{"created":"2021-03-01T06:34:10.045334+00:00","id":26257,"links":{},"metadata":{"_buckets":{"deposit":"920f29b2-ea7b-44e8-a6d8-a969f9062d82"},"_deposit":{"id":"26257","owners":[],"pid":{"revision_id":0,"type":"depid","value":"26257"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00026257","sets":["320:321:322"]},"author_link":["78823","78824","78825","78826"],"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2018-04-06","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"8","bibliographicPageEnd":"410","bibliographicPageStart":"399","bibliographicVolumeNumber":"32","bibliographic_titles":[{"bibliographic_title":"Advanced Robotics","bibliographic_titleLang":"en"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Quantitative stability measures for mechanical systems are highly needed. However, only a few such measures have been proposed for nonlinear systems. In this paper, a quantitative measure of stability for nonlinear systems based on the region of attraction (ROA) is proposed, and the measure is applied to parameter optimization of mechanical systems: multi-link inverted pendulum example. Recently, some techniques for calculating ROAs have been suggested; however, obtaining an accurate estimate of a ROA remains computationally demanding. We illustrate two techniques for efficiently estimating the proposed measure and apply them to the design parameter optimization problem for maximizing the stability measure. A number of simulations show the effectiveness of the proposed method.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Taylor & Francis","subitem_publisher_language":"en"}]},"item_10_relation_11":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1080/01691864.2018.1457980","subitem_relation_type_select":"DOI"}}]},"item_10_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 06/04/2018, available online: http://www.tandfonline.com/10.1080/01691864.2018.1457980.","subitem_rights_language":"en"}]},"item_10_select_15":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"author"}]},"item_10_source_id_7":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0169-1864","subitem_source_identifier_type":"PISSN"}]},"item_1615787544753":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Horibe, T.","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"78823","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Zhou, B.","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"78824","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Hara, S.","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"78825","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Tsubakino, D.","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"78826","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2019-04-06"}],"displaytype":"detail","filename":"AdvancedRobotics_r2.pdf","filesize":[{"value":"688.8 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AdvancedRobotics_r2","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/26257/files/AdvancedRobotics_r2.pdf"},"version_id":"9bc39937-b8ec-446d-996c-0b390da5adbf"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"design optimization","subitem_subject_scheme":"Other"},{"subitem_subject":"nonlinear systems","subitem_subject_scheme":"Other"},{"subitem_subject":"region of attraction","subitem_subject_scheme":"Other"},{"subitem_subject":"pendubot","subitem_subject_scheme":"Other"},{"subitem_subject":"multi-link","subitem_subject_scheme":"Other"},{"subitem_subject":"inverted pendulum","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Quantitative measure for nonlinear unstable systems based on the region of attraction and its application to designing parameter optimization – inverted pendulum example","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Quantitative measure for nonlinear unstable systems based on the region of attraction and its application to designing parameter optimization – inverted pendulum example","subitem_title_language":"en"}]},"item_type_id":"10","owner":"1","path":["322"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2018-08-17"},"publish_date":"2018-08-17","publish_status":"0","recid":"26257","relation_version_is_last":true,"title":["Quantitative measure for nonlinear unstable systems based on the region of attraction and its application to designing parameter optimization – inverted pendulum example"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T04:16:47.402960+00:00"}