Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Mechanical systems are always suffering from the effects of temperature dependent friction forces where the system is operated in a wide range of temperature. Temperature and its variation play an important role in friction force in mechanical systems. If it is not compensated, it will tend to unwanted consequences, including steady‐state errors, limit cycling, and hunting. Therefore, it is necessary to take the temperature effects into account. This has been a strong motivation for the researchers to work on temperature effects on joint friction. In this paper, an adaptive compensation (control) scheme is proposed and applied to a 2‐degree‐of‐freedom serial robot manipulator by taking the temperature effects into account on the joints friction. In the proposed control scheme, the temperature is not required to be sensed. In this paper, joint friction is described by LuGre dynamic model with temperature dependent parameters. These parameters are described by some functions with unknown temperature dependent terms. According to the mathematical and practical concepts, the temperature dependent friction is decomposed into a viscous term and a disturbance term. An adaptive controller is designed to compensate the friction effect and it is shown that the proposed controller relaxes the condition for a priori knowledge about the environment characteristics, including the upper and lower bounds of the environment temperature and the parameters of the functions, describing the temperature dependent joint frictions. The stability and convergence of the joint position and velocity are proved in the sense of Lyapunov and then the proposed method is confirmed by the simulations.     

On the capacity of the state‐dependent interference relay channel

This paper considers the state‐dependent interference relay channel (SIRC) in which one of the two users may operate as a secondary user and the relay has a noncausal access to the signals from both users. For discrete memoryless SIRC, we first establish the achievable rate region by carefully merging Han‐Kobayashi rate splitting encoding technique, superposition encoding, and Gelfand‐Pinsker encoding technique. Then, based on the achievable rate region that we derive, the capacity of the SIRC is established in many different scenarios including (a) the weak interference regime, (b) the strong interference regime, and (c) the very strong interference regime. This means that our capacity results contain all available known results in the literature. Next, the achievable rate region and the associated capacity results are also evaluated in the case of additive Gaussian noise. Additionally, many numerical examples are investigated to show the value of our theoretical derivations.     

Heat and mass transfer flow over a stretching surface with Ohmic heating and chemical reaction

The present study analyzes the effect of chemical reaction on an unsteady magnetohydrodynamic boundary layer viscous fluid over a stretching surface embedded in a porous medium with a uniform transverse magnetic field. A Darcy‐Forchheimer drag force model is employed to simulate the effect of second‐order porous resistance. Dissipative heat energy based on both viscous and Joule dissipation along with a heat source/sink is considered to enhance the energy equation. Similarity analysis is imposed to transform the governing differential equations into a set of nonlinear coupled ordinary differential equations. These sets of equations are solved numerically using the Runge‐Kutta fourth‐order scheme followed by the shooting algorithm. The effects of physical parameters such as magnetic field, Prandtl number, Eckert number, Schmidt number, unsteadiness parameter, and chemical reaction parameters have been discussed on velocity, temperature, and concentration fields. Computation for the coefficient of skin friction, rate of heat and mass transfer is done and presented in a table for validation of the present outcomes.     

New cardo silylated poly(azomethine)s containing 9,9′‐diphenylfluorene units as materials with Brønsted acid‐dependent fluorescence

Aromatic poly(azomethine)s have been studied due to their attractive properties such as high thermal stability, semiconducting behavior and the ability to coordinate species with their imine units (C?N). In this paper, the synthesis and characterization of two novel silylated poly(azomethine)s containing cardo units are reported. These materials were highly soluble in organic solvents such as chloroform and m‐cresol and were thermally stable, and PAzMC1 exhibited a high glass transition temperature value (287 °C), while that for PAzMC2 was not observed. UV–visible spectrophotometry revealed absorption bands related to the aromatic backbone of both PAzMCs, 300–285 nm in tetrahydrofuran and 310–301 nm in dimethylsulfoxide, and bands attributed to the conjugated imine unit at around 350 nm. In order to investigate the phenomenon of the emission of fluorescence promoted by dopant agents with regard to potential optoelectronic applications, the materials were doped with H₂SO₄ and their optical and electrochemical properties investigated. Thus, the absorption band of the imine group was suppressed due to the nitrogen atoms being protonated. Fluorescence spectroscopy analysis developed in dilute solutions of polymers showed no emission from the undoped polymers, whereas the acid‐doped species emitted fluorescence in the UV and violet regions (322 nm). Cyclic voltammetry measurements were carried out and HOMO–LUMO energies were estimated. This study provides a starting point for the development of new poly(azomethine)s with doping‐dependent emission. © 2019 Society of Chemical Industry     

Low‐order optimal regulation of parabolic PDEs with time‐dependent domain

Observer and optimal boundary control design for the objective of output tracking of a linear distributed parameter system given by a two‐dimensional (2‐D) parabolic partial differential equation with time‐varying domain is realized in this work. The transformation of boundary actuation to distributed control setting allows to represent the system's model in a standard evolutionary form. By exploring dynamical model evolution and generating data, a set of time‐varying empirical eigenfunctions that capture the dominant dynamics of the distributed system is found. This basis is used in Galerkin's method to accurately represent the distributed system as a finite‐dimensional plant in terms of a linear time‐varying system. This reduced‐order model enables synthesis of a linear optimal output tracking controller, as well as design of a state observer. Finally, numerical results are prepared for the optimal output tracking of a 2‐D model of the temperature distribution in Czochralski crystal growth process which has nontrivial geometry. © 2014 American Institute of Chemical Engineers AIChE J, 61: 494–502, 2015     

