Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach

This paper presents the guaranteed cost control of polynomial fuzzy systems via a sum of squares (SOS) approach. First, we present a polynomial fuzzy model and controller that are more general representations of the well-known Takagi-Sugeno (T-S) fuzzy model and controller, respectively. Second, we derive a guaranteed cost control design condition based on polynomial Lyapunov functions. Hence, the design approach discussed in this paper is more general than the existing LMI approaches (to T-S fuzzy control system designs) based on quadratic Lyapunov functions. The design condition realizes a guaranteed cost control by minimizing the upper bound of a given performance function. In addition, the design condition in the proposed approach can be represented in terms of SOS and is numerically (partially symbolically) solved via the recent developed SOSTOOLS. To illustrate the validity of the design approach, two design examples are provided. The first example deals with a complicated nonlinear system. The second example presents micro helicopter control. Both the examples show that our approach provides more extensive design results for the existing LMI approach

Development of a Flying Robot With a Pantograph-Based Variable Wing Mechanism

We develop a flying robot with a new pantograph-based variable wing mechanism for horizontal-axis rotorcrafts (cyclogyro rotorcrafts). A key feature of the new mechanism is to have a unique trajectory of variable wings that not only change angles of attack but also expand and contract according to wing positions. As a first step, this paper focuses on demonstrating the possibility of the flying robot with this mechanism. After addressing the pantograph-based variable wing mechanism and its features, a simulation model of this mechanism is constructed. Next, we present some comparison results (between the simulation model and experimental data) for a prototype body with the proposed pantograph-based variable wing mechanism. Both simulation and experimental results show that the flying robot with this new mechanism can generate enough lift forces to keep itself in the air. Furthermore, we construct a more precise simulation model by considering rotational motion of each wing. As a result of optimizing design parameters using the precise simulation model, flight performance experimental results demonstrate that the robot with the optimal design parameters can generate not only enough lift forces but a 155 gf payload as well

Sensor Reduction for Backing-Up Control of a Vehicle With Triple Trailers

This paper presents a cost-effective design based on sensor reduction for backing-up control of a vehicle with triple trailers. To realize a cost-effective design, we newly derive two linear-matrix-inequality (LMI) conditions for a discrete Takagi-Sugeno fuzzy system. One is an optimal dynamic output feedback design that guarantees desired control performance. The other is an avoidance of jackknife phenomenon for the use of the optimal dynamic output feedback controller. Our results demonstrate that the proposed LMI-based design effectively achieves the backing-up control of the vehicle with triple trailers while avoiding the jackknife phenomenon. More importantly, we demonstrate that the designed optimal control can achieve the backing-up control without, at least, two potentiometers that were employed to measure the relative angles (of a vehicle with triple trailers) in our previous experiments. Since the relative angles directly relate to the jackknife phenomenon, the successful control results without two potentiometers are very interesting and important from the cost-effective design point of view

Risk factor analysis of thoracic endovascular repair using the Matsui-Kitamura stent graft for acute aortic emergencies in the descending thoracic aorta

ObjectiveIn recent years, thoracic endovascular aneurysm repair (TEVAR) has been attempted for acute aortic emergencies (AAEs). However, the risk factors for achieving good results have not been identified. Besides focusing on Acute Physiology and Chronic Health Evaluation (APACHE) II score as a general indicator of patient condition, we analyzed both preoperative factors and intraoperative/postoperative factors. The purpose of this study was to identify those factors affecting the results of TEVAR using our Matsui-Kitamura stent graft (MKSG) for AAEs involving descending thoracic aortic aneurysm.MethodsBetween July 2000 and June 2008, a total of 32 patients (23 men, 9 women) with AAEs underwent endovascular repair. AAE was a result of aortic aneurysm rupture in 16 cases, rupture of penetrating atherosclerotic ulcer in 2 cases, traumatic aortic injury in 9 cases, complicated type B dissection in 4 cases, and aortic infiltration of sarcoma in 1 case. Low blood pressure in 6 patients, acute renal failure in 7 patients, anemia due to bleeding in 12 patients were found at the time of operation. Urgent TEVAR using the MKSG was performed. Perioperative and long-term results for these patients were investigated.ResultsThe delivery and technical success rate for TEVAR using the MKSG, was 100%. Perioperative mortality was 12.5%, and 5-year survival rate was 71%. In both univariate and multivariate analysis, the APACHE II score clarified a risk factor. Among the various elements of an APACHE II score, age, hematocrit, and total score were identified as significant factors. The mean of an APACHE II score was 9.5. Patients with an APACHE II score ≥10 showed significantly lower 5-year survival rates than patients with an APACHE II score ≤9.ConclusionsGood results were obtained using TEVAR to treat AAEs with MKSGs, both perioperatively and during medium-term follow-up. Evaluation of risk factors for TEVAR of AAEs showed the utility of APACHE II score (particularly age, hematocrit, and total score) with a score ≥10 indicating high risk

