To deal with circulated bills in various conditions regarding size, shape, and rigidity, we have developed a new bill-stacking cassette that can accept and re-dispense various-sized bills. This cassette stacks the bills upright by using deforming guides and sheet rollers under our newly developed ''phase control''. It was experimentally verified by stacking tests that the cassette can handle bills in various conditions; thus, we conclude that the new cassette is practical for stacking circulated bills and re-dispensing them securely.
This paper presents a new design for a fuzzy controller, called ""stochastic fuzzy control."" It describes the application controlling a mobile robot driven by two independent wheels. Using this scheme, the fuzzy control system provides an optimal stochastic control strategy that ensures the stability of the control system. Two design methods are considered: one assumes that the control object is completely known, and the other assumes that the control object includes unknown parameters. We design the straight line and circular path reference trajectories in accordance with the practical applications for the mobile robot, in which three patterns of speed are adopted. The effectiveness of the proposed method is demonstrated by a series of practical tests using our experimental mobile robot.
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