Intelligent identification and control for autonomous guided vehicles using adaptive fuzzy-based algorithms

Fuzzy logic was first suggested as the mechanism by which humans drive cars. This paper addresses the use of fuzzy logic and algorithms towards the intelligent autonomous motion control of land vehicles. To cope with vehicle complexities, internal parametric changes, and with unpredictable environmental effects, the controllers that are presented, whilst heuristic in nature, are self-organizing or self-learning in that they generate automatically by observation an experiential rule base that models the vehicle, and via an appropriate performance index an optimal control rule base that is robust to large parametric changes. The methodology presented is applicable to any complex process which is too difficult to model or control using conventional methods, or which has relied on the experience of a human operator. An overview of fuzzy logic and static fuzzy logic control (akin to expert systems) is provided, together with illustrative examples.     

FMR and EXAFS modeling of heat-treated Fe-rich and Co-rich TM-M thin films

Ion-beam sputter-deposited alloy films of Co/sub 74/Fe/sub 6/B/sub 15/Si/sub 5/ and Fe/sub 75/Ni/sub 5/B/sub 15/Si/sub 5/ were examined for their magnetic and structural properties. Films were characterized by ferromagnetic resonance, vibrating sample magnetometry, and extended X-ray absorption fine structure (EXAFS) analysis. Using atomic parameters deduced from EXAFS modeling and fitting procedures, magnetic properties were calculated with no adjustable parameters. Correlation between perpendicular FMR measurements and EXAFS first-shell modeling suggests a low-temperature formation of cobalt-borides in the Co/sub 74/Fe/sub 6/B/sub 15/Si/sub 5/ alloy. Annealed Fe/sub 75/Ni/sub 5/B/sub 15/Si/sub 5/ samples did not display evidence of structural and/or magnetic instabilities until the onset of long-range crystallization near T/sub ann/=400 degrees C.<>     

The greenhouse effect; Impact upon and the role to be played by construction

The authors highlight several possible ways in which the construction industry could lower present emissions of the greenhouse gas, carbon dioxide. It is an excellent discussion document and is recommended reading.     

An investigation of seated postural stability

Results of tests undertaken to identify which measures of seated posture control are most effective in two areas, distinguishing differences in the x and y direction control strategies for a given task and distinguishing differences in overall control strategies for pairs of different tasks, are presented. The test platform, calibration tests, test protocol, and data analysis method are described. The results of statistical analyses performed on the data are summarized     

Low-temperature interface reaction in aluminium-silicon carbide particulate composites produced by mechanical alloying

An experimental investigation has been carried out on the reaction that takes place between 3 and 20 μm SiC particles and the aluminium alloy 1050 matrix of composite materials prepared by a mechanical alloying process. The work is different from that undertaken by other researchers in that the SiC-Al interface reaction has been studied in the temperature range 853–933 K, i.e., with the matrix initially in the solid state. Differential thermal analysis, X-ray diffraction and scanning electron microscopy all show that the SiC-Al reaction initiates in the solid state at temperatures as low as 883 K. The reaction produces Al4C3 and Si, the latter entering into solid solution in the aluminium matrix. At temperatures exceeding 903 K, the reaction produces a liquid phase and at this stage the speed of the interface reaction increases significantly. The results are discussed in terms of Al-Si-C metastable equilibrium and the kinetics of the reaction. This revised version was published online in November 2006 with corrections to the Cover Date.     

Nuclear Magnetic Resonance Studies of Silicon Carbide Polytypes

The ²⁹Si MAS NMR spectra of the 2H, 4H, 6H, and 3C polytypes of silicon carbide are presented. An attempt is made to correlate differences in the chemical shifts with local atomic environment. The results of the analysis of the spectra of pure polytypes are used as a basic for the interpretation of the spectra of mixed polytypes and a discussion of the crystallinity and impurity levels of different samples. Carbon-13 chemical shifts obtained from spectra of the same polytypes are also tabulated.     

Self-aligning planarization and passivation for integration applications in III-V semiconductor devices

This work reports an easy planarization and passivation approach for the integration of III-V semiconductor devices. Vertically etched III-V semiconductor devices typically require sidewall passivation to suppress leakage currents and planarization of the passivation material for metal interconnection and device integration. It is, however, challenging to planarize all devices at once. This technique offers wafer-scale passivation and planarization that is automatically leveled to the device top in the 1-3-/spl mu/m vicinity surrounding each device. In this method, a dielectric hard mask is used to define the device area. An undercut structure is intentionally created below the hard mask, which is retained during the subsequent polymer spinning and anisotropic polymer etch back. The spin-on polymer that fills in the undercut seals the sidewalls for all the devices across the wafer. After the polymer etch back, the dielectric mask is removed leaving the polymer surrounding each device level with its device top to atomic scale flatness. This integration method is robust and is insensitive to spin-on polymer thickness, polymer etch nonuniformity, and device height difference. It prevents the polymer under the hard mask from etch-induced damage and creates a polymer-free device surface for metallization upon removal of the dielectric mask. We applied this integration technique in fabricating an InP-based photonic switch that consists of a mesa photodiode and a quantum-well waveguide modulator using benzocyclobutene (BCB) polymer. We demonstrated functional integrated photonic switches with high process yield of >90%, high breakdown voltage of >25 V, and low ohmic contact resistance of /spl sim/10 /spl Omega/. To the best of our knowledge, such an integration of a surface-normal photodiode and a lumped electroabsorption modulator with the use of BCB is the first to be implemented on a single substrate.     

Distribution and Fate of Escherichia coli in Lake Michigan Following Contamination with Urban Stormwater and Combined Sewer Overflows

Escherichia coli distribution and persistence in nearshore Lake Michigan were assessed following heavy rains and sanitary sewer overflow (SSO) and combined sewer overflow (CSO) events over a 5-year period, including an 18-day period following 25.4 cm of rainfall in which intensive studies were conducted following multiple CSO and SSO events. E. coli levels in the Milwaukee estuary and harbor following SSO and CSO events ranged from 10⁴ to nearly 10⁵ CFU/100 mL, which were significantly higher (p ≤ 0.05) than levels following rainfall alone. Sites outside of the breakwall but within the contamination plume (e.g., within 2 km of the harbor) were an order of magnitude lower. Locations 2–5 km from the harbor ranged from below detection limits, of < 1 to 5 CFU/100 mL. E. coli levels corrected for dilution based on specific conductivity measurements were lower than what would be expected for loss due to dilution alone, suggesting a combination of die-off and dilution, were responsible for the rapid disappearance of these organisms outside of the harbor. E. coli and fecal coliforms measured concurrently demonstrated that fecal coliforms could be recovered longer than E. coli in the open waters of the lake. E. coli isolated directly from sewage treatment plant influent were found to have a marked increase in antibiotic resistance traits for ten antibiotics commonly used in the human population compared with isolates from two animal sources of fecal pollution. However, E. coli obtained from sewage impacted water (n = 2,513) and from stormwater impacted water (n = 1,465) collected the previous year when there were no sewage overflows, were found to have no significant difference (p < 0.05) in the frequency of resistance when comparing the two conditions. E. coli survival characteristics and population dynamics are most likely influenced by multiple factors in complex systems such as the watershed/estuarine/lake environments of the Great Lakes.