Polynomial Fuzzy Observer Designs: A Sum-of-Squares Approach

This paper presents a simple passive attitude stabilizer (PAS) for vision-based stabilization of palm-size aerial vehicles. First, a mathematical dynamic model of a palm-size aerial vehicle with the proposed PAS is constructed. Stability analysis for the dynamics is carried out in terms of Lyapunov stability theory. The analysis results show that the proposed stabilizer guarantees passive stabilizing behavior, i.e., passive attitude recovering, of the aerial vehicle for small perturbations from a stability theory point of view. Experimental results demonstrate the utility of the proposed PAS for the aerial vehicle

不整脈外科治療におけるレーザー心筋焼灼術に関する基礎的研究

取得学位 : 博士（医学）, 学位授与番号 : 医博甲第1066号, 学位授与年月日：平成5年3月25日,学位授与年：199

ステントグラフト留置後の瘤径変化に影響を与えるリスクファクターの解明

金沢大学附属病院【はじめに】ステントグラフト留置術の臨床応用に伴い,瘤の血栓化が得られたにもかかわらず瘤径が縮小しない症例の存在が明らかになってきた.また,これらの症例が再破裂の危険性が高い症例との報告も多い.本研究の目的は,ステントグラフト留置により血流が遮断された動脈瘤の内圧変化を連続的に測定し,本術式の遠隔期での成功と考えられる瘤径の縮小・瘤内圧の減少にもっとも有用なファクターを明らかにすることである.【対象及び方法】実験用ブタを用い,血流が遮断された動脈瘤の内圧変化を連続的に測定し,瘤径の変化と比較する.瘤内圧に影響を与えるファクターとしてendoleak無し,type I及びtype IIのendoleakの有する動脈瘤モデル,ステントグラフトの留置部位を種々設定し実験群を作成する.動脈血圧,瘤内圧は2channelのテレメトリー型圧センサーを体内に植え込み,術後6ケ月にわたり同時に連続的に測定する.また,以上の実験結果によりステントグラフトの問題点を改善し,これをendoleak無し,type I及びtype IIのendoleakの有する動脈瘤モデルに留置する.犠牲死さぜ,瘤内の血栓の性状,瘤壁の病理学的検索もあわせ施行する.【結果】体血圧と瘤内圧とは,endoleakの有無とに有意な相関関係があった。また,landing zoneの長さにかかわらず,血管造影でendoleakが認められない場合は,瘤内圧は体血圧に比し有意に低下した,EndoleakType1,Type2ともに瘤内圧は体血圧に比し急性期には有意に低下していた.しかし,Type2のendoleakが遠隔期に残存しているcaseでは瘤内圧と体血圧に有意な差はなく,赤色血栓が認められた.【考察と結論】ステントグラフト留置術後に数ケ月間にわたり体血圧・瘤内圧を同時測定し瘤経との関係についての報告はなく,本研究により瘤径と体血圧,瘤内圧の関係が明らかにされた.Endoleakは急性期には瘤内圧を上昇させるものではないが,血管造影上大きな変化はなくても,瘤内圧の上昇が認められた.Endoleakが6ケ月以上継続する場合は早期に手術にconversionすべきと考える.[Introduction] There are, in accordance with clinical use of stent graft placement, cases in which aneurysm size is not reduced despite the aneurysm being thrombosed. In addition, these cases are often reported to involve a high risk of secondary rupture. The aim of this study was to continuously measure excluded sac pressure changes in an aneurysm in which blood flow had been blocked by stent graft placement and to clarify more useful factors for successful reduction of aneurysm size and decrease of excluded sac pressure within the aneurysm in the late stages of this procedure.[Subjects and methods] Excluded sac pressure changes in an aneurysm in which blood flow was blocked after stent graft placement were continuously measured using pigs, and changes in aneurysm size were compared. An aneurysm model with no endoleaks and type I and type II endoleaks was created to indicate factors affecting internal pressure within the aneurysm. Arterial blood pressure and internal pressure within t he aneurysm were continuously measured simultaneously for 6 months postoperatively using a telemetric pressure sensor implanted in the body. In addition, the above experimental results allowed remediation of problems with the stent graft, and the graft was placed in an aneurysm model with no endoleaks and type I and type II endoleaks. In addition, the pigs were sacrificed, and the nature of the thrombus in the aneurysm was examined together with a pathological study of the aneurysmal wall. [Results] Systemic blood pressure and internal pressure within the aneurysm had a