The dynamic-parameter identification process for developing a suitable precise mathematical model for the implementation and operation of parallel-link robots has received attention. In this study, an efficient and reliable system-identification method for a delta robot is proposed. The parallel-link robot’s dynamic behavior was mathematically modeled according to the principle of virtual work. The dynamic equations of motion are extended to the system of equations that explicitly characterizes the inertial and centripetal/Coriolis forces, and the frictional effects on the robot’s dynamic behavior. Next, the dynamic-parameter identification technique is presented to directly estimate a set of uncertain parameters that are included in the extended dynamic model. In addition, the development of the dynamic model with a generalized inertia matrix for determining the impact of the inertia-coupling characteristic on the robot’s dynamic behaviors is examined. Experimental results indicate that the proposed parameter-estimation technique is an extremely useful tool that can achieve the high-quality identification of an analytic dynamic model for a parallel-link robot.
In this paper, the problem of multi-objective control for active suspension systems with polytopic uncertainty is addressed via H ∞ /GH 2 static output feedback with a limited-frequency characteristic. For the overall analysis of the performance demanding both vehicle-ride comfort related to vertical-and transversal-directional dynamics and the time-domain constraints related to the driving maneuverability, a seven-degree-of-freedom full-vehicle model with an active suspension system is investigated. The robust static output-feedback control strategy is adopted because some state variables may not be directly measured in a realistic implementation. In designing this control, the finite-frequency H ∞ performance using the generalized Kalman-Yakubovich-Popov lemma is optimized to improve the passenger's ride comfort, while the GH 2 performance is optimized to guarantee the constraints concerning the suspension deflection limitation, road-holding ability, and actuator saturation problem. This control synthesis problem is formulated as nonconvex bilinear matrix inequalities and requires simultaneous consideration of different finite-frequency domain ranges for vertical and transversal motions for evaluating the H ∞ performance. These design difficulties are overcome by the proposed multi-objective quantum-behaved particle swarm optimizer, which efficiently explores the relevant trade-offs between the considered multiple performance objectives and eventually provides the desired Pareto-optimal control set. Further, the numerical simulation cases of a full-vehicle active suspension system are presented to illustrate the effectiveness of the proposed control synthesis methodology in frequency and time domains.INDEX TERMS Active suspension system, static output feedback, finite frequency, generalized Kalman-Yakubovich-Popov lemma, bilinear matrix inequalities, multi-objective metaheuristic algorithm.
patients with a single renal mass ¡Â 4cm in size undergoing PN or radical nephrectomy RN with the existence of a normal contralateral kidney were retrospectively reviewed from four major tertiary teaching hospitals. Estimated glomerular filtration rate (eGFR) was used to define the CKD less than 60ml/min per 1.73 m2 by the Modification of Diet in Renal Disease (MDRD) equation. Demographics and clinicopathologic parameters were evaluated using multivariate analysis to determine the risk factors independently affected with the development of CKD before and after the operation. RESULTS: Among the 1928 patients with a single small renal mass, CKD was found preoperatively in 10.0%, and 16.1% of patients developed CKD postoperatively. For 447 patients over 65 years of age, 87 (19.5%) patients were found to have CKD at baseline, while 102 (28.4%) new patients developed CKD after the operation. After multivariate analyses for the CKD's risk factors between the non-CKD and CKD patients, male gender (OR 3.54, pϭ.003 vs. OR 3.88 pϽ.001, respectively), and diagnostic age (OR 1.04, pϽ.001 vs. OR 3.88, pϽ.001), were significantly distinctive common risk factors both before and after the operation. In addition, hypertension (OR 0.46, pϭ.006), serum albumin (OR 0.228, pϽ.001), and calcium (OR 2.00, pϭ.023) are also significant for preoperative risk factors of CKD before operation, as well as preoperative serum creatinine (OR 1.28, pϽ.001) and surgical types (radical or partial nephrectomy) (OR 8.2, pϽ.001) for postoperative risk factors of CKD.CONCLUSIONS: This study indicates that those patients with a small renal mass and with the normal contralateral kidney should be carefully evaluated for their preoperative renal function to prevent the postoperative CKD if they were male with a history of hypertension, especially for the old ages. In addition, PN should first be considered rather than RN in consideration of developing postoperative CKD.
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