Neuro-control of unmanned underwater vehicles

Unmanned underwater vehicles (UUVs) typically operate in uncertain and changing environments. Since the dynamics of UUVs are highly nonlinear and their hydrodynamic coefficients vary with different operating conditions, a high-performance control system of a UUV is needed to have the capacities of learning and adaptation to the variations in the UUV's dynamics. This paper presents the utilization of an adaptive neuro-control scheme as a controller for controlling a UUV in six degrees of freedom. No prior offline training phase and no explicit knowledge of the structure of the vehicle are required, and the proposed scheme exploits the advantages of both neural network control and adaptive control. Asymptotic convergence of the UUV's tracking errors and stability of the presented control system is guaranteed on the basis of the Lyapunov theory. In this paper, neural network architectures based on radial basis functions and multilayer structures have been used to evaluate the performance of the adaptive controller via computer simulation.     

Perceived Autonomy Support in Physical Education and Leisure-Time Physical Activity: A Cross-Cultural Evaluation of the Trans-Contextual Model.

This study tested the replicability and cross-cultural invariance of a trans-contextual model of motivation across 4 samples from diverse cultures. The model proposes a motivational sequence in which perceived autonomy support (PAS) in physical education (PE) predicts autonomous motivation, intentions, and behavior in a leisure-time (LT) physical activity context. High-school pupils from Britain, Greece, Poland, and Singapore completed measures of PAS and autonomous motives in a PE context. Goodfitting path-analytic models supported the main hypotheses of the trans-contextual model in the British, Greek, and Singaporean samples. PAS in PE had significant total effects on autonomous motives in LT, except in the Polish sample. The effect of autonomous motives in LT on physical activity intentions and behavior was mediated by theory of planned behavior constructs in all samples. Results supported the main hypotheses of the trans-contextual model across cultures, although the effect of PAS was not pervasive in the Polish sample. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A Comparison of Word- and Sense-Based Text Categorization Using Several Classification Algorithms

Most of the text categorization algorithms in the literature represent documents as collections of words. An alternative which has not been sufficiently explored is the use of word meanings, also known as senses. In this paper, using several algorithms, we compare the categorization accuracy of classifiers based on words to that of classifiers based on senses. The document collection on which this comparison takes place is a subset of the annotated Brown Corpus semantic concordance. A series of experiments indicates that the use of senses does not result in any significant categorization improvement.     

This is not classified: everyday information seeking and encountering in smart urban spaces

We present a multipronged comparative study of citizens’ self-proclaimed information needs and actual information seeking behavior in smart urban spaces. We first conducted several user studies to identify the types of information services that citizens believed to be useful in urban setting utilizing methods ranging from contextual inquiry with lo-fi prototypes to “card sorting” exercise with a separate set of participants, and finally to implementing selected services. We then made a sizeable constructive intervention into the urban space by deploying in a city center 12 large, interactive public displays called “hotspots” to offer a wide range of previously identified information services. We collected comprehensive qualitative and quantitative data on the usage of the hotspots and their services by the general public during 13 months. Our study reveals discrepancies between a priori and a posteriori information seeking strategies extracted from the self-proclaimed information needs and the actual usage of the hotspots.     

Development of an innovative information system: a fish identification e-key with update capabilities

A dichotomous identification key organizes fishes based on their similarities and differences, and is an essential tool in which ichthyologists, biologists, fishery biologists and others can use for accurate identification of specimens or finding information on correct names, biology and distribution of species. This research work focuses on the development and implementation of a totally new information system that is able to identify correctly fish species names. The developed system is a fully interactive fish identification e-key, which can be used in both forms; locally and remotely via the World Wide Web. This new dichotomous classification e-key provides the capability to identify any species in a compact and easy to use environment, which gives the user excellent operation capabilities and complete information about all included fish species. Moreover, the application provides the capability to search for a random fish species and to show a list which includes all the fish species that currently exist in the application's database. There is an extra attribute that makes the new system novel, and this is its expandability: the information system is fully dynamic having the capability to be extended every time a new species is identified. This attribute is innovative because, until now, there is not any fish identification e-key that gives the user the capability to insert new fish species into the application's database.     

