Simultaneous state estimation and parameter identification in linear fractional order systems using coloured measurement noise

In the present paper, the identification and estimation problem of a single-input–single-output (SISO) fractional order state-space system will be addressed. A SISO state-space model is considered in which parameters and also state variables should be estimated. The canonical fractional order state-space system will be transformed into a regression equation by using a linear transformation and a shift operator that are appropriate for identification. The identification method provided in this paper is based on a recursive identification algorithm that has the capability of identifying the parameters of fractional order state-space system recursively. Another subject that will be addressed in this paper is a novel fractional order Kalman filter suitable for the systems with coloured measurement noise. The promising performance of the proposed methods is verified using two stable fractional order systems.     

Optimal motion planning for parallel robots via convex optimization and receding horizon

In this paper, the problem of motion planning for parallel robots in the presence of static and dynamic obstacles has been investigated. The proposed algorithm can be regarded as a synergy of convex optimization with discrete optimization and receding horizon. This algorithm has several advantages, including absence of trapping in local optimums and a high computational speed. This problem has been fully analyzed for two three-DOF parallel robots, ie 3s-RPR parallel mechanism and the so-called Tripteron, while the shortest path is selected as the objective function. It should be noted that the first case study is a parallel mechanism with complex singularity loci expression from a convex optimization problem standpoint, while the second case is a parallel manipulator for which each limb has two links, an issue which increases the complexity of the optimization problem. Since some of the constraints are non-convex, two approaches are introduced in order to convexify them: (1) A McCormick-based relaxation merged with a branch-and-prune algorithm to prevent it from becoming too loose and (2) a first-order approximation which linearizes the non-convex quadratic constraints. The computational time for the approaches presented in this paper is considerably low, which will pave the way for online applications.     

A Learning Behavior Based Controller for Maintaining Balance in Robotic Locomotion

The Behavior Based Locomotion Controller (BBLC) extends the applicability of the behavior based control (BBC) architecture to redundant systems with multiple task-space motions. A set of control behaviors are attributed to each task-space motion individually and a reinforcement learning algorithm is used to select the combination of behaviors which can achieve the control objective. The resulting behavior combination is an emergent control behavior robust to unknown environments due to the added learning capability. Hence, the BBLC is applicable to complex redundant systems operating in unknown environments, where the emergent control behaviors can satisfy higher level control objectives such as balance in locomotion. The balance control problem of two robotic systems, a bipedal robot walker and a mobile manipulator, are used to study the performance of this controller. Results show that the BBLC strategy can generate emergent balancing strategies capable of adapting to new unknown disturbances from the environment, using only a small fixed library of balancing behaviors.     

An Efficient Finite Difference Method for The Time‐Delay Optimal Control Problems With Time‐Varying Delay

In this paper, an efficient finite difference method is presented for the solution of time‐delay optimal control problems with time‐varying delay in the state. By using the Pontryagin's maximum principle, the original time‐delay optimal control problem is first transformed into a system of coupled two‐point boundary value problems involving both delay and advance terms. Then the derived system is converted into a system of linear algebraic equations by using a second‐order finite difference formula and a Hermite interpolation polynomial for the first‐order derivatives and delay terms, respectively. The convergence analysis of the proposed approach is provided. The new scheme is also successful for the optimal control of time‐delay systems affected by external persistent disturbances. Numerical examples are included to demonstrate the validity and applicability of the new technique. Some comparative results are included to illustrate the effectiveness of the proposed method.     

Evolution of quantum correlations in the open quantum systems consisting of two coupled oscillators

The open quantum systems consisting of coupled and uncoupled asymmetric oscillators are considered with an initial quantum-dot trapped-ion coherent state. The quantum correlations between spatial modes of this trapped ion are examined to find their dependence on the temperature, asymmetric parameter, dissipation coefficient and the magnetic field. It is observed that the discord of the initial state is an increasing function of the asymmetric parameter and the magnetic field. Moreover, in the case of two uncoupled modes, entanglement and discord are decreasing functions of temperature and the dissipation coefficient. However, as the temperature and dissipation coefficient increase, the discord fades out faster. In the case of two coupled modes, as the temperature and dissipation coefficient increase, the sudden death of the entanglement and fade out of the discord happen sooner; moreover, as the magnetic field increases, the entanglement sudden death and the discord fade out time occur sooner. Also, with the increase in the asymmetric parameter, the entanglement sudden death is postponed. In addition, in the asymmetric system, appreciable discord can be created in the temperature range 0–10 K, while appreciable entanglement can be created in the temperature range 0–5 mK. Finally, it is observed that non-monotonic evolution of quantum correlations is due to coupling of modes.     

