nakamura masatoshi yamamoto kazuyoshi takagi and naofumi takagi

molecular population genetics and evolution - masatoshi nei

... R G E R London and E L T A T U M New York NORTH-HOLLAND PUBLISHING COMPANY AMSTERDAM OXFORD MOLECULAR POPULATION GENETICS AND EVOLUTION MASATOSHI NEI Center for Denlogruphic and Population Genetics ... been removed Gene comparisons between monkeys and humans, between vertebrates and invertebrates, between animals and plants, and even between eukaryotes and prokaryotes are now routine, thanks to ... and to relate these to the theory, classical and new, that can provide understanding and coherence It is appropriate that such a book be written by one who is himself a leader in developing and...

290
232
0

Nghiên cứu hệ mờ nơron theo mô hình takagi – sugeno để nhận dạng đối tượng phi tuyến

Danh mục: Điện - Điện tử - Viễn thông

... h M - Nron theo mụ hỡnh Takagi Sugeno nhn dng i tng phi tuyn nhn dng h thng lun dựng h M - Nron vi lut m Takagi - Sugeno (T-S) Mụ hỡnh m (T-S) ln u tiờn c xut bi Takagi v Sugeno vo nm 1985 ... vi lut hp thnh R1 v R2 Khi ú lut m T-S cú dng: R1 : if x1 is A1 and x2 is A1 then y f1 a1 a1x1 a1 x 2 (2.41) 2 R : if x1 is A1 and x is A then y f2 a a x1 a x 2 (2.42) x1; x l cỏc bin u ... thy giỏo Tin s Trung Hi em ó la chn ti lun tt nghip ca em l: Nghiờn cu h M Nron theo mụ hỡnh Takagi Sugeno nhn dng i tng phi tuyn Trong quỏ trỡnh thc hin ti, c s hng dn nhit tỡnh ca Tin...

65
849
4

mechatronic servo system control - m. nakamura s. goto and n. kyura

Danh mục: Cơ khí - Chế tạo máy

... mechatronic industries, and expect simultaneously that the research planted the root in this kind of ground will be expanded at the research institute etc of an enterprise and, expecially and university ... that this book was awarded the 2001 Works Reward of The Society of Instrument and Control Engineers (SICE), and Prof Nakamura also had the same desire to translate it into other languages for readers, ... indicate them to me and I will make my best eﬀorts continuously to improve them November 2002 Tao ZHANG Preface The editor and composer is engaging in the study on systems control and their applications...

201
256
0

Báo cáo hóa học: "A RECONSIDERATION OF HUA’S INEQUALITY. PART II HIROYUKI TAKAGI, TAKESHI MIURA, TAKAHIRO" potx

Danh mục: Báo cáo khoa học

... )) p−1 δ p , and then replace x/δ by x Thus we obtain a Theorem 1.3 Let X be a real or complex normed space with dual X ∗ , and suppose p, q > and 1/ p + 1/q = If λ > 0, x ∈ X, and f ∈ X ∗ , ... H Takagi, T Miura, T Kanzo, and S.-E Takahasi, A reconsideration of Hua’s inequality, Journal of Inequalities and Applications 2005 (2005), no 1, 15–23 [6] C.-L Wang, Lo-Keng Hua inequality and ... (1.6) where a and b are nonnegative constants If we know all the nonnegative constants a and b such that (1.6) holds, then we may determine whether the coeﬃcients ((λ + f q )/λ) p−1 and (λ + f q...

8
182
0

mechatronic servo system control m nakamura s goto and n kyura pdf

Danh mục: Kĩ thuật Viễn thông

... mechatronic industries, and expect simultaneously that the research planted the root in this kind of ground will be expanded at the research institute etc of an enterprise and, expecially and university ... that this book was awarded the 2001 Works Reward of The Society of Instrument and Control Engineers (SICE), and Prof Nakamura also had the same desire to translate it into other languages for readers, ... indicate them to me and I will make my best eﬀorts continuously to improve them November 2002 Tao ZHANG Preface The editor and composer is engaging in the study on systems control and their applications...

201
304
2

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 1 ppsx

Danh mục: Kĩ thuật Viễn thông

... mechatronic industries, and expect simultaneously that the research planted the root in this kind of ground will be expanded at the research institute etc of an enterprise and, expecially and university ... that this book was awarded the 2001 Works Reward of The Society of Instrument and Control Engineers (SICE), and Prof Nakamura also had the same desire to translate it into other languages for readers, ... indicate them to me and I will make my best eﬀorts continuously to improve them November 2002 Tao ZHANG Preface The editor and composer is engaging in the study on systems control and their applications...

