An online fault tolerant actor-critic neuro-control for a class of nonlinear systems using neural network HJB approach

In this paper, we propose an actor-critic neuro-control for a class of continuous-time nonlinear systems under nonlinear abrupt faults, which is combined with an adaptive fault diagnosis observer (AFDO). Together with its estimation laws, an AFDO scheme, which estimates the faults in real time, is designed based on Lyapunov analysis. Then, based on the designed AFDO, a fault tolerant actor- critic control scheme is proposed where the critic neural network (NN) is used to approximate the value function and the actor NN updates the fault tolerant policy based on the approximated value function in the critic NN. The weight update laws for critic NN and actor NN are designed using the gradient descent method. By Lyapunov analysis, we prove the uniform ultimately boundedness (UUB) of all the states, their estimation errors, and NN weights of the fault tolerant system under the unpredictable faults. Finally, we verify the effectiveness of the proposed method through numerical simulations.     

A novel part-based approach to mean-shift algorithm for visual tracking

Visual tracking is one of the most important problems considered in computer vision. To improve the performance of the visual tracking, a part-based approach will be a good solution. In this paper, a novel method of visual tracking algorithm named part-based mean-shift (PBMS) algorithm is presented. In the proposed PBMS, unlike the standard mean-shift (MS), the target object is divided into multiple parts and the target is tracked by tracking each individual part and combining the results. For the part-based visual tracking, the objective function in the MS is modified such that the target object is represented as a combination of the parts and iterative optimization solution is presented. Further, the proposed PBMS provides a systematic and analytic way to determine the scale of the bounding box for the target from the perspective of the objective function optimization. Simulation is conducted with several benchmark problems and the result shows that the proposed PBMS outperforms the standard MS.

     

Note: High speed optical profiler based on a phase-shifting technique using frequency-scanning lasers

We present a high speed optical profiler (HSOP) using frequency-scanning lasers for three-dimensional profile measurements of microscopic structures. To improve upon previous techniques for implementing the HSOP, we developed frequency-scanning lasers and a compact microscopic interferometer. The controller of the HSOP was also modified to generate proper phase-shifting steps. For measurements of step height specimens, the HSOP showed results comparable with a commercial optical profiler, even with much higher measurement speeds (up to 30 Hz). The typical repeatability of step height measurement was less than 1 nm. We also present measurements of microscopic structures to verify the HSOP's ability to perform high speed inline inspection for the semiconductor and flat-panel display industries.     

Ultrastructural investigation of intact orbital implant surfaces using atomic force microscopy

This study examined the surface nanostructures of three orbital implants: nonporous poly(methyl methacrylate) (PMMA), porous aluminum oxide and porous polyethylene. The morphological characteristics of the orbital implants surfaces were observed by atomic force microscopy (AFM). The AFM topography, phase shift and deflection images of the intact implant samples were obtained. The surface of the nonporous PMMA implant showed severe scratches and debris. The surface of the aluminum oxide implant showed a porous structure with varying densities and sizes. The PMMA implant showed nodule nanostructures, 215.56 ± 52.34 nm in size, and the aluminum oxide implant showed crystal structures, 730.22 ± 341.02 nm in size. The nonporous PMMA implant showed the lowest roughness compared with other implant biomaterials, followed by the porous aluminum oxide implant. The porous polyethylene implant showed the highest roughness and severe surface irregularities. Overall, the surface roughness of orbital implants might be associated with the rate of complications and cell adhesion. SCANNING 33: 211–221, 2011. © 2011 Wiley Periodicals, Inc.     

Personal driving diary: Automated recognition of driving events from first-person videos

In this paper, we introduce the concept of personal driving diary. A personal driving diary is a multimedia archive of a person’s daily driving experience, describing important driving events of the user with annotated videos. This paper presents an automated system that constructs such multimedia diary by analyzing videos obtained from a vehicle-mounted camera. The proposed system recognizes important interactions between the driving vehicle and the other actors in videos (e.g., accident, overtaking, etc.), and labels them together with its contextual knowledge on the vehicle (e.g., mean velocity) to construct an event log. A decision tree based activity recognizer is designed, detecting driving events of vehicles and pedestrians from the first-person view videos by analyzing their trajectories and spatio-temporal relationships. The constructed diary enables efficient searching and event-based browsing of video clips, which helps the users when retrieving videos of dangerous situations. Our experiment confirms that the proposed system reliably generates driving diaries by annotating the vehicle events learned from training examples.     

Optimal scheduling of a communication channel for the centralized control of a platoon of vehicles

This paper proposes an off-line optimal channel scheduling algorithm for an interconnected vehicle control system. The optimal sequence obtained through the scheduling algorithm provides a switching controller with the best switching order if the controller can access only one plant at each time slot over the shared communication medium. Interconnected systems require the string stability as well as the dynamic stability of each unit. This paper shows that integrating the simple string stable control law with the approximately optimal linear-quadratic (LQ) tracker gives the optimal channel scheduling algorithm.     

A Lyapunov functional approach to robust stability analysis of continuous-time uncertain linear systems in polytopic domains

In this paper, a sufficient linear matrix inequality (LMI) condition is presented for robust stability analysis of continuous-time linear time-invariant (LTI) systems in polytopic domains. The underlying idea behind the proposed approach is to introduce a family of complex functions which map the closed right-hand side of the complex plane into the inside of the closed unit circle centered at the origin. Then, the mapping properties are used to assure that all the eigenvalues of a system are located in the open left-hand side of the complex plane. Examples show the validity of the proposed condition.     

Intelligent digital redesign for nonlinear systems using a guaranteed cost control method

In this paper, a novel intelligent digital redesign (IDR) technique using the guaranteed cost control method is proposed for nonlinear systems which can be represented by a Takagi-Sugeno (T-S) fuzzy model. The IDR technique, which is one of the sampled-data fuzzy controller design methods, guarantees not only the stability condition of the sampled-data closed-loop system with the sampleddata fuzzy controller and the state-matching error is presented. By using the concept of the guaranteed cost control method, sufficient conditions are obtained for both minimization of the state-matching error and stabilization of the sampled-data closed-loop system and derived in terms of linear matrix inequalities (LMIs). Finally, a numerical example is provided to verify the effectiveness of the proposed technique.     

Decomposition heuristic to minimize total cost in a multi-level supply chain network

In this paper, the distribution planning model for the multi-level supply chain network is studied. Products which are manufactured at factory are delivered to customers through warehouses and distribution centers for the given customer demands. The objective function of suggested model is to minimize logistic costs such as replenishment cost, inventory holding cost and transportation cost. A mixed integer programming formulation and heuristics for practical use are suggested. Heuristics are composed of two steps: decomposition and post improving process. In the decomposition heuristics, the problems are solved optimally only considering the transportation route first by the minimum cost flow problem, and the replenishment plan is generated by applying the cost-saving heuristic which was originally suggested in the manufacturing assembly line operation, and integrating with the transportation plan. Another heuristic, in which the original model is segmented due to the time periods, and run on a rolling horizon based method, is suggested. With the post-improving process using tabu search method, the performances are evaluated, and it was shown that solutions can be computed within a reasonable computation time by the gap of about 10% in average from the lower bound of the optimal solutions.     

Performance of the MAP/G/1 Queue Under the Dyadic Control of Workload and Server Idleness

This paper studies the steady-state queue length process of the MAP/G/1 queue under the dyadic control of the D-policy and multiple server vacations. We derive the probability generating function of the queue length and the mean queue length. We then present computational experiences and compare the MAP queue with the Poisson queue.