Selection of network and learning parameters for an adaptive neural robotic control scheme

This paper presents the results of a study in the design of a neural network based adaptive robotic control scheme. The neural network used here is a two hidden layer feedforward network and the learning scheme is the well-known backpropagation algorithm. The neural network essentially provides the inverse of the plant and acts in conjunction with a standard PD controller in the feedback loop. The objective of the controller is to accurately control the end position of a single link manipulator in the presence of large payload variations, variations in the link length and also variations in the damping constant. Based on results of this study, guidelines are presented in selecting the number of neurons in the hidden layers and also the parameters for the learning scheme used for training the network. Results also indicate that increasing the number of neurons in the hidden layer will improve the convergence speed of learning scheme up to a certain limit beyond which the addition of neurons will cause oscillations and instability. Guidelines for selecting the proper learning rate, momentum and fast backpropagation constant that ensure stability and convergence are presented. Also, a relationship between the r.m.s. error and the number of iterations used in training the neural network is established.     

A new hybrid active power filter (APF) topology

In this paper, a new hybrid active power filter topology is presented. A higher-voltage, low-switching frequency insulated gate bipolar transistor (IGBT) inverter and a lower-voltage high-switching frequency metal oxide semiconductor field effect transistor (MOSFET) inverter are used in combination to achieve harmonic current compensation. The function of the IGBT inverter is to support utility fundamental voltage and to compensate for the fundamental reactive power. The MOSFET inverter fulfills the function of harmonic current compensation. To further reduce cost and to simplify control, the IGBT and MOSFET inverters share the same DC-link via a split capacitor bank. With this approach harmonics can be cancelled over a wide frequency range. Compared to the conventional APF topology, the proposed approach employs lower dc-link voltage and generates less noise. Simulation and experimental results show that the proposed active power filter topology is capable of compensating for the load harmonics     

Motivations for the San Fernando Valley Secession Movement: The Political Dynamics of Secession

I argue that the motivation for the San Fernando Valley secession movement can be explained as a desire for local control based on democratic ideals, but I emphasize that the movement is also motivated in part by the tangible benefits that accompany such autonomy. After a brief look at possible economic and racial motivations behind the secession movement, I look for a political divide between the city and the Valley, based on literature that has found political divisions between urban and suburban areas. Evidence of a political divide is mixed, but does indicate that the Valley lacks representation in comparison to the rest of the city. Valley residents may also fear increasing minority political power, which could erode the dominance of Valley whites at the polls. There is also evidence that those who favor secession are most dissatisfied with representation and most concerned with getting their fair share of services from the city, indicating a strong desire for more local control. Images of a smaller, more democratic government, and a more engaged local civic community are prime motivations in the Valley’s quest for autonomy, though the possibility of reduced taxes, land use control, and increased political power do offer secessionists clear substantive benefits in addition to more democratic goals.     

Chemical leaching and magnetic properties of non-equilibrium Al(Co–Cu) powders produced by rod milling

We report upon the chemical leaching and magnetic properties of nanoscale crystalline Al_0.6(Co₂₅Cu₇₅)_0.4 alloy powders produced by rod milling. X-Ray diffractometry (XRD), transmission electron microscopy, differential scanning calorimetry, vibrating sample magnetometry, and superconducting quantum interference device magnetometry were used to characterize the as-milled and leached specimens. After 400 h of milling, only the b.c.c. phase of the intermetallic compound γ-Al_3.892Cu_6.10808 was detected by XRD. After annealing the leached specimen at 600 °C for 1 h, the nanoscale crystalline phase was transformed into the f.c.c. Cu phase, and this was accompanied by a change in the magnetic properties. The peaks of the magnetization shifted towards lower temperature with increasing external field. The temperature behavior at T_f (45 K) for direct current (d.c.) magnetic susceptibility measurements was quite different for field cooling and zero-field cooling. After cooling the leached specimen from 800 °C, magnetization increased gradually.     

An experimental study of heat transfer characteristics of a pair of longitudinal vortices using color capturing technique

The flow and heat transfer characteristics of a pair of embedded counter-rotating vortices are studied experimentally. In order to control the strength of longitudinal vortices, angle of attack of the vortex generators is varied from ±20° to ±45°, and the spacing between the vortex generators is 4 cm apart. The heat transfer measurements using thermo-chromatic liquid crystal are made to provide the local surface distributions of heat transfer coefficients. The following conclusions are obtained from the present experiment. For the common-flow-down cases, two maximum values in the local heat transfer distributions exist for the three angles of attack. With the common-flow-up cases, only one maximum value exists. The common-flow-down cases show better heat transfer characteristics than the common-flow-up cases.     

