Unscented Kalman filter with advanced adaptation of scaling parameter

The paper deals with state estimation of the nonlinear stochastic systems by means of the unscented Kalman filter with a focus on specification of the σ$\sigma$-points. Their position is influenced by two design parameters—the scaling parameter determining the spread of the σ$\sigma$-points and a covariance matrix decomposition determining rotation of the σ$\sigma$-points. In this paper, a choice of the scaling parameter is analyzed. It is shown that considering other values than the standard choice may lead to increased quality of the estimate, especially if the scaling parameter is adapted. Several different criteria for the adaptation are proposed and techniques to reduce computational costs of the adaptation are developed. The proposed algorithm of the unscented Kalman filter with advanced adaptation of the scaling parameter is illustrated in a numerical example.     

The effect of specific β‐nucleation on morphology and mechanical behavior of isotactic polypropylene

The commercial grade of isotactic polypropylene was modified by a specific β‐nucleating agent in a broad concentration range. The supermolecular structure of the specimens prepared by injection molding was characterized by X‐ray scattering and correlated with mechanical behavior. It was found that at a critical nucleant concentration of 0.03 wt % the content of the β‐modification virtually reaches a saturation level. With further addition of the nucleant, the β‐phase content increases only slightly. The long period passes through a distinct maximum at the same nucleant concentration. This singularity in structure remarkably correlates with a minimum of the yield stress and maxima of strain at break and fracture toughness. Such general behavior is also reflected in the correlation between the β‐phase concentration and fracture toughness profiles along the injection‐molded bars. It is suggested that in the critically nucleated material an optimum thickness of the amorphous interlayer with connecting chains between the β‐crystallites is established, rendering the material the highest possible ductility and toughness. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 85: 1174–1184, 2002     

New aspects in cationization of lignocellulose materials. IX. Flame retardancy effect of modification with nitrogen and sulfur containing groups

Lignocellulose materials were modified with 3-chlor-2-hydroxypropyltrimethylammoniumchloride, 1,3-bis(3-chlor-2-hydroxypropyl)imidazoliumhydrogensulphate, and 2-chlorethyl-sodiumsulphonate and the flame-retardant properties of materials obtained were studied. The flame-retardant effect was proved using the limited oxygen index (LOI) method and values up to 32.8 vol % of oxygen were determined. The LOI values were higher when the modification was done without using NaOH for activation, but in that case the alkylating groups were not chemically bonded to the material. The NaOH activation was necessary to obtain material with flame-retardant properties stable against washing. No synergistic effects were observed when the material was modified with both nitrogen- and sulfur-containing groups.     

Water soluble acrylamide polymers, 2. Aging and viscous flow of aqueous solutions of polyacrylamide and hydrolyzed polyacrylamide

The aging of aqueous solutions of polyacrylamide which appears experimentally as a decrease of solution viscosity and which is probably caused by microorganisms may be prevented by the addition of a small amount (0.02 wt.-%) of an antimicrobial agent such as sodium azide. Aluminium chloride causes a very strong decrease of the viscosity during a prolongated storing time. The addition of aluminium ions to the polymer solution leads to a complexing of amidic groups with aluminium cations and probably also to decrease of the dimensions of individual polymer coils. The viscous flow of aqueous solutions of polyacrylamide and hydrolyzed polyacrylamides was studied as a dependence of the shear gradient D on the shear stress τ and was described by the relation D = k · τⁿ, where k and n denote constants. Both constants depend on the polymer concentration, the degree of polymerization and the content of carboxylic groups in the polymer. The greatest deviations from the Newtonian behaviour were found in the range of molecular weights over 2 · 10⁶ g/mol and practically no deviations were observed for polyacrylamide with molecular weights below 1 · 10⁶ g/mol. The dependence of the viscosity on the shearing time at different shear rates (300, 600 and 1200 s^?1) which was observed in solutions of polyacrylamide, hydrolyzed polyacrylamide and poly-(N,N-dimethyl)-acrylamide was explained by an entanglement model.     

Application of predictive control methods for Radio telescope disk rotation control

Radio telescope (RT) installations are highly valuable assets and during the period of their service life they need regular repair and maintenance to be carried out for delivering satisfactory performance and minimizing downtime. Same down time can be expected during machinery usage. Constant control of telescope rotation angle is done manually using visual inspection of hardware. The accuracy of this procedure is very low, therefore, automation and computer control systems are required. With the growing automation technologies, predictive control can prove to be a better approach than the traditionally applied visual inspection policy and linear control models. In this paper, Irbene Radio telescope RT-16 disk rotation control motors are analysed using control voltage from the converters. Retrieved data from the small DC motor is used for the predictive control approach using two different methods: a neural network trained with Basic Levenberg-Marquardt method and a linear model. A multilayer perceptron network approach is used for prediction of the indicator voltage output which affects the monitoring of the disk rotating angle. Finally, an experimental control system was proposed and installed using National Instruments equipment.     

