: In the industrial field of motion control, many systems are nonholonomic, and thefore are difficult to control by static state feedback. As a controller design method for nonholonomic systems, a time-state control form that is applicable to a broad class of nonholonomic systems has been proposed. This paper describes three applications of controllers designed to utilize the time-state control form for the motion control of the following ground vehicles: a large-scale transfer crane, a rotary snow remover, and the mobile field of the Sapporo Dome stadium. In the first two examples, we develop a control function in a time-state control form into an integral type, and a combination of a filter and the Smith compensator. In the third example, we confirm the validity of the motion control by computer simulations and actual experiments.
This paper describes a new technique, called the Light-Induced State Transition (LIST) method, that uses an optical beam induced current (OBIC) system for failure analysis of CMOS LSIs. This technique allows the user to locate a low signal line shortcircuited to a GND bus (or a high signal line shortcircuited to a VDD bus) in stand-by condition, which is not possible with conventional failure analysis techniques such as photo-emission analysis, liquid crystal technique, or the conventional OBIC method. The effectiveness of the LIST method was verified by a experiment on inverter chains that included quasi-failures intentionally patched by FIB deposition. The LIST method has also been used for actual CMOS failure analysis, and has proved useful for finding a failure location rapidly.
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