A hierarchical fuzzy system for modeling driver’s behavior

The study of human behavior during driving is of primary importance for improving the driver??s security. In this study, we propose a hierarchical driver_vehicle_environment fuzzy system to analyze driver??s behavior under stress conditions on a road. We include climate, road and car conditions in fuzzy modeling. For obtaining fuzzy rules, experts?? opinions are benefited by means of questionnaires on effects of parameters such as climate, road and car conditions on driving capabilities. The number of fuzzy rules is optimized by Particle Swarm Optimization (PSO) algorithm. Also the frequency of pressing on brake and gas pedals and the number of car??s direction changes are used to determine the driver??s behavior under different conditions. Three different positions are considered for driving and decision making; one position in driving lane and two positions in opposite lane. A fuzzy model called Model 1 is presented for modeling the change of steering angle and speed control by considering time distances with existing cars in these three positions, the information about the speed and direction of car, and the steering angle of car. The behaviors of different drivers under two stress conditions are investigated. Also we obtained two other models based on fuzzy rules called Model 2 and Model 3 by using Sugeno fuzzy inference. Model 2 has two linguistic terms and Model 3 has four linguistic terms for estimating the time distances with other cars. The results of three models are compared. The comparative studies have shown that simulation results are in good agreement with the real world situations.     

Stability of nonlinear hybrid dynamical systems with time delay via sum of squares decomposition

Considering an infinite number of eigenvalues for time delay systems, it is difficult to determine their stability. We have developed a new approach for the stability test of time delay nonlinear hybrid systems. Construction of Lyapunov functions for hybrid systems is generally a difficult task, but once these functions are found, stability’s analysis of the system is straight-forward. In this paper both delay-independent and delay-dependent stability tests are proposed, based on the construction of appropriate Lyapunov-Krasovskii functionals. The methodology is based on the sum of squares decomposition of multivariate polynomials and the algorithmic construction is achieved through the use of semidefinite programming. The reduction techniques provide numerical solution of large-scale instances; otherwise they will be computationally infeasible to solve. The introduced method can be used for hybrid systems with linear or nonlinear vector fields. Finally simulation results show the correctness and validity of the designed method. Recommended by Editorial Board member Young Soo Suh under the direction of Editor Jae Weon Choi. The authors wish to express their thanks to Dr. A. Papachristodoulou and Dr. M. Peet for their helpful comments and suggestions. Mohammad Ali Badamchizadeh was born in Tabriz, Iran, in December 1975. He received the B.S. degree in Electrical Engineering from University of Tabriz in 1998 and the M.Sc. degree in Control Engineering from University of Tabriz in 2001. He received the Ph.D. degree in Control Engineering from University of Tabriz in 2007. He is now an Assistant Professor in the Faculty of Electrical and Computer Engineering at University of Tabriz. His research interests include Hybrid dynamical systems, Stability of systems, Time delay systems, Robot path planning. Sohrab Khanmohammadi received the B.S. degree in Industrial Engineering from Sharif University, Iran in 1977 and the M.Sc. degree in Automatic from University Paul Sabatie, France in 1980 and the Ph.D. degree in Automatic from National University, ENSAE, France in 1983. He is now a Professor of Electrical Engineering at University of Tabriz. His research interests are Fuzzy control, Artificial Intelligence applications in control and simulation on industrial systems and human behavior. Gasem Alizadeh was born in Tabriz, Iran in 1967. He received the B.S. degree in Electrical Engineering from Sharif University, Iran in 1990 and the M.Sc. degree from Khajeh Nasir Toosi University, Iran in 1993 and the Ph.D. degree in Electrical Engineering from Tarbiat Modarres University, Iran in 1998. From 1998, he is a Member of University of Tabriz in Iran. His research interests are robust and optimal control, guidance, navigation and adaptive control. Ali Aghagolzadeh was born in Babol, Iran. He received the B.S. degree in Electrical Engineering in 1985 from University of Tabriz, Tabriz, Iran, and the M.Sc. degree in Electrical Engineering in 1988 from the Illinois Institute of Technology, Chicago, IL. He also attended the School of Electrical Engineering at Purdue University in August 1998 where he was also employed as a part-time research assistant and received the Ph.D. degree in 1991. He is currently an Associate Professor of Electrical Engineering at University of Tabriz, Tabriz, Iran. His research interests include digital signal and image processing, image coding and communication, computer vision, and image analysis.     

