A note on the differential regulator equation for non-minimum phase linear systems with time-varying exosystems

Some control problems in practice are often formulated as a linear output regulation problem with time-varying exosystems. Although this problem has been studied recently, an explicit and constructive solution has been given only for minimum phase systems. This paper presents a solution for non-minimum phase systems whose zero dynamics is hyperbolic (or has an exponentially dichotomic split in the case of time-varying zero dynamics). The idea is inspired by the non-causal stable inversion.     

A novel iterative shape from focus algorithm based on combinatorial optimization

Shape from focus (SFF) is a technique to estimate the depth and 3D shape of an object from a sequence of images obtained at different focus settings. In this paper, the SFF is presented as a combinatorial optimization problem. The proposed algorithm tries to find the combination of pixel frames which produces maximum focus measure computed over pixels lying on those frames. To reduce the high computational complexity, a local search method is proposed. After the estimate of the initial depth map solution of an object, the neighborhood is defined, and an intermediate image volume is generated from the neighborhood. The updated depth map solution is found from the intermediate image volume. This update process of the depth map solution continues until the amount of improvement is negligible. The results of the proposed SFF algorithm have shown significant improvements in both the accuracy of the depth map estimation and the computational complexity, with respect to the existing SFF methods.     

A new vertical‐alignment LC mode with high‐transmittance and fast‐response‐time features

Abstract— A novel pixel design for vertical‐alignment LCDs with superior transmittance has been developed. The new liquid‐crystal mode, refered to as the hole‐induced vertical‐alignment mode (Hi‐VA), uses a via hole of an organic layer on a TFT substrate to achieve multi‐domain alignment. Compared to the conventional design, the Hi‐VA mode has a transmittance of up to 135% with a contrast ratio of 2000:1. Moreover, the new structure is free from ITO patterning or protrusion on the color‐filter side, which makes the fabrication process simple and low cost.     

A two-stage heuristic for single machine capacitated lot-sizing and scheduling with sequence-dependent setup costs

This paper considers a single machine capacitated lot-sizing and scheduling problem. The problem is to determine the lot sizes and the sequence of lots while satisfying the demand requirements and the machine capacity in each period of a planning horizon. In particular, we consider sequence-dependent setup costs that depend on the type of the lot just completed and on the lot to be processed. The setup state preservation, i.e., the setup state at the end of a period is carried over to the next period, is also considered. The objective is to minimize the sum of setup and inventory holding costs over the planning horizon. Due to the complexity of the problem, we suggest a two-stage heuristic in which an initial solution is obtained and then it is improved using a backward and forward improvement method that incorporates various priority rules to select the items to be moved. Computational tests were done on randomly generated test instances and the results show that the two-stage heuristic outperforms the best existing algorithm significantly. Also, the heuristics with better priority rule combinations were used to solve case instances and much improvement is reported over the conventional method as well as the best existing algorithm.     

Multi-digit maximum voluntary torque production on a circular object

Individual digit-tip forces and moments during torque production on a mechanically fixed circular object were studied. During the experiments, subjects positioned each digit on a 6-dimensional force/moment sensor attached to a circular handle and produced a maximum voluntary torque on the handle. The torque direction and the orientation of the torque axis were varied. From this study, it is concluded that: (1) the maximum torque in the closing (clockwise) direction was larger than in the opening (counter clockwise) direction; (2) the thumb and little finger had the largest and the smallest share of both total normal force and total moment, respectively; (3) the sharing of total moment between individual digits was not affected by the orientation of the torque axis or by the torque direction, while the sharing of total normal force between the individual digit varied with torque direction; (4) the normal force safety margins were largest and smallest in the thumb and little finger, respectively.     

Proteinase activity in the isolates of Trichomonas vaginalis according to their pathogenicity

Ten axenic isolates of Trichomonas vaginalis were subcutaneously injected to the BALB/c mice in order to assess their pathogenicity by means of so-called "mouse assay" method. All the isolates revealed neutral and acid proteinase activities both in their lysates and in culture media, but the specific activities of both proteinases in the severely pathogenic group were significantly higher than the mildly pathogenic group (p < 0.05). In the SDS-PAGE system in which the electrophoretic gels contained 0.4% gelatin as the substrate, five different banding patterns of trichomonal proteinases were detected, and the patterns were closely related with the pathogenicity of the isolates of T. vaginalis. All five bands might be regarded as cysteine proteinases group in the inhibitor assays. The cytotoxicity of the lysates of T. vaginalis to the target Chinese hamster ovarian (CHO) cell line was also significantly different according to the pathogenicity of the isolates, and generally lower in the lysates treated with cysteine proteinase inhibitors than in the control lysates. In summarizing the results, it might be considered that the proteinases of T. vaginalis showing five electrophoretic banding patterns are closely related with the pathogenicity and cytotoxicity of the isolates of T. vaginalis.     

Chaotic exploration and learning of locomotion behaviors

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage.     

Time-of-flight sensor and color camera calibration for multi-view acquisition

This paper presents a multi-view acquisition system using multi-modal sensors, composed of time-of-flight (ToF) range sensors and color cameras. Our system captures the multiple pairs of color images and depth maps at multiple viewing directions. In order to ensure the acceptable accuracy of measurements, we compensate errors in sensor measurement and calibrate multi-modal devices. Upon manifold experiments and extensive analysis, we identify the major sources of systematic error in sensor measurement and construct an error model for compensation. As a result, we provide a practical solution for the real-time error compensation of depth measurement. Moreover, we implement the calibration scheme for multi-modal devices, unifying the spatial coordinate for multi-modal sensors. The main contribution of this work is to present the thorough analysis of systematic error in sensor measurement and therefore provide a reliable methodology for robust error compensation. The proposed system offers a real-time multi-modal sensor calibration method and thereby is applicable for the 3D reconstruction of dynamic scenes.     

Fractal analysis of pressure fluctuations in a three phase bubble column reactor operating at low pressure

Pressure fluctuations in a three phase bubble column reactor operating at relatively low pressure (92 KPa) have been analyzed by adopting the spectral and fractal analyses to get the engineering informations for the on-line control and fault diagnosis of the reactors. The mean value, standard deviation, skewness and kurtosis of the pressure fluctuations have been obtained. The local fractal dimension has been determined from the Pox diagram obtained by means of the rescaled range analysis of the pressure fluctuations based on the fractional Brownian motion. The local fractal dimension of pressure fluctuations has increased and thus the pressure fluctuation signals have become less persistent and irregular, with increases in the gas flow rate reaction temperature, particle size and solid content in the slurry phase. The local fractal dimension has been well correlated in terms of the operating variables.