Geometrical approach of planar hyper-redundant manipulators: Inverse kinematics,path planning and workspace

A new method for inverse kinematics for hyper-redundant manipulators is proposed in this paper to plan the path of the end-effector. The basic idea is that for a given smooth path consisting of points close enough to each other; computing the inverse kinematics for these points is carried out geometrically using the proposed method. In this method, the angles between the adjacent links are set to be the same, which makes lining up of two or more joint axes impossible; therefore, avoiding singularities. The manipulability index has been used to show how far the manipulator from the singularity configuration is. The determination of the workspace of the manipulator using the proposed method has been presented in this paper. The simulation results have been carried out on a planar and a three dimensional manipulators. The effectiveness of the proposed method is clearly demonstrated by comparing its result with results calculated by the well-known method of measuring manipulability which is used for singularity avoidance for the last two decades.     

Designing genetic regulatory networks using fuzzy Petri nets approach

In this paper, we have successfully presented a fuzzy Petri net (FPN) model to design the genetic regulatory network. Based on the FPN model, an efficient algorithm is proposed to automatically reason about imprecise and fuzzy information. By using the reasoning algorithm for the FPN, we present an alternative approach that is more promising than the fuzzy logic. The proposed FPN approach offers more flexible reasoning capability because it is able to obtain results with fuzzy intervals rather than point values. In this paper, a novel model with a new concept of hidden fuzzy transition (HFT) to design the genetic regulatory network is developed. We have built the FPN model and classified the input data in terms of time point and obtained the output data, so the system can be viewed as the two-input and one output system. This method eliminates possible false predictions from the classical fuzzy model thereby allowing a wider search space for inferring regulatory relationship. The experimental results show the proposed approach is feasible and acceptable to design the genetic regulatory network and investigate the dynamical behaviors of gene network.     

Selective potentiometric determination of uric acid with uricase immobilized on ZnO nanowires

In this study, a potentiometric uric acid biosensor was fabricated by immobilization of uricase onto zinc oxide (ZnO) nanowires. Zinc oxide nanowires with 80-150 nm in diameter and 900 nm to 1.5 μm in lengths were grown on the surface of a gold coated flexible plastic substrate. Uricase was electrostatically immobilized on the surface of well aligned ZnO nanowires resulting in a sensitive, selective, stable and reproducible uric acid biosensor. The potentiometric response of the ZnO sensor vs Ag/AgCl reference electrode was found to be linear over a relatively wide logarithmic concentration range (1-650 μM) suitable for human blood serum. By applying a Nafion^® membrane on the sensor the linear range could be extended to 1-1000 μM at the expense of an increased response time from 6.25 s to less than 9 s. On the other hand the membrane increased the sensor durability considerably. The sensor response was unaffected by normal concentrations of common interferents such as ascorbic acid, glucose, and urea.     

Selective determination of urea using urease immobilized on ZnO nanowires

Well-aligned zinc oxide (ZnO) nanowire arrays were fabricated on gold-coated plastic substrates using a low-temperature aqueous chemical growth (ACG) method. The ZnO nanowire arrays with 50–130 nm diameters and ∼1 μm in lengths were used in an enzyme-based urea sensor through immobilization of the enzyme urease that was found to be sensitive to urea concentrations from 0.1 mM to 100 mM. Two linear sensitivity regions were observed when the electrochemical responses (EMF) of the sensors were plotted vs. the logarithmic concentration range of urea from 0.1 mM to 100 mM. The proposed sensor showed a sensitivity of 52.8 mV/decade for 0.1–40 mM urea and a fast response time less than 4 s was achieved with good selectivity, reproducibility and negligible response to common interferents such as ascorbic acid and uric acid, glucose, K⁺ and Na⁺ ions.     

Efficient single-pass frequent pattern mining using a prefix-tree

The FP-growth algorithm using the FP-tree has been widely studied for frequent pattern mining because it can dramatically improve performance compared to the candidate generation-and-test paradigm of Apriori. However, it still requires two database scans, which are not consistent with efficient data stream processing. In this paper, we present a novel tree structure, called CP-tree (compact pattern tree), that captures database information with one scan (insertion phase) and provides the same mining performance as the FP-growth method (restructuring phase). The CP-tree introduces the concept of dynamic tree restructuring to produce a highly compact frequency-descending tree structure at runtime. An efficient tree restructuring method, called the branch sorting method, that restructures a prefix-tree branch-by-branch, is also proposed in this paper. Moreover, the CP-tree provides full functionality for interactive and incremental mining. Extensive experimental results show that the CP-tree is efficient for frequent pattern mining, interactive, and incremental mining with a single database scan.     

