Selection of network and learning parameters for an adaptive neural robotic control scheme

This paper presents the results of a study in the design of a neural network based adaptive robotic control scheme. The neural network used here is a two hidden layer feedforward network and the learning scheme is the well-known backpropagation algorithm. The neural network essentially provides the inverse of the plant and acts in conjunction with a standard PD controller in the feedback loop. The objective of the controller is to accurately control the end position of a single link manipulator in the presence of large payload variations, variations in the link length and also variations in the damping constant. Based on results of this study, guidelines are presented in selecting the number of neurons in the hidden layers and also the parameters for the learning scheme used for training the network. Results also indicate that increasing the number of neurons in the hidden layer will improve the convergence speed of learning scheme up to a certain limit beyond which the addition of neurons will cause oscillations and instability. Guidelines for selecting the proper learning rate, momentum and fast backpropagation constant that ensure stability and convergence are presented. Also, a relationship between the r.m.s. error and the number of iterations used in training the neural network is established.     

Effects of flux enhancing polymer on the characteristics of sludge in membrane bioreactor process.

A newly developed membrane performance enhancer (MPE) was used to prevent membrane fouling in a membrane bioreactor (MBR) process. It transpired that 1,000 mg/l of MPE reduced polysaccharide levels from 41 mg/I to 21 mg/I on average under the experimental condition. Repeated experiments also confirmed that 50-1,000 mg/l of MPE could reduce membrane fouling significantly and increase the intervals between membrane cleanings. Depending on MPE dosages and experimental conditions, trans-membrane pressure (TMP) increase was suppressed for 20-30 days, while baseline TMP surged within a few days. In addition, MPE allowed MBR operation even at 50,000 mg/l of total solid and reduced permeate COD. However, no evidence of toxicity for sludge was found from respiratory works.     

Characterization of the detergent insolubility of the T cell receptor for antigen

Aggregation of cell surface receptors plays an important role in signal transduction in many receptor systems. In the T cell receptor (TCR), as in many other cell surface receptors, this aggregation results in insolubility in certain nonionic detergents. We have characterized this insolubility for TCR, and we show it is not preexisting in HPB-ALL cells but increases with increasing TCR aggregation. It is not likely to be due to a direct interaction with cellular cytoskeletal elements, as it is not affected by inhibitors of actin or tubulin polymerization. It may be due to interaction with detergent-resistant membrane domains that have been found in various cell types and contain tyrosine kinases, the earliest known participants in TCR signal transduction. This aggregation-dependent insolubility occurs as rapidly as the anti-TCR antibody binds, so the kinetics are consistent with an involvement in signal transduction. It is not, however, dependent on signal transduction, as inhibitors of tyrosine kinases do not inhibit the insolubility. Insolubility is also enhanced by preaggregation of CD4, an important T cell surface molecule which also associates with the tyrosine kinase p56lck.     

Studies on the structural and ionic transport properties at elevated temperatures of La1−xMnO3±δ synthesized by a wet chemical method

Structural transformation and ionic transport properties are investigated on wet-chemically synthesized La_1−xMnO₃ (x=0.0–0.18) compositions. Powders annealed in oxygen/air at 1000–1080 K exhibit cubic symmetry and transform to rhombohedral on annealing at 1173–1573 K in air/oxygen. Annealing above 1773 K in air or in argon/helium at 1473 K stabilized distorted rhombohedral or orthorhombic symmetry. Structural transformations are confirmed from XRD and TEM studies. The total conductivity of sintered disks, measured by four-probe technique, ranges from 5 S cm⁻¹ at 298 K to 105 S cm⁻¹ at 1273 K. The ionic conductivity measured by blocking electrode technique ranges from 1.0×10⁻⁶ S cm⁻¹ at 700 K to 2.0×10⁻³ S cm⁻¹ at 1273 K. The ionic transference number of these compositions ranges from 3.0×10⁻⁵ to 5.0×10⁻⁵ at 1273 K. The activation energy deduced from experimental data for ionic conduction and ionic migration is 1.03–1.10 and 0.80–1.00 eV, respectively. The activation energy of formation, association and migration of vacancies ranges from 1.07 to 1.44 eV.     

Enhanced anti-biofilm activity of facile synthesized silver oxide nanoparticles against K. pneumoniae

Journal of Inorganic and Organometallic Polymers and Materials - The silver oxide nanoparticle was successfully synthesized using floral waste by simple one pot, cost effective method. The complete...     

CMOS integrated elliptic diaphragm capacitive pressure sensor in SiGe MEMS

A novel CMOS integrated Micro-Electro-Mechanical capacitive pressure sensor in SiGe MEMS (Silicon Germanium Micro-Electro-Mechanical System) process is designed and analyzed. Excellent mechanical stress–strain behavior of Polycrystalline Silicon Germanium (Poly-SiGe) is utilized effectively in this MEMS design to characterize the structure of the pressure sensor diaphragm element. The edge clamped elliptic structured diaphragm uses semi-major axis clamp springs to yield high sensitivity, wide dynamic range and good linearity. Integrated on-chip signal conditioning circuit in 0.18 μm TSMC CMOS process (forming the host substrate base for the SiGe MEMS) is also implemented to achieve a high overall gain of 102 dB for the MEMS sensor. A high sensitivity of 0.17 mV/hPa (@1.4 V supply), with a non linearity of around 1 % is achieved for the full scale range of applied pressure load. The diaphragm with a wide dynamic range of 100–1,000 hPa stacked on top of the CMOS circuitry, effectively reduces the combined sensor and conditioning implementation area of the intelligent sensor chip.     

Water Desalination a perspective for membrane processes in India

A crying need of the day in India is to supply safe drinking water to its villages, towns and cities. Though the urban needs are partially met by organized water supply schemes, acute water shortages are felt at various times in this sector also with the expanding industrialization of the country. In many areas of arid and semi-arid regions, only brackish waters are available which are unfit for human consumption.Research and development effort at CSMCRI on the two membrane processes, reverse osmosis and electrodialysis, during the past decade has been reviewed. Some of the current activities in the rural sector and the future potential for these two processes in tackling the pressing needs of potable water to the rural masses in India are outlined. In the industrial sector, these two processes have immense potentialities in pollution abatement and water reuse.     

Iterative control approach to high-speed force-distance curve measurement using AFM: time-dependent response of PDMS example

Force-distance curve measurements using atomic force microscope (AFM) has been widely used in a broad range of areas. However, currently force-curve measurements are hampered the its low speed of AFM. In this article, a novel inversion-based iterative control technique is proposed to dramatically increase the speed of force-curve measurements. Experimental results are presented to show that by using the proposed control technique, the speed of force-curve measurements can be increased by over 80 times--with no loss of spatial resolution--on a commercial AFM platform and with a standard cantilever. High-speed force curve measurements using this control technique are utilized to quantitatively study the time-dependent elastic modulus of poly(dimethylsiloxane) (PDMS). The force-curves employ a broad spectrum of push-in (load) rates, spanning two-order differences. The elastic modulus measured at low-speed compares well with the value obtained from dynamic mechanical analysis (DMA) test, and the value of the elastic modulus increases as the push-in rate increases, signifying that a faster external deformation rate transitions the viscoelastic response of PDMS from that of a rubbery material toward a glassy one.     

Recurrent Network Based Protocol Design for Spectrum Sensing in Cognitive Users

Wireless Personal Communications - This work focuses on cognitive users and its utilization of spectrum with channel bonding. Recurrent Channel Bonding Cognitive Users protocol (RCBCU) has been...