Robust image-based visual servoing using invariant visual information

This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.     

Nonlinear feedback control and trajectory tracking of vehicle

This paper mainly studies nonlinear feedback control applied to the nonlinear vehicle dynamics with varying velocity. The main objective of this study is the stabilisation of longitudinal, lateral and yaw angular vehicle velocities. To this end, a nonlinear vehicle model is developed which takes both the lateral and longitudinal vehicle dynamics into account. Based on this model, a method to build a nonlinear state feedback control is first designed by which the complexity of system structure can be simplified. The obtained system is then synthesised by the combined Lyapunov–LaSalle method. The simulation results show that the proposed control can improve stability and comfort of vehicle driving. Moreover, this paper presents a lemma which ensures the trajectory tracking and path-following problem for vehicle. It can also be exploited simultaneously to solve both the tracking and path-following control problems of the vehicle ride and driving stability. We also show how the results of the lemma can be applied to solve the path-following problem, in which the vehicle converges and follows a designed path. The effectiveness of the proposed lemma for trajectory tracking is clearly demonstrated by simulation results.     

Liquefaction hazard mapping in the city of Boumerdès,Northern Algeria

The city of Boumerdès, located in Northern Algeria, was badly affected during the May 21, 2003 Zemmouri (Mw = 6.8) earthquake where extensive liquefaction has been reported. The aim of this paper is to assess and to map the liquefaction potential for Boumerdès. We collected and used data from 154 boreholes, 10 down-hole tests, 56 standard penetrations tests (SPT), and inventory of 35 water level points. This data has been analyzed in the framework of geographical information systems (GIS). We assessed the liquefaction potential index (LPI) by considering a seismic hazard scenario corresponding to a_max = 0.48 g calculated, using a probabilistic approach, for a return period of 500 years. LPI values have been correlated to compile the liquefaction hazard map that indicates the quantitative characteristics of the liquefiable layers and the induced disruption probability area. Results show that the main part of the city of Boumerdès belongs to a low liquefaction potential area except for a narrow corridor along the Corso waterway, where the liquefaction potential is moderate to high. The obtained results are compatible with the geological, geotechnical and hydrogeological susceptibility to liquefaction of the area. The results also show a good agreement with the observations made after the May 21, 2003 Zemmouri earthquake. The obtained liquefaction hazard maps may serve as useful tools for land management and planning in the city of Boumerdès and as an example of liquefaction hazard assessment that may be applied in other populated cities in northern Algeria’s seismic prone areas.     

Characterization and transformation of the <Emphasis Type="Italic">Opuntia ficus indica</Emphasis> fruits

Opuntia ficus indica fruits have been associated with health effects, due to their protective actions against oxidation. Nevertheless, few studies about processing of Opuntia fruits are available’; therefore, we studied the pulp characteristics and processing of a local variety, for producing beverage nectars. The pulp had an average pH of 5.64, 13.47 °Brix, with total sugars (106 g L^?1), K (1180 mg L^?1), 503.3 µg L^?1 of β carotene, 120 mg L^?1 of total phenolic compounds, 4.9 mg and 46.9 mg L^?1 respectively for betacyanins and betaxanthins and 243.4 mg L^?1 of vitamin C. The formulated nectars with 35% of pulp (N35) and 45% of pulp (N45) had respectively 14 and 15 °Brix. Minor components represent 1109 and 1112 mg L^?1 of K for N35 and N45 respectively, β carotene (318.6 µg and 362.8 µg L^?1), and vitamin C 227 and 231 mg L^?1. We confirmed the stability and acceptability of these beverages after a month of storage, after stability and panel tests. Therefore, we suggest that the pulp processing can be used as a new form of agro industrial utilization of this underutilized fruit.     

Hydrogen solid storage: First-principles study of ZrNiH3

The ZrNiH₃ compound is a good candidate for hydrogen storage. In this work we used the first-principles calculation to study this compound. The crystal structures, the electronic properties and the optimization of the internal parameters are treated by the FP-LAPW method implanted in the WIEN2K code. The enthalpies of the dehydrogenation of the ZrNiH₃ compound are calculated. We found that the enthalpy is about −42.89 kJ/mol H, greater but similar to the experimental value of −34.3 kJ/mol H. Potential reasons for this discrepancy are discussed.     

Channel Estimation in Long Term Evolution Uplink Using Minimum Mean Square Error-Support Vector Regression

In this paper, minimum mean square error-support vector regression (MMSE-SVR) is proposed, which is shown to be adequate for the estimation of the long term evolution (LTE) uplink channel with nonlinear features. MMSE-SVR was applied to estimate real channel environments such as the vehicular A channels defined by the International Telecommunication Union (ITU). The simulation results show that the proposed method has a better performance than the least squares support vector machine (LS-SVM) and the standard MMSE with linear and spline interpolation.     

Interference-Aware QoS Guarantees in OFDM-Based Cognitive Radio Networks Based on Branch and Bound

Wireless Personal Communications - In the past decade, the OFDM access method has been widely used in different types of networks. Indeed; OFDM is the technology of choice for all major wireless...     

An Overview of the Approaches for Automotive Safety Integrity Levels Allocation

Journal of Failure Analysis and Prevention - ISO 26262, titled Road Vehicles–Functional Safety, is the new automotive functional safety standard for passenger vehicle industry. In order to...     

Experimental determination of elastic modulus of elasticity and Poisson’s coefficient of date palm tree fiber

The present study is an attempt to valorize local vegetable fibers by evaluating thire effectiveness as a new composite biomaterial. Our aim was to determine the mechanical characteristics, namely the elastic modulus and Poisson’s coefficient, of a fiber, locally called “Lif,” that is a natural material extracted from different date palm tree varieties in Biskra, a region situated in southeastern Algeria. This study compares the mechanical characteristcs of the Lif date palm tree fiber with other synthetic and plant fibers studied previously.     

Ant colony algorithm for automotive safety integrity level allocation

ISO 26262, the new automotive functional safety standard, aims to foster the design and development of safe products by ensuring that the risks posed by hazardous components are reduced to a residual level. Therefore, the standard defines and uses the concept of Automotive Safety Integrity Levels (ASILs) that classify the strictness of safety requirements to be assigned to the failure modes of the system based on the hazard they may cause. ASIL allocation can be described as a hard optimization problem focused on finding the optimal ASIL allocation that maximizes the safety requirements and minimizes cost. However, finding this optimal allocation among a set of possible allocations can represent a difficult task in large systems that contain a large number of components, which subsequently increases the search space. In this paper, we introduce a novel approach that uses the nature-inspired meta-heuristic Ant Colony Optimization (ACO) algorithm to solve the ASIL allocation problem and makes use of strategies that reduce the solution space. The problem was formulated as a construction graph, which the ants use to construct possible ASIL allocations. The search space reduction is accelerated considerably by both the effective performance of the ACO and the convergence of the algorithm on the optimal solution. This approach has been evaluated by applying it to a hybrid braking system and a steer-by-wire system. The results show a significant improvement over genetic-based, penguins search-based and tabu search-based approaches.