Fuzzy fault tolerant predictive control for a diesel engine air path

This paper proposes a Fuzzy Fault Tolerant Predictive Control (FFTPC) with integral action method for a class of nonlinear systems. The Takagi-Sugeno (T-S) fuzzy approach is introduced as a modelling technique in order to consider the active control methods adapted to linear models. The proposed control strategy is based on a combination between Parallel Distributed Compensation (PDC) control law and Model Predictive Control (MPC) where the T-S fuzzy aspect uses the Unmeasurable Premise Variables (UPV). A T-S fuzzy observer provides an L2 norm estimation of system state vector and faults. The controller and observer gains are obtained by solving Linear Matrix Inequalities (LMIs) derived from the Lyapunov theory. The validity of the proposed Fault Tolerant Control (FTC) strategy is illustrated through an application to a Diesel Engine Air Path (DEAP) system.     

Design complexity control in truss optimization

Truss optimization based on the ground structure approach often leads to designs that are too complex for practical purposes. In this paper we present an approach for design complexity control in truss optimization. The approach is based on design complexity measures related to the number of bars (similar to Asadpoure et al. Struct Multidisc Optim 51(2):385–396 2015) and a novel complexity measure related to the number of nodes of the structure. Both complexity measures are continuously differentiable and thus can be used together with gradient based optimization algorithms. The numerical examples show that the proposed approach is able to reduce design complexity, leading to solutions that are more fit for engineering practice. Besides, the examples also indicate that in some cases it is possible to significantly reduce design complexity with little impact on structural performance. Since the complexity measures are non convex, a global gradient based optimization algorithm is employed. Finally, a detailed comparison to a classical approach is presented.     

A robot learning from demonstration framework to perform force-based manipulation tasks

This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works using kinesthetic teaching. Third, we address the well-known what to imitate? problem from a different point of view, based on the mutual information between perceptions and actions. Lastly, the teacher’s demonstrations are encoded using a Hidden Markov Model, and the robot execution phase is developed by implementing a modified version of Gaussian Mixture Regression that uses implicit temporal information from the probabilistic model, needed when tackling tasks with ambiguous perceptions. Experimental results show that the robot is able to learn and reproduce two different manipulation tasks, with a performance comparable to the teacher’s one.     

The magnetic-distortion probe: velocimetry in conducting fluids

A new type of velocimeter, capable of local velocity measurements in conducting fluids, is introduced. The principle of the "magnetic-distortion probe" is based on the measurement of the induced magnetic field by the flow of a conducting fluid in the vicinity of a localized magnetic field. The new velocimeter has no moving parts, and can be enclosed in a sealed cap, easing the implementation in harsh environments, such as liquid metals. The proposed method allows one to probe both the continuous part and fluctuations of the velocity, the temporal and spatial resolution being linked to the actual geometric configuration of the probe. A prototype probe has been tested in a gallinstan pipe flow and in a fully turbulent flow of liquid gallium generated by the counter rotation of two coaxial impellers in a cylinder. The signals have been compared to a reference potential probe and show very good agreement both for time-averaged velocities and turbulent fluctuations. The prototype is shown to detect motion from a few cm s(-1) to a few m s(-1). Moreover, the use of the magnetic-distortion probe with large-scale applied magnetic field is discussed.     

Managing Global Software Engineering: A Comparative Analysis of Offshore Outsourcing and the Internal Offshoring of Software Development

In this article, the authors compare offshore outsourcing and the internal offshoring of software development. Empirical evidence is presented from a case study conducted in five companies. Based on a detailed literature review, a framework was developed that guided the authors' analysis of the differences in the challenges faced by companies and the patterns of evolution in the practice of software development in each business model.     

Invariant representation of facial expressions for blended expression recognition on unknown subjects

Facial expressions analysis plays an important part in emotion detection. However, having an automatic and non-intrusive system to detect blended facial expression is still a challenging problem, especially when the subject is unknown to the system. Here, we propose a method that adapts to the morphology of the subject and that is based on a new invariant representation of facial expressions. In our system, one expression is defined by its relative position to 8 other expressions. As the mode of representation is relative, we show that the resulting expression space is person-independent. The 8 expressions are synthesized for each unknown subject from plausible distortions. Recognition tasks are performed in this space with a basic algorithm. The experiments have been performed on 22 different blended expressions and on either known or unknown subjects. The recognition results on known subjects demonstrate that the representation is robust to the type of data (shape and/or texture information) and to the dimensionality of the expression space. The recognition results on 22 expressions of unknown subjects show that a dimensionality of the expression space of 4 is enough to outperform traditional methods based on active appearance models and accurately describe an expression.     

On matrices, automata, and double counting in constraint programming

Matrix models are ubiquitous for constraint problems. Many such problems have a matrix of variables $\mathcal{M}$ , with the same constraint C defined by a finite-state automaton $\mathcal{A}$ on each row of $\mathcal{M}$ and a global cardinality constraint $\mathit{gcc}$ on each column of $\mathcal{M}$ . We give two methods for deriving, by double counting, necessary conditions on the cardinality variables of the $\mathit{gcc}$ constraints from the automaton $\mathcal{A}$ . The first method yields linear necessary conditions and simple arithmetic constraints. The second method introduces the cardinality automaton, which abstracts the overall behaviour of all the row automata and can be encoded by a set of linear constraints. We also provide a domain consistency filtering algorithm for the conjunction of lexicographic ordering constraints between adjacent rows of $\mathcal{M}$ and (possibly different) automaton constraints on the rows. We evaluate the impact of our methods in terms of runtime and search effort on a large set of nurse rostering problem instances.     

Urban flood risk assessment using sewer flooding databases

Sustainable water management is a global challenge for the 21st century. One key aspect remains protection against urban flooding. The main objective is to ensure or maintain an adequate level of service for all inhabitants. However, level of service is still difficult to assess and the high-risk locations difficult to identify. In this article, we propose a methodology, which (i) allows water managers to measure the service provided by the urban drainage system with regard to protection against urban flooding; and (ii) helps stakeholders to determine effective strategies for improving the service provided. One key aspect of this work is to use a database of sewer flood event records to assess flood risk. Our methodology helps urban water managers to assess the risk of sewer flooding; this approach does not seek to predict flooding but rather to inform decision makers on the current level of risk and on actions which need to be taken to reduce the risk. This work is based on a comprehensive definition of risk, including territorial vulnerability and perceptions of urban water stakeholders. This paper presents the results and the methodological contributions from implementing the methodology on two case studies: the cities of Lyon and Mulhouse.