In this paper, we proposed an obstacle avoidance II. MODEL OF A TWO WHEELED MOBILE ROBOT AND method of mobile robot by using lobula giant movementLGMD detector (LGMD) method. The LGMD is an identified neuron in the locust brain that responds most strongly to the image of In this paper, the controlled system is considered as two an approaching object such as a predator. As an assistance .'to the avoidance method, we add a distance measurement wheeled mobile robot which iS shown in Figure 1. The algorithm to LGMD method. The measurement algorithm is obstacle detection system is based on the LGMD model based on information from camera to detect obstacles and given in Fig. 2. calculate the route for two wheeled mobile robot. Simulation result confirmed the effectiveness of the proposed method.

This paper considers experimental study and analysis on simultaneous swing-up control of a parallel cart-type double inverted pendulum. The proposed controller includes both a swing-up controller based on weighted energy related function and a cart travel controller designed by a pole assignment control scheme. The cart travel controller can restrict cart travel during the swingup. When the two pendulums are swung up, the controller will be switched to a stabilizing controller, and the controller can take the cart to the initial position. Control simulation and experiment were successfully conducted.

Timing of ovulation and changes in plasma progesterone, luteinizing hormone (LH), and prolactin (PRL) during periovulatory stages were determined in Holtzman rats exhibiting regular 4- or 5-day cycles under a daily artificial illumination from 0500 to 1900 h. The 5-day cycling rats ovulated between 0130 and 0930 h on estrus, whereas some of the 4-day cycling animals ovulated as early as about 0130 h and others as late as 1130 h on estrus. Onset time of preovulatory LH and progesterone surges was about 1500 h on proestrus in both the 4- and the 5-day cycling rats. Peak levels of plasma LH and progesterone were measured at 1700 to 1900 h on proestrus, while the first rises and peak values of plasma PRL were evident a few hours earlier than those of plasma LH in the rats with two cycle lengths. Plasma LH levels at 1900 h on proestrus as well as plasma progesterone levels at 1600 and 2300 h on proestrus and at 0130 and 0330 h on estrus were significantly lower in the 5-day cycling rats than in the 4-day cycling animals (p less than 0.05). In contrast, PRL levels from 1500 through 2300 h on proestrus remained consistently higher in 5-day cycling rats than in 4-day cycling rats, and significant differences in PRL levels between these rats were apparent at 1500, 1600, and 2100 h (p less than 0.05-0.01). Thus, these results demonstrate that the 5-day cycling rats exhibit the attenuated magnitude of LH surge accompanied by the augmented preovulatory PRL release, and that plasma progesterone levels reflect the magnitude of LH surge. A tentative working hypothesis concerning the etiology of the 5-day cycle has been proposed.

Operator-based nonlinear vibration control of a flexible arm experimental system with uncertainties using robust right coprime factorization is considered in this paper. In general, the vibrations by the characteristic vibration mode include from one to infinite order vibration modes and appear on the arm vibration. It is difficult to consider all vibration modes. Consequently, based on the concept of Lipschitz operators and robust right coprime factorization condition, robust stability of the closed-loop system with unconsidered vibration modes as uncertainties and desired vibration control performance actuated by piezoelectric element are ensured. Finally, simulation and experimental results are presented to support the effectiveness of the proposed design.

Abstract-In this paper, we consider the problem of attitude control of a helicopter experimental system. We design a nonlinear controller which combines nonlinear adaptive robust control and nonlinear feedback controls. Simulation and experimental results show the effectiveness of the proposed method.