A soft robotics nonlinear hybrid position/force control for tendon driven catheters

Minimally invasive steerable catheters, commonly implemented in cardiac ablation, are currently operated by interventionalists exposing them to X-ray radiation and requiring the dexterity for accurate steering. To conduct robot-assisted cardiac ablation, highly accurate stable control platform for precise force/position control on the moving tissue is required. This paper introduces hybrid force/position control strategy to apply a constant force to the cardiac tissue while tracking the desired trajectory. The position controller is based on a nonlinear model predictive tracking control satisfying the input constraints. Cosserat rod theory is incorporated for the distal shaft modeling of tendon-driven catheters, and the model is reformulated for controller design and stability proof. Lyapunov-based stability analysis is conducted. To apply the controller, the force-displacement mapping of the cardiac tissue is obtained through ex vivo experimental tests. The performance of the controller is evaluated, and the catheter is capable of regulating the force with the RMSE of 4.9 mN and tracking the position with the RMSE of 0.89 mm. The promising results verify the potential of the application of the introduced approach in real applications including in vitro and clinical cardiac ablation.     

A state-of the-art survey of TOPSIS applications

Multi-Criteria Decision Aid (MCDA) or Multi-Criteria Decision Making (MCDM) methods have received much attention from researchers and practitioners in evaluating, assessing and ranking alternatives across diverse industries. Among numerous MCDA/MCDM methods developed to solve real-world decision problems, the Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) continues to work satisfactorily across different application areas. In this paper, we conduct a state-of-the-art literature survey to taxonomize the research on TOPSIS applications and methodologies. The classification scheme for this review contains 266 scholarly papers from 103 journals since the year 2000, separated into nine application areas: (1) Supply Chain Management and Logistics, (2) Design, Engineering and Manufacturing Systems, (3) Business and Marketing Management, (4) Health, Safety and Environment Management, (5) Human Resources Management, (6) Energy Management, (7) Chemical Engineering, (8) Water Resources Management and (9) Other topics. Scholarly papers in the TOPSIS discipline are further interpreted based on (1) publication year, (2) publication journal, (3) authors’ nationality and (4) other methods combined or compared with TOPSIS. We end our review paper with recommendations for future research in TOPSIS decision-making that is both forward-looking and practically oriented. This paper provides useful insights into the TOPSIS method and suggests a framework for future attempts in this area for academic researchers and practitioners.     

A primary unit commitment approach with a modification process

This paper introduces an approach to one of the most important problems in electrical power system called the Unit Commitment (UC). The proposed method PUC-MP which stands for the primary unit commitment-modification process, addresses this problem firstly by using a simple and new priority for operating the generating units in each hour, and then, using a modification process which enhances the solution quality with lower cost. The PUC-MP takes advantage of both deterministic and stochastic algorithms in its structure to solve the discrete-variable part of the UC problem for choosing a suitable combination of units in each hour, and also, continuous-variable part of it which is dispatching the operating units’ output power to the power network load economically. The latter part which is called economic dispatch (ED) has been solved using an intelligent algorithm which in turn has been customized by two new ideas to increase its efficiency. Simulation results show that this new approach even without using its modification process can be considered as an effective approach which surpasses some other popular and recently reported methods in producing near-optimal and robust solutions.     

Production of hyaluronic‐acid‐based cell‐enclosing microparticles and microcapsules via enzymatic reaction using a microfluidic system