Numerical study of asymmetric laminar flow of micropolar fluids in a porous channel

A numerical study is presented for the two-dimensional flow of a micropolar fluid in a porous channel. The channel walls are of different permeability. The fluid motion is superimposed by the large injection at the two walls and is assumed to be steady, laminar and incompressible. The micropolar model due to Eringen is used to describe the working fluid. The governing equations of motion are reduced to a set of non-linear coupled ordinary differential equations (ODEs) in dimensionless form by using an extension of Berman’s similarity transformations. A numerical algorithm based on finite difference discretization is employed to solve these ODEs. The results obtained are further improved by Richardson’s extrapolation for higher order accuracy. Comparisons with the previously published work are performed and are found to be in a good agreement. It has been observed that the velocity and microrotation profiles change from the most asymmetric shape to the symmetric shape across the channel as the parameter R or the permeability parameter A are varied between their extreme values. The results indicate that larger the injection velocity at a wall relative to the other is, smaller will be the shear stress at it than that at the other. The position of viscous layer has been found to be more sensitive to the permeability parameter A than to the parameter R. The micropolar fluids reduce shear stress and increase couple stress at the walls as compared to the Newtonian fluids.     

From dynamic influence nets to dynamic Bayesian networks: A transformation algorithm

This paper presents an algorithm to transform a dynamic influence net (DIN) into a dynamic Bayesian network (DBN). The transformation aims to bring the best of both probabilistic reasoning paradigms. The advantages of DINs lie in their ability to represent causal and time‐varying information in a compact and easy‐to‐understand manner. They facilitate a system modeler in connecting a set of desired effects and a set of actionable events through a series of dynamically changing cause and effect relationships. The resultant probabilistic model is then used to analyze different courses of action in terms of their effectiveness to achieve the desired effect(s). The major drawback of DINs is their inability to incorporate evidence that arrive during the execution of a course of action (COA). Several belief‐updating algorithms, on the other hand, have been developed for DBNs that enable a system modeler to insert evidence in dynamic probabilistic models. Dynamic Bayesian networks, however, suffer from the intractability of knowledge acquisition. The presented transformation algorithm combines the advantages of both DINs and DBNs. It enables a system analyst to capture a complex situation using a DIN and pick the best (or close‐to‐best) COA that maximizes the likelihood of achieving the desired effect. During the execution, if evidence becomes available, the DIN is converted into an equivalent DBN and beliefs of other nodes in the network are updated. If required, the selected COA can be revised on the basis of the recently received evidence. The presented methodology is applicable in domains requiring strategic level decision making in highly complex situations, such as war games, real‐time strategy video games, and business simulation games. © 2009 Wiley Periodicals, Inc.     

On partial-information optimal singular control problem for mean-field stochastic differential equations driven by Teugels martingales measures

This paper is concerned with partial-information mixed optimal stochastic continuous–singular control problem for mean-field stochastic differential equation driven by Teugels martingales and an independent Brownian motion, where the Teugels martingales are a family of pairwise strongly orthonormal martingales associated with Lévy processes. The control variable has two components; the first being absolutely continuous, and the second singular. Partial-information necessary and sufficient conditions of optimal continuous–singular control for these mean-field models are investigated. As an illustration, this paper studies a partial-information linear quadratic control problem of mean-field type involving continuous–singular control.     

H∞ state estimation of generalised neural networks with interval time-varying delays

This paper focuses on studying the H_∞ state estimation of generalised neural networks with interval time-varying delays. The integral terms in the time derivative of the Lyapunov–Krasovskii functional are handled by the Jensen’s inequality, reciprocally convex combination approach and a new Wirtinger-based double integral inequality. A delay-dependent criterion is derived under which the estimation error system is globally asymptotically stable with H_∞ performance. The proposed conditions are represented by linear matrix inequalities. Optimal H_∞ norm bounds are obtained easily by solving convex problems in terms of linear matrix inequalities. The advantage of employing the proposed inequalities is illustrated by numerical examples.     

Asymptotic Stability of Cohen–Grossberg BAM Neutral Type Neural Networks with Distributed Time Varying Delays

This paper is concerned with the problem of asymptotic stability of neutral type Cohen–Grossberg BAM neural networks with discrete and distributed time-varying delays. By constructing a suitable Lyapunov–Krasovskii functional (LKF), reciprocal convex technique and Jensen’s inequality are used to delay-dependent conditions are established to analysis the asymptotic stability of Cohen–Grossberg BAM neural networks with discrete and distributed time-varying delays. These stability conditions are formulated as linear matrix inequalities (LMIs) which can be easily solved by various convex optimization algorithms. Finally numerical examples are given to illustrate the usefulness of our proposed method.