A Randomized Algorithm for Online Unit Clustering

In this paper, we consider the online version of the following problem: partition a set of input points into subsets, each enclosable by a unit ball, so as to minimize the number of subsets used. In the one-dimensional case, we show that surprisingly the naïve upper bound of 2 on the competitive ratio can be beaten: we present a new randomized 15/8-competitive online algorithm. We also provide some lower bounds and an extension to higher dimensions.     

Global sliding‐mode control with generalized sliding dynamics

A global sliding‐mode control (GSMC) scheme is proposed to provide a framework for ensuring the existence of a sliding mode throughout an entire response. Based on this framework, robust eigenvalue‐assignment GSMC (REA‐GSMC) is proposed to robustly assign closed‐loop eigenvalues that must be real. The eigenvalues being all real, however, leads to sluggish responses. According to most error criteria such as IAE, ISE, and ITAE, the optimum system should have complex eigenvalues. This paper proposes a GSMC scheme with generalized sliding dynamics, referred to as Generalized GSMC, in order to release the previous constraint on the REA‐GSMC. Thus, the Generalized GSMC can be designed to achieve a system that is both robust and optimum in the sense that it minimizes certain error performance indices in spite of the presence of system uncertainties. Experiments were conducted on a two‐link direct‐drive manipulator to demonstrate the effectiveness of the proposed scheme. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Tracking control for switched linear systems with time‐delay: a state‐dependent switching method

Tracking control for switched linear systems with time‐delay is investigated in this paper. Based on the state‐dependent switching method, sufficient conditions for the solvability of the tracking control problem are given. We use single Lyapunov function technique and a typical hysteresis switching law to design a tracking control law such that the H_∞ model reference tracking performance is satisfied. The controller design problem can be solved efficiently by using linear matrices inequalities. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. It is highly desirable that a non‐switched time‐delay system can not earn such property. Simulation example shows the feasibility and validity of the switching control law. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Simultaneous stabilization for a collection of nonlinear control systems in canonical form

A controller design method is provided to simultaneously stabilize a collection of nonlinear control systems in canonical form. It is shown that, under a mild assumption, any collection of nonlinear systems in canonical form can be simultaneously stabilized by one continuous state feedback controller. A constructive universal formula is presented explicitly. An illustrative example is given to demonstrate the validity of the method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

A new adaptive backstepping Coulomb friction compensator for servo control systems

A new Coulomb friction compensator is proposed for servo control systems in this paper. The novelty of the new approach lies in its capability of assigning the eigenvalues of the resulting closed loop system while attacking the problem. First, based on the standard backstepping methodology, an implicit Lyapunov function, with part of the components being only symbolically constructed at the very beginning, is utilized. To increase the robustness of the system against disturbance and model inaccuracy, an integral term is employed in the design. Using part of the variable gradient method, we are able to turn the implicit Lyapunov function into an explicit one, which is positive definite, and whose time‐derivative is negative definite. Second, it will be shown that the resulting closed loop error system is a switched linear system with two possible active modes that share the same set of eigenvalues, which is at our disposal. Unlike the common adaptive control design methods, such as the Control Lyapunov Function approach, in which the gains are typically positive but otherwise arbitrary, and are hence difficult to choose and have a lack of connection with the system's performance, our new scheme imposes two further constraints on the gains. It turns out that we can then match these gains with the coefficients of the desired characteristic equation of the closed loop system. In this respect, the gains are linked to the system's overall performance, which is a new and very appealing feature for such a scheme. Finally, a procedure of constructing a common Lyapunov function is provided to prove exponential stability of the aforementioned switched linear system. In addition, using the invariance principle, we will show the convergence of the estimated Coulomb friction coefficient to its real value. Numerical simulations are given to validate the effectiveness of the design and its robustness against friction time‐variations. Compared to existing results, the proposed scheme is much simpler, hence, much more advantageous computationally. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Proteomic analysis of sera of asymptomatic,early‐stage patients with Wilson's disease

