Sensor Fusion System Using Recurrent Fuzzy Inference

In robotic and manufacturing systems, it is difficult to measure the state of systems accurately because of many uncertain factors and noise, and it is very important to estimate the state of systems. We must measure the phenomena of systems by multiple sensors and estimate the state of systems by acquiring information of sensors. However, we can not acquire all of sensor information synchronically, because each sensor has particular sensor information and measuring time. For estimating the state of systems by multiple sensors, a multi-sensor fusion system fusing various sensory information is needed. In this paper, we propose a Recurrent Fuzzy Inference (RFI) with recurrent inputs and apply it to a multi-sensor fusion system for estimating the state of systems. The membership functions of RFI are expressed by Radial Basis Function (RBF) with insensitive ranges. The shape of the membership functions can be adjusted by a learning algorithm. The learning algorithm is based on the steepest descent method and incremental learning which can add new fuzzy rules. The effectiveness of the multi-sensor fusion system using RFI will be shown through a numerical experiment of moving robot and estimation of surface roughness in grinding process.     

Partial redundancy elimination for access expressions by speculative code motion

We present a new memory access optimization for Java to perform aggressive code motion for speculatively optimizing memory accesses by applying partial redundancy elimination (PRE) techniques. First, to reduce as many barriers as possible and to enhance code motion, we perform alias analysis to identify all the regions in which each object reference is not aliased. Secondly, we find all the possible barriers. Finally, we perform code motions in three steps. For the first step, we apply a non‐speculative PRE algorithm to move load instructions and their following instructions in the backwards direction of the control flow graph. For the second step, we apply a speculative PRE algorithm to move some of them aggressively before the conditional branches. For the third step, we apply our modified version of a non‐speculative PRE algorithm to move store instructions in the forward direction of the control flow graph and to even move some of them after the merge points. We implemented our new algorithm in our production‐level Java just‐in‐time compiler. Our experimental results show that our speculative algorithm improves the average (maximum) performance by 13.1% (90.7%) for jBYTEmark and 1.4% (4.4%) for SPECjvm98 over the fastest algorithm previously described, while it increases the average (maximum) compilation time by 0.9% (2.9%) for both benchmark suites. Copyright © 2004 John Wiley & Sons, Ltd.     

Calculations from texture of earing in deep drawing for FCC metal sheets

The present study aims to calculate the height at each peripheral position of a cup drawn from polycrystalline sheet using texture data. In the analytical treatment the polycrystalline sheet is simplified to an aggregation of many single crystals with various orientations, and the texture is represented by a three-dimensional crystallite orientation distribution function. The ear is calculated crystallographically using the orientation distribution function as a volume fraction of a certain oriented crystal. In the experiment aluminium, Al-Mg alloy and copper sheets which are treated under various conditions of cold rolling and heat treatment are used. The average textures over the thicknesses of the sheets are measured by the Schulz reflection method. The calculated ears based on the measured textures are compared with the experimental ears for each material. The results show that all the principal features of the ears of drawn cups are predicted satisfactorily by the calculation.     

Room temperature c.w. operation of InGaAsP/InP heterostructure lasers emitting at 1.56 ?m

Room-temperature c.w. operation of InGaAsP/InP heterostructure lasers grown by liquid-phase epitaxy was achieved at 1.56 ?m. An active InGaAsP layer was essentially sandwiched by InP, though a thin InGaAsP buffer layer was deposited to prevent the melt-back of the active layer. Threshold current was typically 300 mA for a 17 ?m wide oxide-defined stripe laser.     

A robust implicit state observer for multiple-input multiple-output uncertain systems

A new mathematical method of estimating the state for uncertain continuous-time multiple-input multiple-output minimum-phase (with respect to the relation between the disturbance and the output) dynamical systems with arbitrarily relative degrees is presented. For the systems with relative degree one, the state observer which is perfectly robust to disturbances is constructed by using only the input and output information. The estimating error of the state decays to zero exponentially. For the systems with higher relative degrees, the state observer is formulated for the first time, where the input and output information, and the a priori information of the upper and lower bounds of the disturbances are employed. In this case, the estimating error of the state can be controlled to be as small as is needed by the design parameters. The attraction of the proposed observers lies in their robustness to disturbances and insensitivity to the high-frequency noises accompanying the inputs. A design example and its simulation results are presented to illustrate the proposed algorithm.     

