Due to computational burden and dynamic uncertainty, the classical model-based control approaches are hard to be implemented in the multivariable robotic systems. In this paper, a model-free fuzzy sliding mode control based on neural network is proposed. In classical sliding mode controllers, system dynamics and system parameters are required to compute the equivalent control. In Radial Basis F...

Simple linear joint controllers are still used in typical industrial robotic systems. The use of these controllers leads to non-negligible dynamic path deviations for applications that require high path accuracy. These deviations result from the strong influence of nonlinearities, such as multi-body dynamics and gear friction. Sophisticated nonlinear control algorithms, known from the literatur...

This paper describes sensor calibration and signal analysis techniques applicable to the method of acoustic emission (AE) and ultrasonic testing. They are particularly useful for obtaining absolute measurements of AE wave amplitude and shape, which can be used to constrain the physics and mechanics of the AE source. We illustrate how to perform calibration tests on a thick plate and how to impl...

BACKGROUND Hepatocellular carcinoma is likely to accompany liver cirrhosis in which the portal pressure increases with portasystemic shunt. When portal tumor thrombus is present in the primary bifurcation, blood flow differs between the thrombolic lobe and the non-thrombolic lobe. In those cases, it is difficult to evaluate exactly residual liver function by conventional test. Therefore, the fo...

1. HamelMB, Teno JM, Goldman L, et al. Patient age and decisions to withhold life-sustaining treatments from seriously ill, hospitalized adults. SUPPORT Investigators. Study to Understand Prognoses and Preferences for Outcomes and Risks of Treatment. Ann Intern Med 1999; 130: 116–25 2. Jecker NS, Pearlman RA. Ethical constraints on rationing medical care by age. J Am Geriatr Soc 1989; 37: 1067–...

Currently, domestic production of vegetable soybean (aka “edamame”) lags well behind consumer demand, with approximately 70% U.S.-consumed edamame imported each year. A major barrier for growth the U.S. industry is an overall lack varieties adequate acceptability and adaption to climate environment. In this study, we evaluated eleven genotypes (including one commercial check) differences in yie...

The Atlantic Multidecadal Oscillation (AMO) is a pronounced signal of climate variability in the North Atlantic sea-surface temperature field. In this paper, we propose an explanation of the physical processes responsible for the timescale and the spatial pattern of the AMO. Our approach involves the analysis of solutions of a hierarchy of models. In the lowest member of the model hierarchy, wh...

Domains are the structural, functional, and evolutionary components of proteins. Most folding studies to date have concentrated on the folding of single domains, but more than 70% of human proteins contain more than one domain, and interdomain interactions can affect both the stability and the folding kinetics. Whether the folding pathway is altered by interdomain interactions is not yet known....

This study attempted to prove our hypothesis that a short-term toxicity study, using a 4-day dosing regimen as an example, is suitable for evaluating myelotoxicity in rats. We compared the hematological, bone marrow cytological and histopathological results of 5-fluorouracil (5-FU) treated and pair-feeding groups after a 4-day administration period. Several experimental groups were defined for ...