NO emission characteristics in counterflow diffusion flame of blended fuel of H2/CO2/Ar

Flame structure and NO emission characteristics in counterflow diffusion flame of blended fuel of H₂/CO₂/Ar have been numerically simulated with detailed chemistry. The combination of H₂, CO₂ and Ar as fuel is selected to clearly display the contribution of hydrocarbon products to flame structure and NO emission characteristics due to the breakdown of CO₂. A radiative heat loss term is involved to correctly describe the flame dynamics especially at low strain rates. The detailed chemistry adopts the reaction mechanism of GRI 2.11, which consists of 49 species and 279 elementary reactions. All mechanisms including thermal, NO₂, N₂O and Fenimore are taken into account to separately evaluate the effects of CO₂ addition on NO emission characteristics. The increase of added CO₂ quantity causes flame temperature to fall since at high strain rates a diluent effect is prevailing and at low strain rates the breakdown of CO₂ produces relatively populous hydrocarbon products and thus the existence of hydrocarbon products inhibits chain branching. It is also found that the contribution of NO production by N₂O and NO₂ mechanisms are negligible and that thermal mechanism is concentrated on only the reaction zone. As strain rate and CO₂ quantity increase, NO production is remarkably augmented. Copyright © 2002 John Wiley & Sons, Ltd.     

The effect of doubly tapered strut morphology on the plastic yield surface of cellular materials

Although the literature on the mechanics of cellular materials is vast, there is no theoretical model to account for the effects of axial yielding of struts aligned to the applied loading direction on the plastic yield surface under multiaxial loading conditions. An anisotropic hexagonal model having tapered strut morphology is developed to show these effects on the plastic yield surface under multiaxial tensile loading condition. This model covers several types of cellular structure such as two-dimensional (2D) hexagonal and square cellular materials, and three-dimensional (3D) hexagonal and rhombic cellular materials of rod-like columnar structure. A tetrahedral element with tapered strut morphology is also used for a foam model to illustrate these effects on the yield surface under axisymmetric loading condition. Plastic collapse due to bending moment in the inclined struts is a dominant mode. However, under multiaxial tensile loading, the collapse due to axial yielding of struts parallel to the loading direction is found to be an important mode. The shape of plastic yield surface was found to depend not only on relative density but also on the strut morphology.     

Natural quality two-band LPC coding of speech at 880 bit/s withframe interpolation

A novel frame interpolation technique for two-band linear predictive coding (LPC) vocoders is proposed for maintaining natural speech quality at bit rates below 1 kbit/s. Experimental results show that the speech quality of the proposed vocoder is quite natural at bit rates 880 bit/s and comparable to that of 4.8 kbit/s CELP     

Smart TDI readout circuit for long-wavelength IR detector

A smart time delay and integration (TDI) readout circuit is suggested which performs background suppression, cell-to-cell non-uniformity compensation, and dead pixel correction. Using the smart TDI readout circuit, the integration capacitor area occupying almost the whole area of a unit-cell can be reduced to one-fifth and transimpedance gain can increase by five times. From measurement results, it is found that the skimming current error for a few hundred nA background current is < 1.25 nA corresponding to LSB/2 of ADC and the non-uniformity introduced by cell-to-cell background current variation is reduced to 1.02 nA     

Nondestructive evaluation of the characteristics of degraded materials using backward radiated ultrasound

The frequency dependency of Rayleigh surface wave is investigated indirectly by measuring the angular dependency of the backward radiation of the incident ultrasonic wave in two kinds of degraded specimens by scuffing or corrosion. Then, the frequency dependency is compared with the residual stress distribution or the corrosion-fatigue characteristics for the scuffed or corroded specimens, respectively. The width of the backward radiation profile increases with the increase of the variation in residual stress distribution for the scuffed specimens. In the corroded specimens, the profile width decreases with the increase of the effective aging layer thickness and is inversely proportional to the exponent, m, in the Paris’ law that can predict the crack size increase due to fatigue. The result observed in this study demonstrates high potential of backward radiated ultrasound as a tool for nondestructive evaluation of subsurface gradient of material degradation generated by scuffing or corrosion.