Formation mechanism of monodispersed spherical core-shell ceria/polymer hybrid nanoparticles

Very unique core-shell ceria (cerium oxide)/polymer hybrid nanoparticles that have monodispersed spherical structures and are easily dispersed in water or alcohol without the need for a dispersant were reported recently. The formation mechanism of the unique nanoparticles, however, was not clear. In order to clarify the formation mechanism, these nanoparticles were prepared using a polyol method (reflux heating) under varied conditions of temperature, time, and concentration and molecular weight of added polymer (poly(vinylpyrrolidone)). The size of the resultant nanoparticles was strongly and complicatedly dependent on the set temperature used during reflux heating and the poly(vinylpyrrolidone) molecular weight. Furthermore, the size of the nanoparticles increased by a 2-step process as the reflux heating time increased. The IR spectral changes with increasing reflux time indicated the increase in the number of cross-linked polymers in the shell. From these results, the formation mechanism was discussed and proposed.     

The effect of roll-processing orientation on stress corrosion cracking of warm-rolled 304L stainless steel in oxygenated and deoxygenated high temperature pure water

Stress corrosion crack growth rates of 304L stainless steel after one-directionally warm-rolled along the longitudinal (L) direction were measured in oxygenated and deoxygenated pure water at 288 °C. The fracture mode is mainly intergranular in the Transverse-longitudinal (T-L) orientation specimen, while it is occasionally intergranular in the Longitudinal-transverse (L-T) orientation specimen. The crack growth rates in the T-L orientation are higher than those in the L-T orientation in both oxygenated and deoxygenated environments, which is related to the effective cracking growth path as the result of microstructural anisotropy and applied loading direction.     

Preparation of high-modulus poly(ethylene terephthalate) fibers by vibrating hot drawing

A novel drawing method, vibrating hot drawing, was successfully applied to poly(ethylene terephthalate) fiber, which has a normal molecular weight (IV = 0.7 dL/g) and was prepared by melt spinning. The process was divided into three steps, with differing conditions in drawing temperature, applied tension, vibrating frequency, and amplitude. The drawing temperature and vibration frequency were decided by considering the α_a dispersion of the polymer. In spite of a low draw ratio (7.7) and a low crystallinity (0.55), the birefringence and dynamic storage modulus at room temperature of the 3rd-step fiber reached 0.260 and 36 GPa, respectively. The modulus remains at a high level at elevated temperatures, for example, 29 GPa at 100°C and 17 GPa at 200°C. Further, it was found from temperature and intensity of the α_a dispersion peak that the movements of amorphous chains are strongly inhibited. © 1996 John Wiley & Sons, Inc.     

Nucleotide sequences of alcohol acetyltransferase genes from lager brewing yeast,Saccharomyces carlsbergensis

The nucleotide sequences of alcohol acetyltransferase genes isolated from lager brewing yeast, Saccharomyces carlsbergensis have been determined. S. carlsbergensis has one ATF1 gene and another homologous gene, the Lg-ATF1 gene. There was a high degree of homology between the amino acid sequences deduced for the ATF1 protein and the Lg-ATF1 protein (75·7%), but the N-terminal region has a relatively low degree of homology. Southern analysis and contour-clamped homogeneous electric field analysis of Saccharomyces strains suggest that the ATF1 gene is located on chromosome XV in S. cerevisiae and that the Lg-ATF1 gene might originate from the ‘non-S. cerevisiae’ genome of S. carlsbergensis, which is similar to that of S. bayanus and S. pastorianus. The nucleotide sequence data reported in this paper will appear in the DDBJ, EMBL and GenBank data banks with the Accession Numbers D63449 (ATF1) and D63450 (Lg-ATF1).