水文序列相依变异识别的RIC定阶准则——以自回归模型为例

水文过程相依性是水文变异的主要表现形式之一,应用自回归模型对其进行拟合时合理确定模型阶数是一个难点问题。本文在分析AIC和BIC准则的基础上,提出了一种以原序列与其相依成分的相关系数作为拟合度指标,同时借用信息熵形式的函数式,作为模型不确定性度量指标的自回归模型定阶准则(简称RIC准则)。以AR(1)、AR(2)、AR(3)和AR(4)模型为例进行统计试验,将不同序列长度下该准则的定阶准确率与其他定阶准则进行比较,试验结果表明,RIC准则对于上述模型均具有较好的适应性,且定阶准确率远高于AIC准则,其中对于前三阶模型RIC准则优于BIC准则,但四阶模型略低于BIC准则。RIC准则的优势是可以同时满足模型定阶、相依程度分级与模型检验的需求,将其应用于实测水文序列分析,结果显示,该准则能较准确地识别自回归模型的阶数,且符合提出的"相依有变异而残差无变异的最小阶数"的检验标准。     

粒子群属性聚类的位置隐私保护

针对基于位置服务中连续查询情况下，用户自身属性信息很容易被攻击者获取，并通过关联获得用户位置隐私的情况，提出了一种利用粒子群聚类加速相似属性用户寻找，并由相似属性匿名实现用户位置泛化的隐私保护方法。该方法利用位置隐私保护中常用的可信中心服务器，通过对发送到中心服务器中的查询信息进行粒子群属性聚类，在聚类的过程中加速相似属性用户的寻找过程，由相似属性用户完成位置泛化，以此实现位置隐私保护。实验结果证明，这种基于粒子群属性聚类的隐私保护方法具有高于同类算法的隐私保护能力，以及更快的计算处理速度。     

Emergency egress for the elderly in care home fire situations

Practitioners are continuing to develop egress modelling software for the design of the built environment. These models require data about human behaviour and factors for calibration, validation and verification. This study aims to address the specific data and knowledge gap: emergency egress of the elderly. Such data are difficult to collect given privacy and consent concerns, with strong relationships generally being required between residences and researchers. Through the observation of nine fire drills at six Canadian long-term care (LTC) and retirement homes, specific evacuation actions and behaviour were observed for 37 staff members and information about the evacuation of 56 residents was collected. These drills demonstrated that emergency egress in LTC and retirement homes is highly staff dependent with 72% of residents recorded requiring full assistance at all stages of movement in evacuation, and that the type of announced/unannounced drill and level of resident care will affect the type of data collected. The development of travel speed and pre-movement is discussed subject to limitation with qualitative behavioural insights of residents that were observed. This study provides valuable methodological discussion on how to conduct behavioural studies in similar highly restricted research environments. Specific attention is given to understanding the considerations that must be made when using fire drills as data sources, and the impact that these can have on using such data for modelling. This study may inform the initial setup and programming of evacuation models from an actions and behavioural perspectives of staff members and residents.     

CineCubes: Aiding data workers gain insights from OLAP queries

In this paper we demonstrate that it is possible to enrich query answering with a short data movie that gives insights to the original results of an OLAP query. Our method, implemented in an actual system, CineCubes, includes the following steps. The user submits a query over an underlying star schema. Taking this query as input, the system comes up with a set of queries complementing the information content of the original query, and executes them. For each of the query results, we execute a set of highlight extraction algorithms that identify interesting patterns and values in the data of the results. Then, the system visualizes the query results and accompanies this presentation with a text commenting on the result highlights. Moreover, via a text-to-speech conversion the system automatically produces audio for the constructed text. Each combination of visualization, text and audio practically constitutes a movie, which is wrapped as a PowerPoint presentation and returned to the user.     

The generic model query language GMQL – Conceptual specification,implementation, and runtime evaluation

The generic model query language GMQL is designed to query collections of conceptual models created in arbitrary graph-based modelling languages. Querying conceptual models means searching for particular model subgraphs that comply with a predefined pattern query. Such a query specifies the structural and semantic properties of the model fragment to be returned. In this paper, we derive requirements for a generic model query language from the literature and formally specify the language’s syntax and semantics. We conduct an analysis of GMQL׳s theoretical and practical runtime performance concluding that it returns query results within satisfactory time. Given its generic nature, GMQL contributes to a broad range of different model analysis scenarios ranging from business process compliance management to model translation and business process weakness detection. As GMQL returns results with acceptable runtime performance, it can be used to query large collections of hundreds or thousands of conceptual models containing not only process models, but also data models or organizational charts. In this paper, we furthermore evaluate GMQL against the backdrop of existing query approaches thereby carving out its advantages and limitations as well as pointing toward future research.