Range-only measurements based target following for wheeled mobile robots

We consider the problem of navigation and guidance of a wheeled mobile robot towards a maneuvering target based on the measurements concerning only the distance from the robot to the target. We propose a sliding mode controller that drives the robot to the predefined distance from the target and makes the robot follow the target at this distance. Mathematically rigorous proof of convergence and stability of the proposed guidance law is presented. Simulation results confirm the applicability and performance of the proposed guidance approach.     

A constructive speed observer design for general Euler–Lagrange systems

Astolfi, Ortega, and Venkatraman (2010) recently proved the existence of a globally exponentially convergent speed observer for general Euler–Lagrange systems. Key to their result, is a function defined by certain integrals which cannot be solved a priori, and may not have explicit analytic solutions. In this paper, this obstacle to a constructive design is removed and equations that solve the speed observer problem are given in closed form. The design is further simplified by removing up to one third of the observer states used in Astolfi et al. (2010). With the significant reduction in complexity, the new observer is easily applied to estimate the angular velocities in a Furuta pendulum example.     

Reachability and stabilization of discrete-time affine systems with disturbances

This paper studies the fundamental problems: whether an affine system affected by additive disturbances is robustly transferable from a source set (simplex) to a target set (polytope) and whether it is robustly stabilizable with its state constrained in a simplex. First, a necessary and sufficient condition is derived for the existence of affine feedback control that solves the robust reachability problem. Further investigation is provided for two situations relying on whether the union of the source set and the target set is convex or non-convex. For the former one, a necessary and sufficient condition is obtained in the form of linear inequalities, while for the latter, several computationally feasible sufficient conditions are found. Second, we show that robust stabilization subject to a state constraint is equivalent to find a feasible solution to a linear equation. Once it is known that either of the problems has a solution by checking the derived conditions, design of control laws is then straightforward.     

Gender discriminating models from facial surface normals

In this paper, we show how to use facial shape information to construct discriminating models for gender classification. We represent facial shapes using 2.5D fields of facial surface normals, and investigate three different methods to improve the gender discriminating capacity of the model constructed using the standard eigenspace method. The three methods are novel variants of principal geodesic analysis (PGA) namely (a) weighted PGA, (b) supervised weighted PGA, and (c) supervised PGA. Our starting point is to define a weight map over the facial surface that indicates the importance of different locations in discriminating gender. We show how to compute the relevant weights and how to incorporate the weights into the 2.5D model construction. We evaluate the performance of the alternative methods using facial surface normals extracted from 3D range images or recovered from brightness images. Experimental results demonstrate the effectiveness of our methods. Moreover, the classification accuracy, which is as high as 97%, demonstrates the effectiveness of using facial shape information for gender classification.     

Cooperative strategies of wireless access technologies: A game-theoretic analysis

The wireless Internet has to overcome the problem of spectrum scarcity as the number of mobile equipments could increase even by an order of magnitude in the next decade; the cooperation of mobile devices is foreseeable as a feasible solution to the problems. There exists a large body of literature on opportunistic ad hoc networking including Pelusi et al. (2006) [25], Chen et al. (2006) [26], Hui et al. (2005) [27]; however, the impact of the location of the devices on their access method selection is not yet appropriately dealt with. In this paper, we address this issue based on game-theoretic analyses. The key contribution of our work is threefold. First, we model the access method selection of mobile devices by extending the classical forwarding game with position, mobility, and availability of the devices. Second, we apply the model in game-theoretic analyses to better understand the optimal cooperation strategies in the presence of heterogeneous wireless technologies. We further extend our framework to include uncertainty. Finally, we present the applicability of the model in a cognitive radio scenario where complex structures of parameters are included.     