significant correlation to the thickness of the graft portion of the stent graft and the presence or absence of an endoleak. In addition, internal pressure within the aneurysm dropped significantly in comparison to systemic blood pressure when an endoleak was not found in angiography, regardless of the length of the landing zone. With both type I and type II endoleaks, excluded sac pressure within the aneurysm dropped significantly in comparison to systemic blood pressure in acute stages. In cases where an endoleak remained over the long-term, however, there was no significant difference in internal pressure within the aneurysm and systemic blood pressure, and a red thrombus was noted. [Discussion and Conclusion] No studies simultaneously measured systemic blood pressure and internal pressure within the aneurysm for several months after stent graft placement and reported on the relationship to aneurysm size, but this study clarified the relationship between aneurysm size and systemic blood pressure and internal pressure within the aneurysm. An endoleak did not cause internal pressure within the aneurysm to rise during acute stages, but a rise in internal pressure within the aneurysm was noted despite the lack of evidence of major changes in angiography. Treatment should be quickly converted to surgery when an endoleak continues for 6 months or longer.研究課題/領域番号:17591462, 研究期間(年度):2005 – 2006出典：研究課題「ステントグラフト留置後の瘤径変化に影響を与えるリスクファクターの解明」課題番号17591462（KAKEN：科学研究費助成事業データベース（国立情報学研究所）） （https://kaken.nii.ac.jp/ja/report/KAKENHI-PROJECT-17591462/175914622006kenkyu_seika_hokoku_gaiyo/）を加工して作

Petrology and reflectance spectroscopy of lunar meteorite Yamato 981031: Implications for the source region of the meteorite and remote-sensing spectroscopy

Combined mineralogy and reflectance spectroscopy of lunar meteorite Yamato (Y) 981031 were investigated to determine its possible source region. Mineralogical observations indicate that Y981031 is a mixture of mafic mare and feldspathic highland components. Y981031 has abundant mineral fragments and lithic clasts in a comminuted matrix. Although the most of the lithic clasts are pyroxene-dominant basaltic clasts, some plagioclase-rich lithic fragments are also present. High- and low-Ca pyroxene grains with wide compositional variations are included in the breccia. Since high-Ca pyroxene (Wo43En40Fs17 to Wo29En23Fs48) and a part of Fe-rich low-Ca pyroxene are found in pyroxene-dominant basaltic clasts, they were derived from mare materials. In contrast, abundant Mg-rich low-Ca pyroxene (approximately Wo10En63Fs27) is of highland origin because their chemical compositions resemble highland low-Ca pyroxene. Fusion crust glass compositions (TiO2=0.50-0.77wt and FeO=11.7-15.4wt) suggest that source mafic components of Y981031 have very low-Ti (VLT) affinity. In comparison with global remote-sensing data, the above TiO2 and FeO concentrations resemble those of the VLT affinity in Mare Frigoris and adjacent maria. Thus, we propose that Y981031 was launched from this area. Modified gaussian model analysis of reflectance spectrum shows absorption features of high-Ca pyroxene (mare-origin) and Mg-rich low-Ca pyroxene (highland-origin), and enables us to observe separately mineralogical characteristics of each end member of Y981031 as the soil mixture