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The REGARD system consists of three subsystems: the real-time positioning subsystem, the event detection subsystem, and the fault model inversion subsystem (Fig. 2).
Once an earthquake event is detected, a single rectangular fault model and a slip distribution model are estimated by the fault model inversion subsystem.
The magnitude issued by JMA EEW exceeded the threshold value in REGARD (M > 7.0); thus, the fault model inversion subsystem was automatically launched.
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Then, dynamics of the arm becomes very simple (a lumped single mass model instead of the usual distributed mass model), and its control system can be significantly simplified: minimum sensing effort is required (only motor and tip measurements are needed), and PID controllers combined with a dynamic inversion subsystem can be used.
Model inversion refers to estimating these (hidden) states from data.
Data conditioning is then, effectively, a part of model inversion.
Model inversion in multivariable systems is non-trivial.
Model inversion is described in Appendix A in detail.
Model inversion was performed within each time window.
Probabilistic methods of rearrangement only model inversions [ 23, 24] or inversions and transpositions [ 25].
Different model inversions schemes treat this problem differently.
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