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.     

Comparing VVR-M reactor fuel assembly heat technological capabilities

Translated from Atomnaya Énergiya, Vol. 67, No. 2, pp. 97–100, August, 1989.     

Tube-shaping unit — A way of improving the quality of shaped tubes

Lenin Dnepropetrovsk Pipe Plant. Translated from Metallurg, No. 8, p. 39, August, 1989.     

“Metallisation” of oxide surfaces observed by in situ high-resolution electron microscopy

Intense irradiation (25–40 A/cm²) at intermediate energy (400 keV) has been found to cause “metallisation” of tungsten oxide and titanium niobate crystal surfaces. The possible mechanisms and the likely consequences for high-resolution imaging of clean oxide surfaces are briefly discussed.     

Theoretical analysis of control properties for the brushless doubly fed reluctance machine

The brushless doubly fed induction machine (BDFIM) has been extensively researched for approximately 30 years, but a related machine [the brushless doubly fed reluctance machine (BDFRM)], has not. This was mainly due to the fact that reluctance rotor designs were not capable of generating saliency ratios large enough to make the BDFRM competitive with other machines. However, recent developments in reluctance rotors, spurred on by research into synchronous reluctance machines, has resulted in high saliency ratio rotors that are economic to build. This, together with the promise of higher efficiency and simpler control compared to the BDFIM, means that further investigation of the BDFRM is warranted. A relatively limited amount of work to date has been published on the BDFRM. This paper attempts to fill this void by presenting a theoretical analysis of some of the important control properties of the ideal BDFRM.     

Comparison of Solutions of the Problems of Elasticity Theory for Different Near-Boundary Elements

We consider three types of near-boundary elements: curvilinear quadrangles and families of arcs and points, and their application to a two-dimensional problem of the static theory of elasticity with boundary conditions in displacements. The comparison of the theoretical and numerical aspects of the obtained solutions is performed. It is shown that the accuracy of evaluation of the components of the vector of displacements increases in the following cases: in the case of complete quantization of the near-boundary region (but not in the case of its partial quantization or quantization with overlapping), in the case where the numbers of arcs and points increase, and in the case of simultaneous application of different types of near-boundary elements (specifically, quadrangles and families of arcs).     

The first accurate measurement of systolic and diastolic bloodpressure

Poiseuille, known for his law of fluid flow, which is the analog of Ohm's law, introduced the units (mmHg) by which we measure blood pressure by using the mercury manometer, which he described in his medical school thesis in 1828. For 50 years, mean blood pressure was all that could be measured because of the long response time of the mercury manometer. It is true that the height of the mercury column displayed pulsatile oscillations, but their amplitude was much less than that of pulse pressure. It is interesting to note that the slowly responding mercury manometer was made to display first systolic then diastolic pressure by means of an ingenious device that contained two oppositely directed check valves. It took from 1828 to 1903 for high-fidelity graphic recordings of blood pressure to appear in which systolic and diastolic pressures were believable. However, systolic and diastolic pressures were measurable since 1878 when Golz and Gaule created their ingenious valved device that permitted use of the slowly responding mercury manometer to display these pressures accurately     

Iterative multiuser joint decoding: unified framework andasymptotic analysis

We present a framework for iterative multiuser joint decoding of code-division multiple-access (CDMA) signals, based on the factor-graph representation and on the sum-product algorithm. In this framework, known parallel and serial, hard and soft interference cancellation algorithms are derived in a unified way. The asymptotic performance of these algorithms in the limit of large code block length can be rigorously analyzed by using density evolution. We show that, for random spreading in the large-system limit, density evolution is considerably simplified. Moreover, by making a Gaussian approximation of the decoder soft output, we show that the behavior of iterative multiuser joint decoding is approximately characterized by the stable fixed points of a simple one-dimensional nonlinear dynamical system     

Homogeneity characterisation of sintered (U,Gd)O2 pellets by X-ray diffraction

(U,Gd)O₂ sintered pellets are fabricated by different methods. The homogeneity characterisation of the Gd content seems to be necessary for a production control to qualify the process and the final product obtained. In this paper, we propose an analysis of the X-ray diffraction powder patterns through the Rietveld method, in which the differences between the experimental and the calculated data proposed from a crystalline structure model are evaluated. This result allows us to determine the cell parameters, that can be correlated with the Gd concentration, and the existence of other phases with different Gd contents.