Koichiro Ueda

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This paper considers a nonlinear constrained optimal control problem (NCOCP) originated from energy optimal trajectory planning of servomotor systems. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. This paper proposes a method to manage the switching cost function to establish(More)
This note considers the energy optimal trajectory control design approach. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. The minimum principle is applied to establish piecewise necessary optimality conditions. An approximate optimal control is proposed to circumvent the(More)
This paper considers the fast generation of speed and acceleration constrained energy-optimal trajectories for a motor system performing a point-to-point positioning task with a fixed final time. An algorithm is proposed to obtain the energy-optimal solution by solving a series of Two-point Boundary Value Problems (TBVPs) with guaranteed convergence. The(More)
In vivo microdialysis was used to study the effects of the locally applied selective noradrenaline uptake inhibitor reboxetine on the baseline noradrenaline and dopamine efflux in the nucleus accumbens of freely moving rats. The effects of intra-accumbal infusion of the beta-adrenoceptor antagonist l-propranolol on the reboxetine-elicited noradrenaline and(More)
In order to evaluate the neuronal mechanisms underlying functional abnormalities of swallowing in orofacial pain patients, this study investigated the effects of noxious orofacial stimulation on the swallowing reflex, phosphorylated extracellular signal-regulated kinase (pERK) and gamma-aminobutyric acid (GABA) immunohistochemical features in brainstem(More)
This paper considers real-time energy-optimal trajectory generation for a servomotor system which performs a single-axis point-to-point positioning task for a fixed time interval. The servomotor system is subject to acceleration and speed constraints. The trajectory generation is formulated as a linear constrained optimal control problem (LCOCP), and the(More)
Based on area P lesion experiments, we hypothesized that tongue protrusion adapted for licking might be regulated by the lateral wall of the presylvian sulcus (bilateral areas P) of the cerebral cortex (Hiraba H, Sato T, Nakakawa K, Ueda K. 2009. Cortical control of appropriate tongue protrusion during licking in cats--Increase in regional cerebral blood(More)
In patients with unilateral pharyngeal paresis and dysphagia, the head is rotated to the paretic side to prevent food flow to the rotated side during swallowing. Only a few studies to date have reported on pyriform sinus morphology upon head rotation. The purpose of this study was to measure the volume, depth, and cross-sectional area of the pyriform sinus(More)
We studied changes in orofacial behavior and the arrangement of bilateral hypoglossal nuclei after the neurectomy of the medial branch of the unilateral hypoglossal nerve in cats. After recovery from surgery in a head holder, the animals were acclimated to take and chew fish paste (1.8 g) from a spoon and lick milk from a wetted paintbrush. Next we(More)
We proposed that cortical organization for the execution of adequate licking in cats was processed under the control of two kinds of affiliated groups for face and jaw & tongue movements (Hiraba H, Sato T. 2005A. Cerebral control of face, jaw, and tongue movements in awake cats: Changes in regional cerebral blood flow during lateral feeding Somatosens Mot(More)