Nami Nakamura

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— Dilated homogeneous systems are local canonical forms of nonlinear control systems. In this paper, we propose a global inverse optimal controller with guaranteed convergence rate by implementing the local homogeneity. First, we clearly describe assumptions, and then design a global inverse optimal controller achieving local homogeneity for input-affine(More)
The anterior cingulate cortex (ACC) has been pointed out to play an important role in the cognitive process of selection underlying "early selection" of perceptually (visually or auditorily) and "late selection" of behaviorally relevant information. However, it is still unclear in cognitive process of selection that the ACC can be activated by somatosensory(More)
Androgens are known to affect cognitive and mnemonic aspects of spatial processing. The cholinergic system is thought to play an important role in cognition and memory, but little is known about the interaction between androgen and cholinergic neurons. The present study focused on the effects of testosterone on the cholinergic neurons in the anterior(More)
This paper considers finite-time position control of robot manipulators. The robot manipulators are modeled by discontinuous differential equations. In this paper, we prove that the Nakamura's local homogeneous controller based on a control Lyapunov function is valid to the position control of the robot manipulators, and show the effectiveness of the(More)
Morphological study of the choroid plexuses in three patients with Leigh disease revealed a marked increase in the number of mitochondria in almost all of the choroidal epithelial cells. This finding is considered the morphological expression of a biochemical defect in the mitochondrial metabolism underlying Leigh disease, and the probable explanation for(More)
— In this paper, we propose a two-step controller design method with control Lyapunov functions (CLFs) for nonlinear systems with convex input constraints. In the first step, we derive an input which minimizes the time derivative of a local CLF via nonlinear convex optimization. According to the Karush-Kuhn-Tucker condition (KKT-condition), we clarify the(More)