Optimal linear filter design for systems with correlation in the measurement matrices and noises: recursive algorithm and applications

This paper addresses the optimal least-squares linear estimation problem for a class of discrete-time stochastic systems with random parameter matrices and correlated additive noises. The system presents the following main features: (1) one-step correlated and cross-correlated random parameter matrices in the observation equation are assumed; (2) the process and measurement noises are one-step autocorrelated and two-step cross-correlated. Using an innovation approach and these correlation assumptions, a recursive algorithm with a simple computational procedure is derived for the optimal linear filter. As a significant application of the proposed results, the optimal recursive filtering problem in multi-sensor systems with missing measurements and random delays can be addressed. Numerical simulation examples are used to demonstrate the feasibility of the proposed filtering algorithm, which is also compared with other filters that have been proposed.     

A hybrid dynamic motion prediction method for multibody digital human models based on a motion database and motion knowledge

In this paper, we present a novel method to predict human motion, seeking to combine the advantages of both data-based and knowledge-based motion prediction methods. Our method relies on a database of captured motions for reference and introduces knowledge in the prediction in the form of a motion control law, which is followed while resembling the actually performed reference motion. The prediction is carried out by solving an optimization problem in which the following conditions are imposed to the motion: must fulfill the goals of the task; resemble the reference motion selected from the database; follow a knowledge-based dynamic motion control law; and ensure the dynamic equilibrium of the human model, considering its interactions with the environment. In this work, we apply the proposed method to a database of clutch pedal depression motions, and we present the results for three predictions. The method is validated by comparing the results of the prediction to motions actually performed in similar conditions. The predicted motions closely resemble the motions in the validation database and no significant differences have been noted either in the motion’s kinematics or in the motion’s dynamics.     

Beast methodology: An agile testing methodology for multi-agent systems based on behaviour driven development

This paper presents a testing methodology to apply Behaviour Driven Development (BDD) techniques while developing Multi-Agent Systems (MASs), termed BEhavioural Agent Simple Testing (BEAST) Methodology. This methodology is supported by the open source framework (BEAST Tool) which automatically generates test cases skeletons from BDD scenarios specifications. The developed framework allows the testing of MASs based on JADE or JADEX platforms. In addition, this framework offers a set of configurable Mock Agents with the aim of being able to execute tests while the MAS is under development. The BEAST Methodology presents transparent traceability from user requirements to test cases. Thus, the stakeholders can be aware of the project status. The methodology and the associated tool have been validated in the development of a MAS for fault diagnosis in FTTH (Fiber To The Home) networks. The results have been measured in quantifiable way obtaining a reduction of the tests implementation time.     

Morphology and thermomechanical properties of recycled PET–organoclay nanocomposites

Recycled PET/organoclay nanocomposites were prepared by melt intercalation process with several amounts (1, 3, and 5 wt %) of clay modified with quaternary ammonium salt (DELLITE 67G) dispersed in a recycled poly(ethylene terephthalate) (rPET) matrix. The resultant mechanical properties (modulus and yield strength) of the nanocomposites were found to be different from those of rPET. Wide angle X‐ray scattering (WAXS) and Transmission Electron Microscopy (TEM) measurements have shown that although complete exfoliation was not achieved, delaminated clay platelets could be observed. Thermal analysis did not show significant changes in the thermal properties from those of recycled PET. Mechanical testing showed that nanocomposite properties were superior to the recycled PET in terms of strength and elasticity modulus. This improvement was attributed to nanoscale effects and strong interaction between the rPET matrix and the clay interface, as revealed by WAXS and TEM. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 104: 1839–1844, 2007     

Mobile digcovery: discovering and interacting with the world through the Internet of things

The application of Internet-enabled devices in the real world for the development of Smart Cities, environmental monitoring, bus tracking, and parking requires scalability, extensibility, and integration of emerging resources to reach a suitable ecosystem for data acquisition and interaction with citizens. Internet of things needs to offer efficient support for global communications and access to services and information. It needs to enable homogeneous and seamless machine-to-machine communication for different solutions and applications. This work presents an homogeneous and suitable mechanism for global resource discovery, device access for deployed smart objects in different scenarios, and sensors and devices from end users (participative sensing). The integration of legacy and sensors already available from smart buildings and smart objects is presented. For this purpose, a resolution infrastructure called “digcovery” is defined for maximizing efficiency and sustainability of deployments. Digcovery architecture offers the framework to allow users to register/include their own sensors into a common infrastructure and access/discover the available resources through mobile digcovery. Mobile digcovery exploits the context-awareness, geo-location, and identification technologies available in mobile platforms such as smartphones to discover, interact, and access the resources through its ElasticSearch engine.     

