Approximate causal output tracking for linear perturbed systems via sliding mode control

ABSTRACT

A new approach to the solution of what is termed causal output tracking problem for linear time-invariant systems in the presence of both matched and unmatched unmodelled disturbances is presented. The proposed solution is addressed through the design of a dynamic steady state estimator based on the desired system structure and an observer, considering the reference as the system output. The unmatched disturbance is estimated and used in the steady state estimator to achieve invariance, while the matched disturbance robustness is provided via sliding mode control using the super-twisting algorithm. A useful application of the presented techniques is output tracking for non-minimum phase systems; thus, the performed simulation results confirm the effectiveness of the proposed control scheme for this kind of systems.     

Margarine-Like Emulsions Prepared with Coconut and Palm Oils: Analysis of Microstructure and Freeze–Thaw Stability by Differential Scanning Calorimetry

The objective was to study the microstructure and freeze–thaw stability of margarine-like emulsions formulated with vegetable fats using differential scanning calorimetry. Emulsions were prepared with 20% w/w dispersed aqueous phase and a continuous lipid phase composed by coconut oil (CO) and/or palm oil (PO) plus polyglycerol polyricinoleate (PGPR) as emulsifier. Mean temperature (T_M) and crystallization enthalpy (ΔH_c) were obtained from the exothermic peaks corresponding to freezing of aqueous phase. Successive cooling–heating–cooling cycles were applied to analyze changes in the exothermic peak. The emulsion prepared with CO (without PO) and 1% w/w PGPR in lipid phase showed higher water droplets size (T_M = −44.8 ± 0.1 °C) and lower quantity of stabilized aqueous phase (ΔH_c = 28.9 ± 1.2 J g⁻¹) prior to application of temperature cycles, while coalescence and (presumably) water transfer processes occurred during the treatment. The use of 2% w/w PGPR was sufficient to accomplish full stabilization of aqueous phase (T_M = −45.9 ± 0.1 °C; ΔH_c = 42.6 ± 0.3 J g⁻¹) before and after the freeze–thaw treatment. The total or partial (50%) substitution of CO by PO in emulsions with 1% w/w PGPR also improved the stability of the system, exhibiting slight microstructural changes. This enhanced stability would be linked to reduced water droplets size because of more rapid crystallization of lipid phase and immobilization of aqueous phase after emulsion preparation. In conclusion, it is possible to obtain margarine-like emulsions prepared with CO and/or PO using relatively low emulsifier concentration and maintaining a desired microstructure after freeze-thawing if the percentage ratio of both fats is controlled.     

Modelling commuting time in the US: Bootstrapping techniques to avoid overfitting

The research on commuting has emerged in recent decades, but the issue of whether the empirical techniques used are appropriate has not been analysed. Thus, results from prior research could be based on non-accurate models, leading to misleading conclusions. We apply an algorithmic approach based on bootstrapping, variable selection, and mean absolute prediction errors, which is designed to avoid overfitting. Using the American Time Use Survey, we find that models with a reduced set of explanatory variables have similar accuracy to standard econometric models. Our results shed light on the importance of determining whether models can be overfitted.     

Viscosity Reduction of Heavy Oil during Slurry‐Phase Hydrocracking

The saturates, aromatics, and resins fractions of maltenes from upgraded oils obtained by slurry‐phase hydrocracking (SPH) under low‐severity reaction conditions using analytical‐grade and mineral catalysts were obtained by chromatographic separation. The reactions in the SPH at low severity with the catalysts used occur by free radicals, and their subsequent hydrogenation is from heavier fractions (asphaltenes and resins) to lighter fractions (aromatics, saturates, and light cuts). The degree of conversion depends on the type of catalyst used (Mo > Fe) and is also proportional to the active metal content of the catalyst. The enhanced conversion of aromatics and resins towards the saturates fraction depends on the hydrogenation capacity of the catalyst. The better flow properties of the maltenes are due to the conversion of heavier to lighter fractions and to the upgrading of the resins fraction properties.     

Mobile touchscreen user interfaces: bridging the gap between motor-impaired and able-bodied users

Touchscreen mobile devices are highly customizable, allowing designers to create inclusive user interfaces that are accessible to a broader audience. However, the knowledge to provide this new generation of user interfaces is yet to be uncovered. The goal was to thoroughly study mobile touchscreen interfaces and provide guidelines for informed design. The paper presents an evaluation performed with 15 tetraplegic and 18 able-bodied users that allowed to identify their main similarities and differences within a set of interaction techniques (Tapping, Crossing, and Directional Gesturing) and parameterizations. Results show that Tapping and Crossing are the most similar and easy to use techniques for both motor-impaired and able-bodied users. Regarding Tapping, error rates start to converge at 12 mm, showing to be a good compromise for target size. As for Crossing, it offered a similar level of accuracy; however, larger targets (17 mm) are significantly easier to cross for motor-impaired users. Directional Gesturing was the least inclusive technique. Regarding position, edges showed to be troublesome. For instance, they have shown to increase Tapping precision for disabled users, while decreasing able-bodied users’ accuracy when targets are too small (7 mm). It is argued that despite the expected error rate disparity, there are clear resemblances between user groups, thus enabling the development of inclusive touch interfaces. Tapping, a traditional interaction technique, was among the most effective for both target populations, along with Crossing. The main difference concerns Directional Gesturing that in spite of its unconstrained nature shows to be inaccurate for motor-impaired users.     

Improving object classification robustness in RGB-D using adaptive SVMs

Nowadays object recognition is a fundamental capability for an autonomous robot in interaction with the physical world. Taking advantage of new sensing technologies providing RGB-D data, the object recognition capabilities increase dramatically. Object recognition has been well studied, however, known object classifiers usually feature poor generality and, therefore, limited adaptivity to different application domains. Although some domain adaptation approaches have been presented for RGB data, little work has been done on understanding the effects of applying object classification algorithms using RGB-D for different domains. Addressing this problem, we propose and comprehensively investigate an approach for object recognition in RGB-D data that uses adaptive Support Vector Machines (aSVM) and, in this way, achieves an impressive robustness in cross-domain adaptivity. For evaluation, two datasets from different application domains were used. Moreover, a study of state-of-the-art RGB-D feature extraction techniques and object classification methods was performed to identify which combinations (object representation - classification algorithm) remain less affected in terms of performance while switching between different application domains.