{ r -" k i , kobayasi}Cnept-. -w r i t .a=. jpAbstrad-In this paper, we propose a reduced order observer-based stabilizing controller by using limiting properties of LQR. The proposed reduced order observer-based stabilizing controller has disturbance decoupling property which is the s a m e as the full order observer-based stabilizing controller, and has same property, i.e., good tracking performance, of the internal model control (IMC) design structure.In order to verify the proposed method, we apply the reduced order observer-based stabilizing controller to a mechanical system, and confirm effectiveness of the proposed properties by comparative experiments. The experimental results show that the proposed method i s effective on disturbance decoupling control for a small cart carrier.
SUMMARYAn indoor four-wheel individual steering and driving vehicle with full electronics was built for evaluation of the system's ability and the performance in practical use. Mechanical parts such as the connecting rod and the differential gear are not provided for this vehicle.From trial operation, the characteristics fully performed as in design, but some problems originating from the design concept were disclosed.Rotating radius (R) of the vehicle was taken for the steering command parameter, but it was found to not be an appropriate parameter for driving operation. The reasons are as follows:1) R has a much different sense of driving conformability for the driver, because it does not refer to the running direction, but to the rotating radius of crosswise direction.2) Sensitivity of each wheel steering angle versus R differs over double figures in the full range of R.3) R changed from plus to minus and also vice versa in most practical situations around straight-go operation.For these reasons, the steering command parameter was changed from R to α, where α is the angle between the vehicle lengthwise direction and the moving direction. The steering control algorithm using α has been proven to solve the three above-mentioned problems.
Malignant granular cell tumor of the esophagus found in a 70‐year‐old female was reported. Microscopically, the tumor showed a variety of the histology from compact proliferation of polygonal granular cells in pseudo‐epitheliomatous pattern to plexiform proliferation of elongated granular and fibroblastic cells in neuroflbromatous pattern, and the tumor cells frequently contained eosinophilic globules in the cytoplasm. Histochemically, argyrophilic neurofibrils in the stroma and argyrophilic cytoplasmic processes or grains were seen. Immunohistochemically, the tumor cells showed positive reaction with S–100 protein (S–100), but all reactions with myoglobin (MG), desmin (DM), fibronectin (FN), creatinine phosphokinase–mm (CPK), factor gthrelated antigen (F8RA), alpha–1–antitrypsin (AIAT), alpha–1–anti–chymotrypsin (AIACT), keratin (KN), and carcinoembryonic antigen (CEA) were negative. Electron microscopy revealed that the tumor cells had typical lysosomal granules filled with proteinaceous electron dense materials and fine membrane‐bound particles sized 15 to 45 nm resembling virus or neurosecretory granule.
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