15
343
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 2 docx

Danh mục: Kĩ thuật Viễn thông

... controller design, how to provide the command to servo system is a problem This problem is about the form of time function of command The problem of command containing the way of data given must ... velocity control part and the position control part and sensor (position detector, velocity detector, current detector) in order to detect the signal from various parts, and connected with the ... system, various adopted control methods and realized control performances by these methods are ﬁrstly discussed theoretically or arguably as the main point, and then the discussion on the development...

15
308
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 3 doc

Danh mục: Kĩ thuật Viễn thông

... convenient expression by natural angular frequency ωL and damping factor ζL with viscous friction coeﬃcient DL and spring constant KL , ωL and ζL are adopted as the parameters of the mechanism ... when changing parameters cp and cv , and response component K3 of the complex conjugate root is shown in Fig 2.4(a) The calculated ratio of the principal root −τ1 and the real part −σ of the ... Fig.(a) and Fig.(b), the conditions of faster response in the region of no oscillation or overshoot generation are cp = 0.24 and cv = 0.82 In addition, by comparing the results of Fig.(a) and Fig.(b),...

15
340
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 4 pps

Danh mục: Kĩ thuật Viễn thông

... respectively, and the beginning point and end point in joint coordinates are 0 ∆T ∆T expressed by (θ1 , θ2 ), (θ1 , θ2 ), respectively The relationship between joint coordinates and working coordinates ... between (p0 , p0 ) and (θ1 , θ2 ) as well as between (θ1 , θ2 ) and x y ∆T ∆T (px , py ) are expressed as below based on the expression of the relationship between working coordinates and joint coordinates ... relationship between the working coordinate and joint coordinate, the transformation from joint coordinate (θ1 , θ2 ) to working coordinate (px , py ) (kinematics) and the transformation from working...

15
284
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 5 pptx

Danh mục: Kĩ thuật Viễn thông

... sampling time interval and contour control precision in the position loop and velocity loop, and also the relationship between the time interval of the command generation and the locus irregularity ... driven by a 0.85kW DC servo motor and ball spring, a servo controller (Yaskawa motor CPCR-MR-CA15) and a personal computer (NEC-PC9801) In the part of servo controller and the DC servo motor, the velocity ... tachogenerator signal read in the computer The velocity command signal, calculated by the error of the position information and position command, is added into the servo controller through a D/A converter...

15
324
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 6 ppt

Danh mục: Kĩ thuật Viễn thông

... Interval and Velocity Fluctuation vr (t) = vref ps = − ps = − 1+ Kv + Kv − s s ps ep1 t − ps ep2 t ps − ps 2 (3.20) Kv − 4Kv Kp 2 Kv − 4Kv Kp is obtained with ∆T and using the maximum and maximum ... between the reference input time interval and the locus irregularity is analyzed quantitatively Next, its analysis result is expanded into the joint coordinates and space coordinates The general locus ... error of maximal value and minimal value of the locus error e(t) and using equation (3.28) em = |e(tm ) − e(0)| 3.3 Relationship between Reference Input Time Interval and Locus Irregularity =...

15
274
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 7 potx

Danh mục: Kĩ thuật Viễn thông

... position command is expressed by a pulse The angular velocity input, as the velocity command, is Kp {u(t) − y(t)}[pulse/s] The angular acceleration input, regarded as the torque command to torque ... of the Relationship between the Encoder Resolution and Control Performance From the experiment, the relationship between the encoder resolution and the velocity ﬂuctuation is veriﬁed In the experiment, ... sampling time interval ∆tp = 4[ms] (refer to 3.1) The position loop gain and velocity loop gain are set as Kp = 12[1/s] and Kv = 68[1/s] so that there is no oscillation or overshoot in the analogue...

15
244
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 9 ppsx

Danh mục: Kĩ thuật Viễn thông

... working precision without performing acceleration and deceleration, and contour control avoiding torque saturation The conditions of computer simulation and experiment are as below: position loop gain ... torque properties (ii) Simulation and experimental results Fig 5.10 illustrates the locus for four methods in 5.11, synthesized velocity and simulation results and experimental results of the B ... above simulation and experimental results, the contour control method considering torque saturation satisﬁes working precision and minimal velocity within the torque saturation, and it can be realized...

15
201
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 10 pot

Danh mục: Kĩ thuật Viễn thông

... the right-hand side of the inverse dynamics equation (6.45) is approximated by the first and second units, the second item by the third and fourth units and the third item by the fifth and sixth ... Performer and its velocity loop gain are Kp = 15[1/s] and Kv = 60[1/s], respectively The torque limitation is Tmax = 1.0[Nm] with a velocity limitation of the servo motor Vmax = 1[m/s], and the ... phaselead compensation Because of it and according to the modification element, the mechatronic servo system does not generate the gain deterioration and phase delay and also traces the objective trajectory...