Impact of Approximation Error on the Decisions of LDPC Decoding

In this paper the impact of the approximation error on the decisions taken by LDPC decoders is studied. In particular, we analyze the mechanism, by means of which approximation error alters the decisions of a finite-word-length implementation of the decoding algorithm, with respect to the decisions taken by the infinite precision case, approximated here by double-precision floating-point. We focus on four popular algorithms for LDPC decoding, namely Log Sum-Product, Min-Sum, normalized Min-Sum and offset Min-Sum. A corresponding theoretical model is developed which derives an expression for the probability of altering the decision due to approximation. The model is applied to the above algorithms for the case of the first iteration as well as for higher numbers of iterations. Finally, experimental results prove the validity of the proposed model.     

Energy‐aware traffic allocation to optical lightpaths in multilayer core networks

The amount of traffic that is generated by users and high‐demanding services is expected to rise dramatically in the forthcoming years. This will unavoidably deteriorate the performance and increase the consumed energy of core networks, thus constraining the growth of Internet. To this effect, multilayer traffic engineering schemes in IP/multiprotocol label switching over dense wavelength division multiplexing networks have been proposed for achieving improved performance and increased energy savings by flexibly allocating traffic to optical lightpaths. In particular, the consumed energy in a router can be minimized if the lightpaths are established so as to traverse a router without electronic processing and conversion of their signal between optical and electrical layer. Accordingly, this paper aims at providing an energy‐aware solution to the problem of traffic allocation to optical lightpaths in multilayer core networks. The problem is first formulated and then a solution based on a heuristic algorithm, called energy‐aware traffic allocation to optical lightpaths (ETAL) is proposed. The efficiency and worthiness of ETAL is validated through numerous scenarios and simulations. The derived results indicate that the proposed algorithm is an efficient traffic engineering solution that exhibits better performance in terms of consumed energy (up to 44%), when compared to other similar traffic allocation schemes. Copyright © 2015 John Wiley & Sons, Ltd.     

Application of Inductive Topological Transfer Function Generation for a Cascaded Low-Pass Filter

This work presents applications of an inductive topological approach in the calculation of the transfer function of a cascading network control system. The method provides a very versatile and effective way of counting all the graphs that contribute and of translating them into their algebraic contribution. The contributing graphs are very simple and reflect the morphology of the original control system signal flow graph. Application of the method and results are presented for an n-cell RC network. We derive an analytical formula relating ω(3 dB) to the filter size (n) and R _j C _j (j=1,2,…,n). This formula can be used for designing preset frequency range self-loaded LP filters by varying their size. We also derive general expressions for the sensitivities which we use to observe a sensitivity-insensitivity filter transition for various frequency ranges, relaxation times, and, most importantly, filter sizes.     

Optimization of biogas production by co-digesting whey with diluted poultry manure

A series of laboratory experiments were performed in continuously stirred tank reactors at mesophilic conditions, fed semi-continuously with various mixtures of diluted poultry manure and whey. Co-digestion of whey with manure was proved to be possible without any need of chemical addition up to 50% participation of whey (by volume) to the daily feed mixture. Up to this point, specific biogas production (L/kg VS_in) remained roughly unchanged at the various whey fractions added in the feed mixture, mainly due to the lower chemical oxygen demand (COD) of whey compared to that of manure. At whey fractions above 50%, the reactor turned to be unstable, as shown by the considerable decrease in pH and biogas production. The experiments were scaled up to a continuously stirred pilot tank reactor, which had previously been acclimated to poultry manure digestion. Whey was gradually introduced in the feed, at increasing rates, replacing equivalent volumes of manure, in such a way, that total COD of the feed remained constant. For an hydraulic retention time of 18 days at 35 °C and organic loading rate of 4.9 g COD/L_R d, it was found that biogas production increased from 1.5 to 2.2 L/L_R d (almost 40%). This could be mainly attributed to the higher biodegradability of carbohydrates (main constituent of whey) compared to lipids (main constituent of manure) and to the correction (increase) of C:N ratio.