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Owing to load variation and unmodeled dynamics, a robot manipulator can be classified as a nonlinear dynamic system with structured and unstructured uncertainties. In this paper, the stability and robustness of a class of the fuzzy logic control (FLC) is investigated and a robust FLC is proposed for a robot manipulator with uncertainties. In order to show(More)
In the cases of control systems where physical mechanisms are not well known due to high complexity and nonlinearity, a fuzzy relational model may be useful. In this paper, we propose a recursive parameter tuning algorithm for the identification of fuzzy relational model for an unknown dynamic system. Furthermore, using the fact that a dynamic system is(More)
This paper describes the implementation of a dual-kernel software architecture, based on standard Linux and real-time embedded Linux, for real-time control of service robots in ubiquitous sensor network environments. Mobile robots are used in active service for the assisted living of elderly people, monitoring their mental and physiological data with(More)
—Based on the similarity between prevalent fuzzy logic controllers (FLC) and the conventional robust controller, i.e., the variable structure controller, control theoretic analysis of a fuzzy control system is presented in the sense of Lyapunov. As well as the robustness of the fuzzy control system against uncertainties of a controlled process, this(More)
On the basis of the previously reported clinical candidate, SSA-426 (1), a series of related 2-piperazin-1-ylquinoline derivatives 3-16 were synthesized and evaluated as dual-acting serotonin (5-HT) reuptake inhibitors and 5-HT1A receptor antagonists. In particular, compound 7 exhibits potent functional activities at both the 5-HT transporter and 5-HT1A(More)
Derivatives of the serotonin reuptake inhibitor 4-(5-fluoro-1H-indol-3-yl)cyclohexylamine, in which serotonin 1A (5-HT(1A)) receptor pharmacophoric elements are incorporated, are reported. Analogs exhibiting affinity for both the serotonin transporter and the 5-HT(1A) receptor are described. Compounds containing 1-(4-indolyl)piperazine and(More)
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