Bounded‐Input Control of the Quadrotor Unmanned Aerial Vehicle: A Vision‐Based Approach

In this paper, a bounded‐input controller is designed for the quadrotor vertical take‐off and landing unmanned aerial vehicle (UAV). Visual information is used to localize the aircraft with respect to its environment and an image‐based visual servo scheme is developed to navigate the motion of it. The visual features are selected from perspective image moments and projected on a rotated image plane, which simplifies the controller design. The flow of the features is used as the linear velocity information, and the controller assumes angular velocity and attitude information available for feedback. To design the controller, the dynamics of the quadrotor are decoupled into two parts: translational dynamics and rotational dynamics. First visual data are used to design a bounded‐input controller for the translational dynamics, and then a saturated controller is designed for the rotational dynamics. The boundedness of the controller increases the chance of keeping the visual features in the field of view of the camera. Furthermore, the controllers also cope with the unknown depth of the image, and the external disturbances. The complete stability analysis of the overall system is presented to show that all states are bounded and the error signals converge to zero asymptotically. Simulation examples are provided in both nominal and perturbed conditions which show the effectiveness of the proposed theoretical results.     

Evaluation of a university website’s usability for visually impaired students

Today websites are the tools most commonly used to access information. People with disabilities face difficulties accessing or using information, and the importance of website usability in their lives needs to be recognized. Visually impaired students need to be able to use university websites that inform them about the opportunities and events taking place on campus. This study aims to evaluate the usability of a university website by visually impaired students. In this research, six visually impaired students were interviewed. The assistive technologies they use, as well as the various web pages they wished to use unaided were identified. Following data collection, usability tests were conducted and satisfaction surveys were completed. The usability test was done with five visually impaired students. They were asked to think aloud while performing 11 tasks involving their university’s web pages, including the main page and the pages of student affairs, library and departments and then to accomplish these tasks. In this test, five tasks were not successfully completed by all students. According to the test results, finding final exam dates on the academic calendar posed major difficulties, and accessing the course schedule web page was the task that required the most time. The test results indicated the need for a search engine on each page, a text version for all pages, rearrangement of the web link sequences with tabs and more information about visuals. Suggestions related to the visually impaired students’ needs were offered.     

近红外光谱法测定烷烃分子的拓扑指数

利用近红外光谱法测定了烷烃分子的分子连接指数 ,并探讨了混合烃分子连接指数与单烃分子连接指数之间的关系。结果表明 :单烷烃分子连接指数具有可测性 ,而混合烃分子连接指数与单烃的分子连接指数之间存在线性加和的关系     

Multirobot coordination in pick-and-place tasks on a moving conveyor

This paper considers the problem of multirobot coordination in pick-and-place tasks on a conveyor band. The robot team is composed of identical robots with mutually exclusive, but neighboring workspaces. The products are fed in at one end of the band, move through each workspace sequentially until being picked up and are collected at the other end—if not picked up interim. Each robot has the same task—that is picking up and packaging as many products as possible. We propose an approach based on noncooperative game theory where each robot uses local observations of the conveyor band and their neighbors' actions in order to decide on its actions. The developed algorithm has been implemented and tested in a simulated manufacturing environment using Webots. Results obtained from the simulations are analyzed using a variety of statistical performance measures.     

Eigenclassifiers for combining correlated classifiers

In practice, classifiers in an ensemble are not independent. This paper is the continuation of our previous work on ensemble subset selection [A. Ula?, M. Semerci, O.T. Y?ld?z, E. Alpayd?n, Incremental construction of classifier and discriminant ensembles, Information Sciences, 179 (9) (2009) 1298–1318] and has two parts: first, we investigate the effect of four factors on correlation: (i) algorithms used for training, (ii) hyperparameters of the algorithms, (iii) resampled training sets, (iv) input feature subsets. Simulations using 14 classifiers on 38 data sets indicate that hyperparameters and overlapping training sets have higher effect on positive correlation than features and algorithms. Second, we propose postprocessing before fusing using principal component analysis (PCA) to form uncorrelated eigenclassifiers from a set of correlated experts. Combining the information from all classifiers may be better than subset selection where some base classifiers are pruned before combination, because using all allows redundancy.     

Cost-conscious comparison of supervised learning algorithms over multiple data sets

In the literature, there exist statistical tests to compare supervised learning algorithms on multiple data sets in terms of accuracy but they do not always generate an ordering. We propose Multi²Test, a generalization of our previous work, for ordering multiple learning algorithms on multiple data sets from “best” to “worst” where our goodness measure is composed of a prior cost term additional to generalization error. Our simulations show that Multi²Test generates orderings using pairwise tests on error and different types of cost using time and space complexity of the learning algorithms.     

The ratio of crystallinity and thermodynamical interactions of polycaprolactone with some aliphatic esters and aromatic solvents by inverse gas chromatography

Summary The retention diagrams of benzene, toluene, ethyl benzene, chloro benzene, n-propyl benzene, isopropyl benzene, methyl acetate, ethyl acetate, n-propyl acetate, n-butyl acetate and isoamyl acetate on the polycaprolactone were plotted at temperatures between 70 and 140^oC by inverse gas chromatography technique. Percent crystallinity of polycaprolactone were obtained at temperatures below melting point from the retention diagrams of benzene, toluene and ethyl benzene. It was concluded that the data obtained by inverse gas chromatography were comparable those of obtained by differential scanning calorimetry. Specific retention volume, V_g^o, Flory-Huggins polymer-solvent interaction parameters, ₁₂, the weight fraction activity coefficients of the solvents at infinite dilution, ₁, effective exchange energy parameters, X_eff were determined. Later, the partial molar heat of sorption, H_1,sorp and the partial molar heat of mixing, H₁ were obtained from the slope of the logarithm of specific retention volume, Ln V_g^o versus 1/T plot and from the slope of the logarithm of the weight fraction activity coefficients, ₁versus 1/T plot, respectively.     

城市公交线网优化方法的应用研究

城市公交网络服务水平评价与优化是一项与城市公共交通系统规划与管理密切相关的基础技术，它是公交综合评价与优化技术的重要内容。本文采用OD分布与聚类分析相结合的方式。通过定量研究对丹东市现状公交网络进行分析评价，并提出优化方案设计建议，为城市公交线路的规划设计提供简便易行的方法。