Evolutionary Learning of a Fuzzy Behavior Based Controller for a Nonholonomic Mobile Robot in a Class of Dynamic Environments

This paper presents an approach for evolving optimum behaviors for a nonholonomic mobile robot in a class of dynamic environments. A new evolutionary algorithm reflecting some powerful features in the natural evolutionary process to have flexibility to deal with changes in the environment is used to evolve optimum behaviors. Furthermore, a fuzzy set based multi-objective fitness evaluation function is adopted in the evolutionary algorithm. The multi-objective evaluation function is designed so that it allows incorporating complex linguistic features that a human observer would desire in the behaviors of the mobile robot movements. To illustrate the effectiveness of the proposed method, simulation results are compared using a conventional evolutionary algorithm.     

Superconductivity in dilute Cu-Nb-Sn alloys containing Nb3Sn precipitates

The dilute Cu-Nb-Sn alloys containing small amounts of Nb and Sn less than 1 at % exhibited superconductivity after quenching from the liquid state and ageing. The best superconducting properties ( andJ _c=130 A cm^–2) in a Cu-0.30 at % Nb 0.15 at % Sn alloy were obtained when the sample was aged at 550° C for 384 h. This sample exhibited a structure of fine Nb₃Sn precipitates of 200 to 500Å diameter distributed homogeneously in the Cu matrix, and therefore it was concluded that superconductivity in these alloys resulted from the proximity effect of Nb₃Sn particles. In spite of the similar structure obtained by ageing at 800° C, the Cu-Nb-Sn alloys showed inferior superconducting properties compared to the Cu-0.4 at % Nb alloy and this would be explained qualitatively by the difference in the mean free path in the two alloys.     

Morphological and crystallographic features of γ-γ′ Ni-Al and Ni-Al-Ti two-phase bicrystals

Several- Ni-Al and Ni-Al-Ti two-phase bicrystals were made by the solid-state diffusion couple method. Each couple consisted of a-phase single crystal and a pure-Ni polycrystal, and was annealed at 1473 K in an Ar gas atmosphere. Single crystal layers of-phase with uniform thickness always grow into the parent-phase single crystals. The resultant/ interface has no voids or facets regardless of the orientation of interface and the chemical composition of the-phase. Porosity formation due to the Kirkendall effect is observed in the diffused region. Concentration profiles exhibit nearly constant gradients in-phase. The orientation relationship between both phases is found to be 001//001, that is, the-phase grows epitaxially along the crystal orientation of-phase.     

Colorimetric microdetermination of sulphites in foods by use of the modified rankine apparatus. IV.

Summary Detection and determination of traces of sulphites in foods was attempted by use of the modified Rankine apparatus and pararosaniline colorimetry. Replacement of alkaline titration reported previously by pararosaniline colorimetry lowered the absolute detection limit from 30 g (titration method) to 2 g. In view of clean analysis, in the color developing system, 0.1 N-sodium hydroxide was used in place of mercuric chloride solution commonly used as an absorbant of sulphites. In order to prevent oxidative decomposition of sulphites during operation, nitrogen gas was used as carrier instead of air. Dimedone and sodium azide were used for the elimination of aldehydes and nitrites, respecitvely, in the sample, which will disturb the color development of sulphites with pararosaniline-formaldehyde reagents. With this improved method, it was possible to determine the residual sulphites in frozen peeled shrimps, sugared beans and other foods with low sulphite contents accurately.

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Colorimetrische Mikrobestimmung von Sulfiten in Lebensmitteln bei Anwendung der modifizierten IV. Rankine Apparatur

Zusammenfassung Geringe Sulfitmengen in Lebensmitteln (geschälte Garnelen, gezuckerte Bohnen) können colorimetrisch bestimmt werden. Die neuentwickelte Methode beruht auf einer Kombination von colorimetrischer Bestimmung mittels p-Rosanilin und der Bestimmungsmethode nach Rankine. Auf diese Weise lassen sich Gehalte von 2 g noch genau bestimmen. Bei der Farbentwicklung wurde das giftige Quecksilbertetrachlorid durch 0.1 n-NaOH ersetzt, anstelle von Luft Stickstoff als Trägergas verwendet und somit eine Oxydation des Sulfits während der Bestimmung vermieden. Da Nitrit und Aldehyde die Farbentwicklung stören, wurde ihr Einfluß durch Dimedon und Natriumazid ausgeschaltet.