An Accessible Platform for People With Disabilities

This article discusses a modular, accessible platform that provides a computing environment for people with disabilities accessible through adapted control devices and the television set at users’ homes. Relying on a standard television set as the presentation device allows dependent individuals, especially people with disabilities, to introduce new technological advances in communication and information management in their everyday lives. As a proof-of-concept, the solution presented offers a collection of educational and training services related to teleworking and the search of employment targeted to people with disabilities. A smart job advisor included among these services, which was designed to help our target users to locate job offers that best suit the abilities and disabilities of a particular individual, is also discussed to illustrate how semantic technologies can be applied to increase the perceived accessibility and inclusion by reducing the dependence from other persons. The platform developed, the introduction of semantic technologies, and the way adapted interfacing and presentation devices were integrated may also serve as inspiration to provide services to people with disabilities.     

Analysis of the effects of the polymerization route of ethylene‐propylene‐diene rubbers (EPDM) on the properties of polypropylene‐EPDM blends

A comparative study of two ethylene‐propylene‐diene rubbers (EPDM) polymerized by both conventional (Ziegler–Natta catalysts) and new techniques (metallocene catalysts) is presented. For this purpose, thermoplastic elastomers based on isotactic polypropylene (iPP) and EPDM blends at different percentages were prepared and their properties examined. In particular, the processing behavior and mechanical properties are reported. So, the flow properties analyzed by torque value, melt index, and rheological study reveal that the blends containing EPDM synthesized by metallocene catalyst present a smaller viscosity, thus offering better processing behavior. On the other hand, the mechanical properties show that metallocene EPDM rubbers give rise to more elastic materials with a higher deformation at break and resilience as well as a lower compression set. Moreover, the effectiveness of these innovative EPDM rubbers as impact modifiers for PP is demonstrated. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 85: 25–37, 2002     

Protection of stainless steel by polyaniline films against corrosion in aqueous environments

Polyaniline (PANI) thin films were electrochemically deposited by cyclic voltammetry on stainless steel electrode previously covered by a thin film of polyvinyl acetate (PVAc). The corrosion resistance of PANI covered stainless steel substrates was estimated by using potentiodynamic polarization curves and its linear polarization resistance (LPR) was measured in 0.5 M H₂SO₄, 0.5 M NaCl and 0.5 M NaOH aqueous solutions at room temperature. The results indicate that the PANI-PVAc films did improve the corrosion resistance of the stainless steel in NaOH, behaving even worst, in the case of PANI film, than the uncoated substrate. In H₂SO₄ both PANI and PANI-PVAc coatings gave good protection for the stainless steel electrode, with a slightly better performance of PANI-PVAc than PANI. In NaCl solution both PANI and PANI-PVAc films provided a good protection against corrosion. The better performance of PANI-PVAc coatings for corrosion protection in basic media may be due to its major chemical stability compared to simple PANI films, which lose their conductivity in high pH solutions. The E _corr (free corrosion potential) value of the coated substrate was in the passive region of the uncoated substrate in acidic environment but in the active region in neutral or basic environment.     

Degradation of the oxirane ring of epoxidized vegetable oils with solvated acetic acid using cation‐exchange resins

Vegetable oil epoxides (oxiranes) are customarily manufactured using acetic acid (AA) as oxygen carrier and reactant source, in aqueous/organic media. Further attack of the oxirane ring by AA proceeds in this acid‐catalyzed process, lowering yield. We report a study of the degradation of the ring by water‐solvated AA, using Amberlite IR‐120 as heterogeneous catalyst. The ring opening with solvated AA was found to be first order with respect to the concentration of epoxide groups and second order with respect to the carboxylic acid, with an activation energy of 58.7 ± 0.42 kJ mol^?1. This value is within the range found in liquid‐liquid systems (51.3–66.3 kJ mol^?1). Yet, using IR‐120, the degradation increases identically either by adding more mass of catalyst or by reducing its particle diameter while keeping the total mass constant, as both situations lead to higher external (exposed) area of the acidic catalyst (i.e., free protons associated to the sulfonic group) on the outer surface of the ion exchange resin beads. These free protons, in turn, become available to catalyze the attack on the oxirane groups of the long‐chain fatty acids, which cannot enter (diffuse) into the gel phase of the resin. Despite the unavoidable presence of surface‐exposed protons, the degradation can be reduced by several orders of magnitude – for similar process conditions – by using this type of heterogeneous catalysts instead of mineral acids.