This paper is concerned with the problems of reachability and observability of a plug-flow reactor equation. It is shown that the system with boundary inputs is formulated as an well-defined boundary control system, and that it is reachable through a concrete expression of the solution. In addition, the reachable subspace is characterized for the case where only one boundary input is added to the system. Furthermore, the results concerning observability are derived through a concrete expression of the solution to the dual system of the plug-flow reactor equation with the output equation.
In this paper, we propose a decompositon method for simultanenous optimization problem of production scheduling and transportation routing for semiconductor fabrication bays. The original problem is decomposed into an upper level subproblem to determine production scheduling and assignment of requests to AGVs and a lower level subproblem to derive a collision-free routing for AGVs. The novel idea of the proposed method is that the upper level subproblem is solved by using Lagrangian relaxation technique incorporating cuts generated from a solution of the lower level subproblem. The algorithm solves successively the upper level problem and the lower level problem until a feasible solution for original problem is derived. The entire search space is reduced by incorporating cuts. The effectiveness of the proposed method is investigated from numerical experiments.
In this paper, we consider a version of problem how to teach robots to write characters in actual environment. In particular, one must design a feedforward controller for two-link manipulators to improve the tracking performance in the face of limited knowledge of the surroundings. We employ an adaptive scheme, called MIMO-FEL (Multi-Input Multi-Output Feedback Error Learning) to achieve our objective. The effectiveness of proposed method is demonstrated with an experiment.