Influence of anionic form on thermooxidation of TMAHP–cellulose

With the help of DTA, DTG elementary analysis of carbonized residues and ESR spectroscopy the influence of anionic form on thermooxidation of trimethylammoniumhydroxyprophyl (TMAHP)–cellulose was studied. At 300°C the percentage of carbon in carbonized residue thermolyzed in oxidative atmosphere is higher than for the sample degraded in inert atmosphere. The percentage of hydrogen decreases simultaneously. The concentration of free radicals in thermolyzed residue also increases due to the presence of oxygen. We propose that oxygen is abstracting the hydrogen atoms from polysaccharide and unpaired electrons on carbon atoms are produced. At 400°C the percentage of carbon in residues prepared at inert atmosphere is higher than for residue formed at oxidative atmosphere. Also the concentration of free radicals in thermolyzed residues obtained in inert atmosphere is greater than for those from oxidative ones. That is why suppose that at this temperature oxygen is bonded to polysaccharide residue and free radicals are terminated. From the semiquantitative DTA we can make the following sequence of samples according to their increasing thermooxidative effect: unmodified cellulose < A–HSO < A–Br^? < A–I^? < A–NO < A–H₂PO < A–CH₃COO^? < A–HCO < A–F^? < A–Cl^?1 < A–OH^p?.     

Dynamic mechanical behaviour of random copolymers of a LC-methacrylate and octyl methacrylate

The dynamic mechanical behaviour of random copolymers of LC monomer-1-(hexyloxycarbonyl)ethyl 4-[4-(methacryloyloxy)benzoyloxy]benzoate (HB) and octyl methacrylate (OMA) was studied in the main transition and flow regions. Even though the aliphatic end groups of the side chain of HB and OMA are roughly the same, the T _g temperature of poly(HB) is ∼ 80 K higher than that of poly(OMA); this fact is due to the presence of the stiff phenyl benzoate mesogenic group in the side chain of HB. With increasing content of OMA in the copolymer the superimposed curves of the storage G′ _p and loss G′′ _p moduli at a constant temperature shift towards shorter frequencies. It has been shown that this shift is mainly due to an increase of the free volume in the copolymers with increasing content of OMA. While HB monomer shows liquid crystalline (LC) properties, its polymer (poly(HB)) and random copolymers with OMA show only isotropic thermal behaviour because no flexible spacer is present in the side chain of HB which would decouple the main chain and mesogenic group motions. This means that neither the homopolymer of HB, nor its copolymers with a flexible comonomer retain the LC properties of the starting LC monomer, HB. Received: 26 September 1996/Revised: 7 November 1996/Accepted: 7 November 1996     

Predicting Missing Items in Shopping Carts

Existing research in association mining has focused mainly on how to expedite the search for frequently co-occurring groups of items in “shopping cart” type of transactions; less attention has been paid to methods that exploit these “frequent itemsets” for prediction purposes. This paper contributes to the latter task by proposing a technique that uses partial information about the contents of a shopping cart for the prediction of what else the customer is likely to buy. Using the recently proposed data structure of itemset trees (IT-trees), we obtain, in a computationally efficient manner, all rules whose antecedents contain at least one item from the incomplete shopping cart. Then, we combine these rules by uncertainty processing techniques, including the classical Bayesian decision theory and a new algorithm based on the Dempster-Shafer (DS) theory of evidence combination.     

Effects of thermal annealing as polymer processing step on poly(lactic acid)

Thermal annealing as an additional polymer processing step or post-treatment processing step enables the structural changes of amorphous parts into crystalline parts. This paper investigates the feasibility of thermal annealing at 100°C up to 90?min used as an additional processing step to modify the crystalline structure and the thermo-mechanical stability of poly(lactic acid) (PLA). Moreover, the crystallization ability of PLA has been amended by the addition of 3?wt% of wood flour and kaolin. The values of the degree of crystallinity and lamellar thickness determined by wide-angle-X-ray scattering showed that the thermal annealing of PLA samples modified with nucleating agents was an efficient processing step to increase the final crystallinity of PLA. Moreover, altered crystalline structure helped to improve the thermomechanical stability of PLA.     

Stochastic source seeking for nonholonomic unicycle

We apply the recently introduced method of stochastic extremum seeking to navigate a nonholonomic unicycle towards the maximum of an unknown, spatially distributed signal field, using only the measurement of the signal at the vehicle’s location but without the measurement of the vehicle’s position. Keeping the forward velocity constant and controlling only the angular velocity, we design a stochastic source seeking control law which employs excitation based on filtered white noise, rather than sinusoidal perturbations used in the existing work. We study stability with the help of stochastic averaging theorems that we recently developed for general nonlinear continuous-time systems with stochastic perturbations. We prove local exponential convergence, both almost surely and in probability, to a small neighborhood near the source. We characterize the convergence speed explicitly and provide design guidelines for maximizing it, as well as for minimizing the residual set near the source. We present a detailed simulation study, including a study of the effect of saturation on the steering input.