Wilson's disease (WD) is characterized by excessive accumulation of intracellular copper in liver and extrahepatic tissues, leading to significant oxidative stress and tissue damage. To date, several diagnostic biomarkers for WD such as serum ceruloplasmin, serum or urine copper levels and copper content in liver have been identified. However, these biomarkers may not be convincing for the diagnosis in some WD patients. To identify additional novel diagnostic biomarkers, we compared the serum protein profiles of asymptomatic childhood WD patients (n=20), without neurologic manifestation or liver cirrhosis, with normal controls (n=13). Fourteen spots, five up‐regulated and nine down‐regulated (>2‐fold), were differentially expressed in WD patients in comparison to normal control on 2‐DE. Among them, three spots were down‐regulated in both male and female WD. MS/MS analysis revealed that the three spots were complement component C3, complement factor B and alpha‐2 macroglobulin. By comparative proteome analysis, complement component C3, complement factor B and alpha‐2 macroglobulin, which are related to oxidative stress and inflammation, turned out to be good candidates for novel diagnostic biomarkers for early stages of WD.     

Preparation and characterization of nanoporous polyimide films from triblock copolyimides

Nanoporous polyimide films were prepared from triblock copolyimides. A thermally labile polymer, poly(propylene glycol), was incorporated into polyimides based on 4,4-(hexafluoroisopropylidene)diphthalic anhydride to obtain triblock copolyimides. Nanofoams were formed by thermolysis of the labile block. The thermal properties of the copolymers were investigated by thermogravimetric analysis (TGA) and differential scanning calorimetry (DSC). The nanopores were characterized by scanning electron microscopy (SEM).     

Health of female shiftworkers in Singapore

More than 200,000 persons in Singapore work shifts. Over half of these shiftworkers are females. With the continued emphasis on capital-intensive industries and growing demand for "round-the-clock" services, shiftwork is increasingly an economic necessity for more and more industries and a way of life for many Singaporeans. It is generally accepted that about 20% of those who start shiftwork may find it difficult to continue in such work, usually for social rather than medical reasons. For those who continue on shiftwork, concerns have been raised regarding possible health effects, such as increased incidence of digestive disorders and ulcers, chronic fatigue and cardiovascular disorders. In the case of female shiftworkers, there is also the concern that the added responsibilities of looking after the home and young children may further aggravate sleep problems associated with shiftwork, thus adversely affecting their health. So far, our own studies of female electronics workers on 8-hour as well as 12-hour shift schedules indicate no serious long-term health effects. The study subjects had been employed in such work for at least over a year, some as long as 17 years and 6 years, respectively. Except for complaints of sleep problems and tiredness among some rotating shiftworkers, no significant differences in symptom prevalence, blood pressure or sickness absence were found between the shift and day workers. While the findings are reassuring, further studies may be needed to determine if preventive measures can be taken to minimise the common complaints of sleep problems and tiredness, particularly among rotating shiftworkers.     

Synthesis and characterization of (Sr1−x′K2x)Zr4(PO4)6 ceramics

Single phase (Sr_1–x K_2x )Zr₄(PO₄)₆, where x lies between 0.0 and 1.0, ceramic powder with a submicron scale particle size has been synthesized successfully at calcination temperatures as low as 650–750°C by a sol-gel technique. The formation of the powder strongly depends on calcination temperature, but is independent of solution pH in the studied range. Dilatometric measurement shows an ultra-low linear coefficient of thermal expansion of 0.1×10^–6°C^–1 when x=0.5 at temperature intervals of 25–1000°C. Thermal conductivity and flexural strength of the materials were determined at ambient temperature to be 1.0 Wm^–1K^–1 and as high as 280 MPa, respectively, indicating that this material can be an excellent candidate in many applications, especially those subjected directly to severe environments.     

Distance- and velocity-detection interferometer by using a frequency triangular-modulated laser diode

A scheme for distance and velocity signal detection is implemented. This technique is based on a laser diode with its frequency modulated by a triangular waveform and followed by time gating.