Fuzzy distributed cooperative tracking for a swarm of unmanned aerial vehicles with heterogeneous goals

This article proposes a systematic analysis for a tracking problem which ensures cooperation amongst a swarm of unmanned aerial vehicles (UAVs), modelled as nonlinear systems with linear and angular velocity constraints, in order to achieve different goals. A distributed Takagi–Sugeno (TS) framework design is adopted for the representation of the nonlinear model of the dynamics of the UAVs. The distributed control law which is introduced is composed of both node and network level information. Firstly, feedback gains are synthesised using a parallel distributed compensation (PDC) control law structure, for a collection of isolated UAVs; ignoring communications among the swarm. Then secondly, based on an alternation-like procedure, the resulting feedback gains are used to determine Lyapunov matrices which are utilised at network level to incorporate into the control law, the relative differences in the states of the vehicles, and to induce cooperative behaviour. Eventually stability is guaranteed for the entire swarm. The control synthesis is performed using tools from linear control theory: in particular the design criteria are posed as linear matrix inequalities (LMIs). An example based on a UAV tracking scenario is included to outline the efficacy of the approach.     

A compact printed multistubs loaded resonator rectangular monopole antenna design for multiband wireless systems

In the present article, a compact triple‐band multistubs loaded resonator printed monopole antenna is proposed. The antenna consists of a quarter wavelength two asymmetrical inverted L‐shaped stubs to excite two resonant modes for 3.5/5.5 GHz bands and one integrated horizontally T‐shaped stub with inverted long L‐shaped stub to excite resonant mode for 2.5 GHz band. By loading these stub resonators along y‐axis with distinct gaps, the antenna resonates at three frequencies 2.57/3.52/5.51 GHz covering the desired bands while keeping compact size of 24 × 30 mm² (0.2 × 0.25 ). The proposed antenna is fabricated on Rogers RT/duroid 5880 substrate with thickness 0.79 mm and its performance experimentally verified. The measured results reveal that the antenna has the impedance bandwidths of about 210 MHz (2.50‐2.71 GHz), 260 MHz (3.37‐3.63 GHz), and 650 MHz (5.20‐5.85 GHz), for 2.5/3.5/5.5 GHz WiMAX and 5.2/5.8 GHz WLAN band systems. The antenna provides omnidirectional radiation patterns and flat antenna gains over the three operating bands. In addition, the design approach and effects of multistubs resonator lengths on the operating bands are also examined and discussed in detail.     

Kinetics of alpha precipitation in Ti-6 wt % Cr and Ti-11 wt % Mo

The morphology and kinetics of the precipitation of the alpha phase produced by two different heat treatment routes, namely, (a) direct isothermal decomposition and (b)-quenching and subsequent ageing, were studied. In isothermally decomposed samples the (supersaturated) + transformation was seen to occur mainly through the discontinuous growth of the transformed zone consisting of groups of parallel side plates from the grain boundary regions towards the interior of the grain. Unlike for the case of a regular discontinuous precipitation, here the transformed regions are not separated from the untransformed by an incoherent interface and the growing-plates do obey a fixed orientation relationship with the grain from which they are evolved. The theory of cellular reaction has been applied to explain the growth rate of the duplex ( + ) region. The overall reaction kinetics were analysed on the basis of the Johnson-Mehl formulation and were found to be consistent with that of a discontinuous precipitation reaction, where grain boundary nucleation sites were saturated at an early stage of the transformation. The structure of the-quenched samples showed a uniform distribution of athermal omega particles which acted as precursors to the-precipitates. As a consequence, the reaction rate was greatly enhanced and-precipitation in the quenched and aged samples was seen to occur continuously in the entire body of the grain.     

RAPID ONLINE MONITORING OF A HETEROGENEOUS CATALYST BY A PULSED REACTOR COUPLED TO GC-MS

A rapid screening system for heterogeneous catalyst discovery has been developed by coupling an in-house designed and fabricated high temperature vapor phase pulse reactor on-line to a GC-MS. The incorporation of gas chromatography for separation of the products with the mass spectrometry system allowed simultaneous identification and determination of reaction products and substrate conversion. This system was employed to study the vapor phase catalytic hydride transfer reduction (CHTR) of nitrobenzene with methanol as hydrogen donor on an MgO catalyst as a model reaction. Structural information of all the by-products that were formed was useful to understand the reaction mechanism. The products obtained with the new screening technique were in good agreement with conventional bench scale experiments. The rapid online screening provided an efficient methodology for optimization of reaction conditions such as catalyst loading, reaction temperature, and mole ratios. Response Surface Methodology (RSM) was used to optimize the conversion of reactants and selectivity of products.     

