This paper investigates visual feedback pose (position and attitude) synchronization in leader-following type visibility structures on the Special Euclidean group SE(3). We first define visual robotic networks for multiple camera models. We then propose a visual feedback pose synchronization law combining a vision-based observer with the pose synchronization law presented in our previous works. We then prove that for a static leader, the present control law on the network achieves visual feedback pose synchronization. Moreover, for a moving leader, we evaluate the tracking performance of the network by employing the notion of L2-gain performance. Finally, the validity of the present control law and analysis is demonstrated through experiments.
In real project management it is crucial to determine the duration of each activity in view of possible delays due to uncertainty during the project execution. This paper deals with how to determine activity durations of a given project and proposes a new method to estimate activity durations from the viewpoint of schedule stability. In this method, a so called minimum perturbation strategy is employed in order to enhance the stability of the existing project schedule. Through some computational simulations, the proposed method is compared with the conventional estimation methods, such as three point estimation in PERT and the 50% rule in critical chain and buffer management (CC/BM). The numerical results derive some significant properties of the proposed method and demonstrate its effectiveness.
In this paper, we investigate the issue of mathematical modeling of pressure rice cooking. In the process of rice cooking, it is standard to use some kind of pattern control without model because it is difficult to measure the state inside the pan under cooking and the physical phenomena including the gelatinization of rice are highly complex. However, it is necessary to estimate the internal state by using the model to achieve better performance. We introduce three models that describe diffusion of water, change of heat capacity and pressure variation, respectively. These models combined together explain the pressure rice cooking process. We show the simulation results to evaluate the validity of our model.