Characterization of microdevices for ferrous chloride separation for biosensing applications

Ferrous chloride has a variety of applications such as a reducing flocculation agent in waste-water treatment, especially for wastes containing chromate, in the laboratory synthesis of iron complexes and it is employed as a reducing agent in many organic syntheses. The device used for experiment was fabricated on the silicon wafer as support for two electrodes in a SU8 polymer microchannel with an inlet, for the injection of aqueous solution of ferrous chloride, and two outlets, for the two by-products of separated solutions. The various parameters of the device were measured by White Light Interferometer (WLI) and Scanning Electron Microscopy (SEM). The magnetic field created by applying different types of potential between two electrodes determined ferrous chloride to separate in ferrous oxide and chlorine (in gaseous form). If a protein is added in this solution we have the possibility to immobilize the protein on the iron particles and on the channel area. The electrical results were collected using a semiconductor system analyzer Keithley and were examined subsequently. The Fe complexes deposited on the electrodes were characterized by XRD analyses.     

Integrated optical pH sensor using replicated chirped grating coupler sensor chips

Integrated optical sensor chips suitable for high-resolution pH measurements are presented. The pH-sensitive swelling of a polymer membrane is detected by refractometry using a compact multi-channel sensor module. The signal transduction is achieved by means of chirped grating couplers which allow simple yet high functionality sensor modules to be built. The experiments have been performed with high sensitivity replicated polycarbonate TiO₂ waveguide sensor chips coated with an ultrathin photopatterned hydrogel membrane having functional groups which reversibly change from the neutral state to a charged state upon acidification. A resolution δpH <±1.1×10⁻⁴ in terms of the pH (at pH 7.5) has been obtained in a dual-channel module with size 10×10×10 cm³.     

The UML as a formal modeling notation

The Unified Modeling Language (UML) is an Object Management Group (OMG) object-oriented (OO) modeling notation standard. It consists of a set of notations for modeling systems from a variety of views and at varying levels of abstraction. While the UML reflects some of the best OO modeling experiences available, it suffers from a lack of precise semantics that is necessary if one is to use the notations to precisely model systems and to rigorously reason about the models. In this paper we discuss some of the problems with the current UML semantic document and present the approach that the precise UML group (pUML) group is using to develop a precise semantics for the UML. The approach utilizes mathematical techniques to explore and gain insights into appropriate semantics for UML modeling concepts. The insights and formal expressions will then be used to develop a UML semantics document written in natural language that defines the semantics in a precise, consistent, and understandable manner.     

Deriving a transient stability index by neural networks for power-system security assessment

This paper proposes an approach for establishing a transient stability classifier and derives a continuous transient stability index, using a three-layer feed-forward artificial neural network (ANN), for on-line security assessment in large power systems. With the derived stability index, a novel classification scheme creating an ‘indeterminate’ class, is introduced to minimize misclassifications and to improve the reliability of the classification results. Several post-fault abstract attributes about the system generators’ acceleration rates and kinetic energies provide the basis for the stability classification. In order to derive the transient stability index, a semi-supervised backpropagation (BP) learning algorithm, making use of a specially defined error function, is developed. The proposed approach can not only distinguish whether a power system is stable or unstable, on the basis of the specific post-fault attributes, but can also provide a relative stability quantifier. Furthermore, as the number of the selected abstract attributes is independent of the system size, the methodology of the proposed approach can realistically be applied to large power systems. The 10-unit 39-bus New England power system is employed to demonstrate the proposed approach. The numerical results show that the ANN-based classifier can assess the transient stability reasonably well.     

Using RFID for the management of pharmaceutical inventory — system optimization and shrinkage control

Motivated by a case study at a radiology practice, we analyze the incremental benefits of RFID technology over barcodes for managing pharmaceutical inventories. Unlike barcode technology, RFID enables accurate real-time visibility, which in turn enables several process improvements. We analyze the impact of automatic counting and discuss the system redesign critical to optimizing the inventory policy and eliminating shrinkage. We show that continuous review is superior to periodic review whenever accurate real-time information is available at no additional cost. We explain how RFID-enabled strategies vary with inventory parameters and provide a cost-benefit analysis for the implementation of RFID for the radiology practice.