG-driven assistive robotic system for stroke rehabilitation. Depending on the level of motor recovery, it is important to provide adequate stimulation for upper limb motion. Thus, we propose an assist arm incorporating a Magnetic Levitation Joint that can generate a compliant motion due to its levitation and mechanical redundancy. This paper reports on a feasibility study carried out to verify the validity of the robot sensing and on EEG measurements conducted with healthy volunteers while performing a spontaneous arm flexion/extension movement. A characteristic feature was found in the temporal evolution of EEG signal in the single motion prior to executed motion which can aid in coordinating timing of the robotic arm assistance onset

Consensus via Adaptive Gain Controllers Considering Relative Distances for Multi-Agent Systems

In this paper, for multi-agent systems (MASs) with leader-follower structures, we present a linear matrix inequality (LMI)-based design method of an adaptive gain controller considering relative distances between agents. The proposed adaptive gain controller consists of fixed gains and variable ones tuned by time-varying adjustable parameters. The objective of this paper is to derive enough conditions for the existence of the proposed adaptive gain controller which achieves consensus for each agent. The advantages of the proposed adaptive gain controller are as follows; The proposed controller can be obtained by solving LMI, and the proposed control system can achieve consensus and formation control, even if uncertainties are included in the information for relative distances. In this paper, we show that the design problem of the proposed adaptive gain controller can be reduced to the solvability of LMI. Finally, simple numerical examples are included to illustrate the effectiveness of the proposed adaptive gain controller for MASs

RETRACTED: The Chromatin-Remodeling Complex WINAC Targets a Nuclear Receptor to Promoters and Is Impaired in Williams Syndrome

This article has been retracted: please see Elsevier Policy on Article Withdrawal (http://www.elsevier.com/locate/withdrawalpolicy).This article has been retracted at the request of the Authors.Our paper reported that a chromatin-remodeling complex, WINAC, recruited the unliganded vitamin D receptor to promoters in cooperation with the transcription factor implicated in Williams syndrome, WSTF. The findings provided insights into the coordination between chromatin remodelers and sequence-specific transcription factors and pointed to a role of chromatin remodeling defects in Williams syndrome. We recently identified errors affecting several figure panels where original data were processed inappropriately such that the figure panels do not accurately report the original data. We believe that the most responsible course of action is to retract the paper. We sincerely apologize to the scientific community for any inconvenience that this might cause. The first author, H.K., declined to sign the retraction notice

Feasibility study on EEG driven robotic system to realize efficient stroke rehabilitation

We aim to develop an efficient robotic system for stroke rehabilitation, in which a robotic arm moves the hemiplegic upper limb when the patient tries to move it. In order to achieve this goal we have considered a method to detect the patient's intended motion using EEG (Electroencephalogram), and have designed a rehabilitation robot based on a Redundant Drive Method. In this paper, we propose an EEG driven rehabilitation robot system and present initial results evaluating the feasibility of the proposed system

Slc3a2 Mediates Branched-Chain Amino-Acid-Dependent Maintenance of Regulatory T Cells

Foxp3+ regulatory T (Treg) cells, which suppress immune responses, are highly proliferative in vivo. However, it remains unclear how the active replication of Treg cells is maintained in vivo. Here, we show that branched-chain amino acids (BCAAs), including isoleucine, are required for maintenance of the proliferative state of Treg cells via the amino acid transporter Slc3a2-dependent metabolic reprogramming. Mice fed BCAA-reduced diets showed decreased numbers of Foxp3+ Treg cells with defective in vivo proliferative capacity. Mice lacking Slc3a2 specifically in Foxp3+ Treg cells showed impaired in vivo replication and decreased numbers of Treg cells. Slc3a2-deficient Treg cells showed impaired isoleucine-induced activation of the mTORC1 pathway and an altered metabolic state. Slc3a2 mutant mice did not show an isoleucine-induced increase of Treg cells in vivo and exhibited multi-organ inflammation. Taken together, these findings demonstrate that BCAA controls Treg cell maintenance via Slc3a2-dependent metabolic regulation