This article describes the preparation of cell‐enclosing hyaluronic acid (HA) microparticles with solid core and microcapsules with liquid core through cell‐friendly horseradish peroxidase (HRP)‐catalyzed hydrogelation. The spherical vehicles were made from HA derivative possessing phenolic hydroxyl moieties (HA‐Ph) cross‐linkable through the enzymatic reaction by extruding cell‐suspending HA‐Ph aqueous solution containing HRP from a needle of 180 μm in inner diameter into the ambient coaxial flow of liquid paraffin containing H₂O₂ in a microtubule of 600 μm in diameter. By altering the flow rate of liquid paraffin, the diameters of gelatin and HA‐Ph microparticles were varied in the range of 120–220 μm and 100–300 μm, respectively. The viability of the enclosed human hepatoma HepG2 cells in the HA‐Ph microparticles of 180 μm in diameter was 94.2 ± 2.3%. The growth of the enclosed HepG2 cells was enhanced by decreasing the HRP concentration. The microcapsules of 200 μm in diameter were obtained by extruding HA‐Ph aqueous solution containing thermally liquefiable cell‐enclosing gelatin microparticles of 150 μm in diameter using the same microfluidic system. The enclosed cells grew and filled the cavity within 10 days. Spherical tissues covered with a heterogeneous cell layer were obtained by degrading the microcapsule membrane using hyaluronidase after covering the surface with a heterogeneous cell layer. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 43107.     

Wavelet PSO‐Based LQR Algorithm for Optimal Structural Control Using Active Tuned Mass Dampers

This study presents a new method to find the optimal control forces for active tuned mass damper. The method uses three algorithms: discrete wavelet transform (DWT), particle swarm optimization (PSO), and linear quadratic regulator (LQR). DWT is used to obtain the local energy distribution of the motivation over the frequency bands. PSO is used to determine the gain matrices through the online update of the weighting matrices used in the LQR controller while eliminating the trial and error. The method is tested on a 10‐story structure subject to several historical pulse‐like near‐fault ground motions. The results indicate that the proposed method is more effective at reducing the displacement response of the structure in real time than conventional LQR controllers.     

Experimental seismic evaluation of old concrete columns reinforced by plain bars

Concrete buildings reinforced by plain (smooth) bars are one of the special types of old reinforced concrete buildings that were generally built before the 1970s. As columns are generally the most important structural members of a framed structure, understanding their realistic seismic behavior is very helpful in estimating structural deformations, forces and energy dissipation capacities. Furthermore, in most of old‐framed building structures, columns play a key role in the final behavior because of strong beam–weak column conditions. This article reports the results of experimental monotonic and cyclic tests on four concrete column specimens reinforced by plain bars and with various types of splices. Through the experimental results, it tried to obtain more clarification on the complicated behavior of such old reinforced members as well as the differences compared with relevant results of columns reinforced by deformed bars. It was realized that slip (fixed‐end rotation) contribution is the major source of deformation in all specimens independent from type of splices. Moreover, general mode of behavior was restrained‐rocking action independent of type of splice detailing. A simple theory for the explanation of hysteresis force–displacement response was proposed. The theory assumes a concrete block rocking element that is restrained with plain bars at both ends. Copyright © 2010 John Wiley & Sons, Ltd.     

Fourier transform infrared spectroscopic monitoring of sol-gel process in synthesis of PbS-TiO2 hybrid nanostructures

A typical hybrid nanostructure was prepared consisting of lead sulfide (PbS) nano-crystals, embedded in titanium oxide (TiO₂) using sol-gel method. The synthesis procedure was monitored by Fourier transform infrared spectroscopy. Spectroscopic investigations indicated that PbS nano-crystals are embedded in the TiO₂ matrix with no strong Ti-O-Pb-S bonding. The size of PbS hybrid nanostructures decreased with diminishing lead and sulfur mole concentrations. The smallest size of NCs has been obtained in 10% of mole concentration (30-45 nm particle size for the hybrid nanostructure). The morphology and microstructure of the nano hybrid was investigated by scanning electron microscope and X-ray diffraction.     

Dosimetric characteristic of a new 125I brachytherapy source

A new brachytherapy (125)I source has been investigated at Iranian Agricultural, Medical and Industrial Research School. Dosimetric characteristics [dose-rate constant Λ, radial dose function g(l)(r) and anisotropy function F(r,)] of IRA-(125)I were theoretically determined in terms of the updated AAPM task group 43 (TG-43U1) recommendations. Versions 5 and 4C of the Monte Carlo radiation transport code were used to calculate the dosimetry parameters around the source. The Monte Carlo calculated dose-rate constant of the (125)I source in water was found to be 92×10(-4) Gy h(-1) U(-1) with an approximate uncertainty of ±3 %. Brachytherapy seed model, 6711-(125)I, carrying (125)I radionuclides, was modelled and benchmarked against previously published values. Finally, the calculated results were compared with the published results of those of other source manufacturers.