15
198
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 11 pps

Danh mục: Kĩ thuật Viễn thông

... axis and the slave axis are tapping process work, installing tapping tools in the rotated master axis and processing screw by an up and down movement of master axis (sending) with rotation, and ... regulator and the minimum order observer for the control system to solve the characteristics of the closed-loop system and transfer it to the open-loop system whose relationship of the input and output ... synchronization of axis x and axis y can be veriﬁed using computer simulation and an experiment by using XY table (refer to E.4 about experimental equipment) The conditions of the simulation and the experiment...

15
294
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 12 pps

Danh mục: Kĩ thuật Viễn thông

... position input command is ux (t) = L−1 {Ux (s)/s} and the slave-axis revised input command is uy (t) = L−1 {kc Fs (s)Px (s)} They are given to the servo system as the command of each sampling ... continued without a change of kc and the command time will be also lasted The input scale of extended command is within the radius of v∆tp from objective point and until realizing position output ... x axis and the objective locus is calculated with ϕ Then it is put into equation (7.11a), (7.11b) And here, proportional constant kc is changed as tan ϕ by using ϕ, and based on the handling...

15
309
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 13 pptx

Danh mục: Kĩ thuật Viễn thông

... et v 0th order hold in reference input generator hr position command up 0th order hold in position command part hp velocity command uv objective trajectory r objective velocity vref npv = Kv /Kp ... basic inputs into (A.5) and calculating Y (s), and ﬁnally can be obtained by inverse Laplace transform In this book, 1st order system G(s) = Kp s + Kp (A.7) is always adopted and its impulse response, ... are indicated in parentheses (in Japanese) Chapter [1][2][3] [1] J Zou, M Nakamura, S Goto and N Kyura: Model Construction and Servo Parameter Determination of Industrial Mechatronic Servo Systems...

15
198
0

Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 14 docx

Danh mục: Kĩ thuật Viễn thông

... Nakamura and N Kyura: Accurate Contour Control of Mechatronic Servo Systems Using Gaussian Networks, IEEE Trans Indust Elect., vol 43, no 4, pp 469-476, 1996 M Nakamura, K Tsukahara, S Goto and ... perceptron, madaline, and backpropagation, in C Lau (Ed.), Neural Networks, New York, IEEE Press, Part 2, pp 27-53, 1992 Chapter [32][33][34] [32] S Goto, M Nakamura, S Oka and N Kyura: A Method ... Slave Systems, Trans of SICE, vol 30, no 6, pp 669-676, 1994 (in Japanese) [33] M Nakamura, D Hiyamizu, K Nakamura and N Kyura: A Method for Synchronous Position Control of Mechatronic Servo System...

6
260
0

Nghiên cứu hệ mờ nơron theo mô hình Takagi sugeno để nhận dạng và điều khiển đối tượng động học phi tuyến

Danh mục: Khoa học tự nhiên

... dng: S húa bi Trung tõm Hc liu i hc Thỏi Nguyờn http://www.lrc-tnu.edu.vn j j if x1 is A1j and x is A and and x n is A n (2.12) j j j then y f j a a 1j x a x a n x n Vi: x i l bin u vo y ... Chng 2: Nhn dng v iu khin i tng bng h m nron theo mụ hỡnh Takagi - Sugeno 2.1 t 2.2 i tng phi tuyn 3.3 ng dng h M Nron theo mụ hỡnh Takagi - Sugeno nhn dng v iu khin i tng phi tuyn Chng 3: ... thng x p ( t ) 2.3 ng dng h M Nron theo mụ hỡnh Takagi - Sugeno nhn dng v iu khin i tng phi tuyn 2.3.1 Bi toỏn nhn dng Xột h m nron vi lut m Takagi - Sugeno (T-S) Gi s lut m th j cú dng: S húa...

56
530
0

tóm tắt luận văn thạc sĩ kỹ thuật NGHIÊN cứu hệ mờ NƠRON THEO mô HÌNH TAKAGI – SUGENO đề NHẬN DẠNG

Danh mục: Kỹ thuật

... theo mụ hỡnh Takagi - Sugeno nhn dng v iu khin i tng phi tuyn 2.3.1 Bi toỏn nhn dng Xột h m nron vi lut m Takagi - Sugeno (T-S) Gi s lut m th j cú dng: j j if x1 is A1j and x is A and and x n is ... Chng 2: Nhn dng v iu khin i tng bng h m nron theo mụ hỡnh Takagi - Sugeno 2.1 t 2.2 i tng phi tuyn 3.3 ng dng h M Nron theo mụ hỡnh Takagi - Sugeno nhn dng v iu khin i tng phi tuyn Chng 3: ... lut hp thnh R1 v R2 Khi ú lut m T-S cú dng: 1 R1 : if x1 is A1 and x is A1 then y = f1 = a + a 1x1 + a x 2 (2.13) 2 2 R : if x1 is A1 and x is A then y = f = a + a x + a x (2.14) x ; x l cỏc bin...

27
432
1