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Studies on the Analyses of Sulphites in Foods (IV)     

Spray pyrolysis synthesis of nanostructured LiFexMn2−xO4 cathode materials for lithium-ion batteries

A series of partially Fe-substituted lithium manganese oxides LiFe_xMn_2−xO₄ (0 ≦ x ≦ 0.3) was successfully synthesized by an ultrasonic spray pyrolysis technique. The resulting powders were spherical nanostructured particles which comprised the primary particles with a few tens of nanometer in size, while the morphology changed from spherical and porous to spherical and dense with increasing Fe substitution. The densification of particles progressed with the amount of Fe substitution. All the samples exhibited a pure cubic spinel structure without any impurities in the XRD patterns.The as-prepared powders were then sintered at 750 °C for 4 h in air. However, the particles morphology and pure spinel phase of LiFe_xMn_2−xO₄ powders did not change after sintering. The as-sintered powders were used as cathode active materials for lithium-ion batteries, and cycle performance of the materials was investigated using half-cells Li/LiFe_xMn_2−xO₄. The first discharge capacity of Li/LiFe_xMn_2−xO₄ cell in a voltage 3.5-4.4 V decreased as the value x increased, however these cells exhibited stable cycling performance at wide ranges of charge-discharge rates.     

Development of specimen and test method for strength analysis of MEMS micromirror

Specimens and fracture test methods for strength analysis of MEMS micromirrors were proposed. Bending and combined loading tests were performed, and torsion strength was estimated from those results. Two-parameter Weibull distribution was used to evaluate the fracture stresses estimated from the FEM model. The resulting scale and shape parameters were 787 MPa and 7.77 for the bending test and 517 MPa and 5.28 for the combined loading test. There was a difference in strength between the results of the bending and combined loading tests. From the load factor analysis, it was found that both geometry and stress distribution have to be considered to estimate the strength of MEMS since flaws are non-uniformly distributed. It was also found that torsional strength can be estimated on the safe side using the results of the combined loading test.     

Verified Integration of ODEs and Flows Using Differential Algebraic Methods on High-Order Taylor Models

A method is developed that allows the verified integration of ODEs based on local modeling with high-order Taylor polynomials with remainder bound. The use of such Taylor models of order n allows convenient automated verified inclusion of functional dependencies with an accuracy that scales with the (n + 1)-st order of the domain and substantially reduces blow-up.Utilizing Schauder's fixed point theorem on certain suitable compact and convex sets of functions, we show how explicit nth order integrators can be developed that provide verified nth order inclusions of a solution of the ODE. The method can be used not only for the computation of solutions through a single initial condition, but also to establish the functional dependency between initial and final conditions, the so-called flow of the ODE. The latter can be used efficiently for a substantial reduction of the wrapping effect.Examples of the application of the method to conventional initial value problems as well as flows are given. The orders of the integration range up to twelve, and the verified inclusions of up to thirteen digits of accuracy have been demanded and obtained.     

Modular fuzzy-neuro controller driven by spoken language commands.

We present a methodology of controlling machines using spoken language commands. The two major problems relating to the speech interfaces for machines, namely, the interpretation of words with fuzzy implications and the out-of-vocabulary (OOV) words in natural conversation, are investigated. The system proposed in this paper is designed to overcome the above two problems in controlling machines using spoken language commands. The present system consists of a hidden Markov model (HMM) based automatic speech recognizer (ASR), with a keyword spotting system to capture the machine sensitive words from the running utterances and a fuzzy-neural network (FNN) based controller to represent the words with fuzzy implications in spoken language commands. Significance of the words, i.e., the contextual meaning of the words according to the machine's current state, is introduced to the system to obtain more realistic output equivalent to users' desire. Modularity of the system is also considered to provide a generalization of the methodology for systems having heterogeneous functions without diminishing the performance of the system. The proposed system is experimentally tested by navigating a mobile robot in real time using spoken language commands.     

Classification of amorphous-silicon microstructures by structural parameters: molecular dynamics study

Amorphous silicon is the most popular material in the field of semiconductors. However, little is known about its microstructures. To understand the dependence of these microstructures on the fabrication process and on structural relaxation, amorphous silicon samples fabricated by various simulated processes are classified according to structural parameters within the molecular dynamics method.

The results show that the amorphous structures fabricated by the melt-quench method have many odd-membered rings and large bond-angle deviation. The structures fabricated by the molecular-beam epitaxy method involve fewer floating bonds, smaller bond-angle deviations, and fewer six-membered rings in comparison with the melt-quenched structure. Through long-term annealing, both structures are transformed to the most stable structure as described by the Tersoff potential. It is also found that the continuous random network structure does not meet the Tersoff potential. Verification of the results through first-principle calculations shows that well-relaxed amorphous structure can be described by classical molecular dynamics despite the slightly large number of the floating bond and the overestimation of amorphous-phase energy.     

Studies on Pyrodextrinization of Corn Starch

During pyrodextrinization of corn starch in the absence of any added catalyst under different experimental conditions, the changes of dextrinization might have two or threes stages and remarkable transformation would begin to occur at 190°C. At higher temperatures, many non-carbohydrates are found. At lower temperatures, side chains of amylopectin-like substances might be cleaved to produce the linear parts.