A multi-objective decision approach for optimal augmentation and expansion of transmission network

In this paper, the authors propose a new multi-objective decision making approach for optimal augmentation and expansion of transmission network. Fundamental elements of the proposed approach are value of reliability and electricity market. Investment Cost (IC), Total Congestion Cost (TCOC) and Social Welfare (SW) and also Average Load Interruption Cost (ALIC) are the four objectives considered in the optimization, while short-term and long-term constraints, are modeled as constraints. The proposed model is one of complicated non-convex optimization problem having a nonlinear, mixed-integer nature. Therefore, a new and robust hybrid Improved Harmony Search Algorithm (IHSA) and Quadratic Programming (QP) is used and followed by a Fuzzy Satisfying Method (FSM) to determine the final optimal solution. The feasibility and capabilities of the proposed approach are tested on the 6-machine 8-bus test system. The detailed results of the case studies are presented and thoroughly analyzed. The obtained results illustrate the sufficiency and profitableness of the newly developed method in augmentation and expansion of transmission network when, compared with other methods.     

Improving the mechanical,thermal and electrical properties of polyurethane- graphene oxide nanocomposites synthesized by in-situ polymerization of ester-based polyol with hexamethylene diisocyanate

Many polyols or diols have been used for the synthesis of polyurethanes (PU), however, to the best of our knowledge, PU-graphene oxide (GO) nanocomposites synthesized with ester-based polyols have been rarely studied. In this work ester-based polyol synthesized by the reaction of adipic acid and 1,4 butane diol, was in-situ polymerized with hexamethylene diisocyanate (HDI) and GO to prepare PU-GO nanocomposites. The content of GO was changed from 1 to 2.5 wt% and its effect on the mechanical, thermal and electrical properties of the samples were examined. The presence of GO more than 1.5% in the nanocomposites resulted in brittle samples and reduced the tensile strength, however, the Young’s modulus of the samples containing 1 and 1.5% was increased to 11 and 12.08-fold (275 and 302 MPa) compared to the neat PU (25 MPa), respectively. The shore A hardness of the samples was increased from 86 for PU to 96 for PUGO-1.5. The abrasion resistance of the samples was decreased by increasing the GO content. Results of the thermogravimetric analysis showed that higher amounts of GO increase the thermal stability of the samples. The chemical and physical interactions between the surface of GO nanolayers and the PU chains were confirmed by FTIR spectroscopy. The dynamic mechanical analysis of the samples showed that GO nanolayers decreased the molecular motions of the PU chains in the nanocomposites which were noticed by shifting the glass transition to the higher temperatures.     

Voronoi based discrete least squares meshless method for heat conduction simulation in highly irregular geometries

A new technique is used in Discrete Least Square Meshfree(DLSM) method to remove the common existing deficiencies of meshfree methods in handling of the problems containing cracks or concave boundaries. An enhanced Discrete Least Squares Meshless method named as VDLSM(Voronoi based Discrete Least Squares Meshless) is developed in order to solve the steady-state heat conduction problem in irregular solid domains including concave boundaries or cracks. Existing meshless methods cannot estimate precisely the required unknowns in the vicinity of the above mentioned boundaries. Conducted researches are limited to domains with regular convex boundaries. To this end, the advantages of the Voronoi tessellation algorithm are implemented. The support domains of the sampling points are determined using a Voronoi tessellation algorithm. For the weight functions, a cubic spline polynomial is used based on a normalized distance variable which can provide a high degree of smoothness near those mentioned above discontinuities. Finally, Moving Least Squares(MLS) shape functions are constructed using a varitional method. This straight-forward scheme can properly estimate the unknowns(in this particular study, the temperatures at the nodal points) near and on the crack faces, crack tip or concave boundaries without need to extra backward corrective procedures, i.e. the iterative calculations for modifying the shape functions of the nodes located near or on these types of the complex boundaries. The accuracy and efficiency of the presented method are investigated by analyzing four particular examples. Obtained results from VDLSM are compared with the available analytical results or with the results of the well-known Finite Elements Method(FEM) when an analytical solution is not available. By comparisons, it is revealed that the proposed technique gives high accuracy for the solution of the steady-state heat conduction problems within cracked domains or domains with concave boundaries and at the same time possesses a high convergence rate which its accuracy is not sensitive to the arrangement of the nodal points. The novelty of this paper is the use of Voronoi concept in determining the weight functions used in the formulation of the MLS type shape functions.