Robust model predictive control of biped robots with adaptive on-line gait generation

International Journal of Control, Automation and Systems - In this paper, an on-line gait control scheme is proposed for the biped robots for walking up and down the stairs. In the proposed...     

A 40-GHz Flip-Flop-Based Frequency Divider

This brief presents the design and implementation of a 40-GHz flip-flop-based frequency divider which incorporates a novel latch topology with two distinct tail current sources and an enabled cross-coupled pair during the tracking mode. The proposed topology will speed up the latch operation and increase the driving capability. It is capable of performing frequency division at 40 GHz without shunt or series peaking inductors. The circuit was fabricated in a 0.18-mum SiGe BiCMOS process, where only CMOS transistors were used. It draws an average current of 5 mA from a 1.8-V supply voltage     

Modeling and Optimization of SE and SI of Copper Flotation via Hybrid GA–ANN

In the present paper, a new attitude has been proposed for optimization of the separation efficiency (SE) and the Gaudin’s selectivity index (SI) in a flotation process by Hybrid artificial neural network (ANN) and genetic algorithm (GA). The chemical reagent’s dosage (collector, frother and fuel oil), pH, solid percentage, feed rate, Cu, Mo, and Fe grades in the flotation feed were selected as input variables and the SE-Cu and SI-Mo and SI-Fe were selected as output ones. Multilayer NN with back propagation (BP) algorithm was trained by the standard Bayesian regulation algorithm in which the validation data set did not required to be apart from its training. This algorithm with four-layer was used to relate output and input variables. Employment of Hybrid GA–ANN method resulted in significant improvement on GA fitnesses, as SE-Cu = 88, SI-Mo = 4.47 and SI of Fe = 12.85 were achieved. The input parameters corresponding to the fitnesses were as follows: pH = 12.25; the grade of Cu = 0.55%, Mo = 0.04% and Fe = 5.53%; the collector, frother and fuel–oil concentrations being 16.55, 15.54 and 2.71 (g/ton), respectively; the solid percentage was 25.84% and feed rate was 38,380 ton/day. The best fitness of GA was obtained after 10 generations by MSE value of 2.23.     

Superior Tribological Properties of Particulate Aluminum Matrix Nano Composites

Aluminum is the best metal for producing metal matrix composites which are known as one of the most useful and high-tech composites in our world. Combining aluminum and nano Al₂O₃ particles will yield a material with high mechanical properties. Characterization of tribological properties revealed that the presence of nano particles significantly increased wear resistance of the composite. In case of unreinforced Al alloy, the depth of penetration is governed by the hardness of the specimen surface and applied load. But, in case of Al matrix composite, the depth of penetration of the harder asperities of hardened steel disk is primarily governed by the protruded hard ceramic reinforcement. The hard Al₂O₃ particles act as a protrusion over the matrix, carries a major portion of the applied load and protect the abrasives from penetration into the specimen surface.     

A modified particle swarm optimization for disaster relief logistics under uncertain environment

Relief logistics is one of the most important elements of a relief operation. This paper investigates a relief chain design problem where not only demands but also supplies and the cost of procurement and transportation are considered as the uncertain parameters. Furthermore, the model considers uncertainty for the locations where those demands can arise and the possibility that a number of the facility could be partially destroyed by the disaster. The proposed model for this study is formulated as a mixed-integer nonlinear programming to minimize the sum of the expected total cost (which includes costs of location, procurement, transportation, holding, and shortage) and the variance of the total cost. The model simultaneously determines the location of relief distribution centers and the allocation of affected area to relief distribution centers. Furthermore, an efficient solution approach based on particle swarm optimization is developed in order to solve the proposed mathematical model. At last, computational results for several instances of the problem are presented to demonstrate the feasibility and effectiveness of the proposed model and algorithm.     

Synthesis,Corrosion and Bioactivity Evaluation of Gelatin/Silicon and Magnesium Co-Doped Fluorapatite Nanocomposite Coating Applied on AZ31 Mg Alloy

In this study, a nano-composite composed of gelatin as the matrix and Si-Mg-FA nano-particles as an additive was deposited on the AZ31 Mg alloy via dip coating method. In addition, a coating composed of MgO, MgSiO₃ and Mg₂SiO₄ phases was applied on the AZ31 Mg alloy by anodizing process. It was found that the Nano-composite coating with a uniform distribution of nano-particles within the gelatin matrix with the thickness of about 9 µm was dense, crack-free and uniform whereas the surface of anodized layer was relatively coarse due to the presence of flaws and micro-cracks. The surface morphology, EDS analysis and FTIR results revealed the ability of nano-composite coated specimen to form the bone-like apatite. Due to the presence of aforementioned phases and special surface features, the anodized specimen possessed higher and lower corrosion resistance than uncoated and nano-composite coated specimens, respectively. The passive coating resistances (R_CT) of nano-composite, anodized specimen and uncoated samples were 2164, 1449 and 1024 Ω cm², respectively.     

Fermentation of table cream by Lactobacillus plantarum strains: effect on fungal growth,aflatoxin M1 and ochratoxin A

Aflatoxin M1 (AFM₁) and ochratoxin A (OTA) are two main mycotoxins in milk and dairy products. In the present work, the ability of four Lactobacillus strains (L. plantarum PTCC 1058, L. plantarum LP3, L. plantarum AF1 and L. plantarum LU5) to remove AFM1 and OTA in fermented cream was studied during 24 h fermentation. The antifungal activity of the mentioned lactobacilli against the defined fungi (Aspergillus flavus PTCC 5004, Aspergillus parasiticus PTCC 5018, Aspergillus nidulans PTCC 5014, Aspergillus ochraceus PTCC 5060) was also evaluated. The results showed that the cell counts of all strains were increased by 64–70% during fermentation. All Lactobacillus strains decreased the amount of AFM₁ significantly (P ≤ 0.05) in the range of 26–52%, which the highest AFM₁-reducing effect was related to L. plantarum LU5 (from 0.5 to 0.24 μg kg⁻¹). The mean OTA removal by Lactobacillus strains in fermented cream also ranged from 32 to 58%. Amongst Lactobacillus strains, the cell-free culture supernatants of L. plantarum LU5 showed the highest (inhibition zone of 26.7 ± 1.2 mm) and L. plantarum LP3 and L. plantarum PTCC 1058 the lowest antifungal activities. The fermented creams contained Lactobacillus strains exhibited the highest and lowest antifungal activities against A. ochraceus and A. parasiticus, respectively. L. plantarum LU5, with the inhibition zone of 27.6 ± 0.9 mm, was the most effective fungal inhibitor, while L. plantarum PTCC 1058 had the lowest antifungal activity.     

Optimal sensor placement for source localization based on RSSD

Wireless Networks - Source localization based on the received signal strength (RSS) has received great interest due to its low cost and simple implementation. In this paper we consider the source...