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This paper proposes a new driver support system which assists driver's operation in an obstacle avoidance scene. The proposed system has actuator systems which are Electric Power Steering (EPS) and Direct Yaw-moment Control (DYC). The obstacle is detected as a differential feature value by using a microwave radar instead of a camera. Cooperative control is(More)
3-Nitrobenzanthrone (3-NBA) has been isolated from diesel exhaust and airborne particles and identified as a potent direct-acting mutagen in vitro and genotoxic agent in vivo. In order to evaluate the in vivo toxicity and carcinogenicity of 3-NBA in a situation corresponding to inhalation, a combined short-term and lifetime study with intratracheal (i.t.)(More)
In this paper we propose an accurate state of charge (SOC) estimation method for a lithium-ion battery for hybrid electric vehicle (HEV) and electric vehicles (EV) use. Although it is important to accurately determine the SOC of a battery to achieve maximum efficiency and safety, none of the existing methods has achieved this perfectly. To address this(More)
The carcinogenic vehicle emission product 3-nitrobenzanthrone (3-NBA) is known to rearrange in the atmosphere to the isomer 2-nitrobenzanthrone (2-NBA), which exists in 70-fold higher concentration in ambient air. The genotoxicity of 2-NBA and 3-NBA was studied both in vitro (human cell lines A549 and HepG2) and in vivo (F344 female rats intra-tracheally(More)
3-Nitrobenzanthrone (3-NBA) is an urban air pollutant and rat lung carcinogen that is among the most potent mutagens yet tested in the Salmonella reversion assay. In the present study, 1 mg 3-NBA was administered orally to female F344 rats and DNA adduct formation was examined in liver, lung, kidney and five sections of the gastrointestinal (GI) tract at 6(More)
— The purpose of this work is to enable risk-limiting electricity dispatch through a market mechanism. There has been a solid body of work on centralized risk-limiting dispatch, which guarantees that the risk of energy shortage is within a user-specified bound. The current trading mechanism of a day-ahead electricity market can be viewed as a market that(More)
The objective of our study is to build a precise model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. This paper proposes a systematic identification method, called " decoupling identification " , for a serial two-link robot arm with elastic joints caused(More)