Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

In general, manipulators used for industry and in academic laboratories have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it is necessary to design parameters related to energy regions and the gains of some partly stable controllers based on the computed torque method. Here, the switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

Lane-change detection using a computational driver model

OBJECTIVE: This paper introduces a robust, real-time system for detecting driver lane changes. Background: As intelligent transportation systems evolve to assist drivers in their intended behaviors, the systems have demonstrated a need for methods of inferring driver intentions and detecting intended maneuvers. METHOD: Using a "model tracing" methodology, our system simulates a set of possible driver intentions and their resulting behaviors using a simplification of a previously validated computational model of driver behavior. The system compares the model's simulated behavior with a driver's actual observed behavior and thus continually infers the driver's unobservable intentions from her or his observable actions. RESULTS: For data collected in a driving simulator, the system detects 82% of lane changes within 0.5 s of maneuver onset (assuming a 5% false alarm rate), 93% within 1 s, and 95% before the vehicle moves one fourth of the lane width laterally. For data collected from an instrumented vehicle, the system detects 61% within 0.5 s, 77% within 1 s, and 84% before the vehicle moves one-fourth of the lane width laterally. CONCLUSION: The model-tracing system is the first system to demonstrate high sample-by-sample accuracy at low false alarm rates as well as high accuracy over the course of a lane change with respect to time and lateral movement. APPLICATION: By providing robust real-time detection of driver lane changes, the system shows good promise for incorporation into the next generation of intelligent transportation systems.     

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.     

Multi-modal Information Integration for Interactive Multi-agent Systems

This paper proposes a multi-agent system that carries out cooperative work. To achieve this, we use Fuzzy Associative Memory Organizing Unit Systems (FAMOUS) and Conceptual Fuzzy Sets (CFS). By using these proposed methods, each agent robot can decide its own behaviour to suit the situation in its environment. We apply this system to an Intelligent Transportation System (ITS) and do simulations.     

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.