Concept-based near-duplicate video clip detection for novelty re-ranking of web video search results

State-of-the-art near-duplicate video clip (NDVC) detection for novelty re-ranking uses non-semantic low-level features (color/texture) to detect and eliminate “content-based NDVC” and increases content level novelty in the top results. However, humans may perceive a video as near duplicate from a semantic perspective as well. In this paper, we propose concept-based near-duplicate video clip (CBNDVC) detection technique for novelty re-ranking. We identify “semantic NDVC”, making use of the semantic features (events/concepts) and re-rank the top results to increase the content as well as semantic novelty. Videos are represented as a multivariate time series of confidence values of relevant concepts and thereafter discovery of CBNDVC clusters is achieved by conceptual clustering. Obtained results show higher precision and recall from the user’s perspective.     

Grounded discovery of symbols as concept–language pairs

In human designer usage, symbols have a rich semantics, grounded on experience, which permits flexible usage — e.g. design ideation is improved by meanings triggered by contrastive words. In computational usage however, symbols are syntactic tokens whose semantics is mostly left to the implementation, resulting in brittle failures in many knowledge-based systems. Here we ask if one may define symbols in computational design as {label,meaning} pairs, as opposed to merely the label. We consider three questions that must be answered to bootstrap a symbol learning process: (a) which concepts are most relevant in a given domain, (b) how to define the semantics of such symbols, and (c) how to learn labels for these so as to form a grounded symbol. We propose that relevant symbols may be discovered by learning patterns of functional viability. The stable patterns are information-conserving codes, also called chunks in cognitive science, which relate to the process of acquiring expertise in humans. Regions of a design space that contain functionally superior designs can be mapped to a lower-dimensional manifold; the inter-relations of the design variables discovered thus constitute the chunks. Using these as the initial semantics for symbols, we show how the system can acquire labels for them by communicating with human designers. We demonstrate the first steps in this process in our baby designer approach, by learning two early grounded symbols, tight and loose.     

Characterization of CuAlO2 films prepared by dc reactive magnetron sputtering

Thin films of copper aluminum oxide (CuAlO₂) were prepared on glass substrates by dc magnetron sputtering at a substrate temperature of 523 K under various oxygen partial pressures in the range 1 × 10⁻⁴–3 × 10⁻³ mbar. The dependence of cathode potential on the oxygen partial pressure was explained in terms of oxidation of the sputtering target. The influence of oxygen partial pressure on the structural, electrical and optical properties was systematically studied. p-Type CuAlO₂ films with polycrystalline nature, electrical resistivity of 3.1 Ω cm, Hall mobility of 13.1 cm² V⁻¹ s⁻¹ and optical band gap of 3.54 eV were obtained at an oxygen partial pressure of 6 × 10⁻⁴ mbar.     

Thermal, mechanical and vibration characteristics of epoxy-clay nanocomposites

Diglycidyl ether of bisphenol-A (DGEBA) epoxy resin system filled individually with organoclay (OC) and unmodified clay (UC) were synthesized by mechanical shear mixing with the addition of diamino-diphenylmethane (DDM) hardener. The unmodified clay used was Na⁺-Montmorillonite (MMT) and the organoclay was alkyl ammonium treated MMT clay. The reinforcement effect of OC and UC in the epoxy polymer on thermal, mechanical and vibration properties were studied. X-ray diffraction (XRD) and Transmission electron microscopy (TEM) were used to study the structure and morphology of nanocomposites. Curing study shows that the addition of OC in epoxy resin aids the polymerization by catalytic effect, and UC addition does not show any effect in the curing behavior of epoxy polymer. Thermogravimetry analysis (TGA) shows enhanced thermal stability for epoxy with OC fillers than that of epoxy with UC fillers. The epoxy with OC fillers shows considerable improvement on tensile and impact properties over pure epoxy polymer and epoxy with UC fillers. The improvement in tensile and impact properties of nanocomposites is supported with the fracture surface studies. Epoxy with OC fillers shows enhanced vibration characteristics than that of the pure epoxy polymer and epoxy with UC fillers.     

Electrical properties of Schottky diodes based on Carbazole

Sandwich structures of Carbazole thin films have been prepared by using vacuum deposition technique. The plot of current density versus voltage (J–V characteristics) shows two distinct regions. In the lower voltage region ohmic conduction and in the higher voltage region space charge limited conduction (SCLC) is observed. Number of states in the valence band (Nv) is calculated from the temperature dependence of J in the ohmic region. From the temperature dependence of J in the SCLC region trap density (Nt) and activation energy are determined. The values of Nv and Nt are in the order 10²³ m⁻³ and 10²⁷ m⁻³ respectively. The value of activation energy is nearly equal to 0.1 eV and that of the effective mobility is 4.5 × 10⁻⁷ cm² V⁻¹ S⁻¹. Schottky diodes are fabricated using Aluminium (Al) as Schottky contact. It is observed that gold (Au) is more suitable for ohmic contact compared to silver (Ag). From a semi logarithmic plot of J versus V, the barrier height (ϕb), diode ideality factor (n) and saturation current density (J₀) are determined. The value of n increases and ϕb decreases on annealing.