A robust fault diagnosis and accommodation scheme for robot manipulators

This paper investigates an algorithm for robust fault diagnosis (FD) in uncertain robotic systems by using a neural sliding mode (NSM) based observer strategy. A step by step design procedure will be discussed to determine the accuracy of fault estimation. First, an uncertainty observer is designed to estimate the uncertainties based on a first neural network (NN1). Then, based on the estimated uncertainties, a fault diagnosis scheme will be designed by using a NSM observer which consists of both a second neural network (NN2) and a second order sliding mode (SOSM), connected serially. This type of observer scheme can reduce the chattering of sliding mode (SM) and guarantee finite time convergence of the neural network (NN). The obtained fault estimations are used for fault isolation as well as fault accommodation to self-correct the failure systems. The computer simulation results for a PUMA560 robot are shown to verify the effectiveness of the proposed strategy.     

A new algorithm for sparse interpolation of multivariate polynomials

To reconstruct a black box multivariate sparse polynomial from its floating point evaluations, the existing algorithms need to know upper bounds for both the number of terms in the polynomial and the partial degree in each of the variables. Here we present a new technique, based on Rutishauser’s qd$qd$-algorithm, in which we overcome both drawbacks.     

Electron beam lithography-assisted fabrication of Au nano-dot array as a substrate of a correlated AFM and confocal Raman spectroscopy

This paper documents a study of an Au nano-dot array that was fabricated by electron beam lithography on a glass wafer. The patterns that had features of 100nm dots in diameter with a 2-mum pitch comprised a total area of 200x200mum(2). The dot-shaped Cr underlayer was open to the air after developing Poly(methyl methacrylate) (PMMA). When dipped into the Cr etchant, the exposed Cr layer was eliminated from the glass wafer in a short period of time. In order to ultimately fabricate the Ti/Au dot arrays, Ti and Au were deposited onto the arrays with a thickness of 2 and 40nm, respectively. The lift-off procedure was carried out in the Cr etchant using sonication in order to completely remove the residual Cr/PMMA layer. The fabricated Au nano-dot array was then immersed in an Ag enhancing solution and then into an ethanol solution containing (N-(6-(Biotinamido)hexyl)-3'-(2'-pyridyldithio)-propionamide (Biotin-HPDP). The substrate was analyzed using a correlated atomic force microscopy (AFM) and confocal Raman spectroscopy. Through this procedure, position-dependent surface-enhanced Raman spectroscopy (SERS) signals could be obtained.     

Design and characterization of coherent integrated fiber-optic imaging probes

An integrated fiber-optic probe comprising a short length of multimode fiber that is fusion spliced to a monomode optical fiber has been fabricated for imaging and nonimaging applications. The fiber probe, typically 250 μm in diameter, can deliver a focused Gaussian spot approximately 25 μm in diameter at a distance of approximately 500 μm from the tip. Two off-the-shelf graded-index multimode fibers have been used in the fabrication of imaging and nonimaging probes. These integrated probes have considerably improved the spatial resolution of backscatter lensless fiber probes being utilized in the dynamic light-scattering characterization of colloidal suspension.     

Foley catheters functionalised with a synergistic combination of antibiotics and silver nanoparticles resist biofilm formation

Foley catheters are inevitable in health care unit. Pathogens colonise and form biofilm on catheter causing catheter‐associated urinary tract infection. Therefore, the authors aimed to functionalise catheter to resist biofilm formation. The authors impregnated urinary catheters with a synergistic combination of antibiotics and silver nanoparticles (SNPs) to evaluate antibiofilm efficacy in vitro and in vivo. SNPs were synthesised using Spirulina platensis. Synergy between the SNPs and antibiotics was determined by the checker‐board method. In vivo efficacy of the functionalised catheters was assessed in mice. Liver and kidney function tests of mice were performed. The in vitro anti‐adherence activity of the functionalised catheters was evaluated after 2 years. Nanoparticle sizes were 42–75 nm. Synergistic activity was observed among SNPs (2 µg/ml), amikacin (6.25 µg/ml), and nitrofurantoin (31.25 µg/ml). In mice, catheters functionalised with combinations of antibiotics and SNPs exhibited no colonisation until Day 14. Blood, liver, and kidney tests were normal. After 2 years, catheters functionalised with antibiotics exhibited 25% inhibition of bacterial adhesion, and catheters functionalised with the nanoparticle‐antibiotic combination exhibited 90% inhibition. Impregnation of urinary catheters with a synergistic combination of antibiotics and SNPs is an efficient and promising method for preventing biofilm formation.Inspec keywords: catheters, drugs, silver, nanoparticles, nanomedicine, liver, kidney, blood, microorganisms, adhesion, biomechanics, cellular biophysicsOther keywords: Foley catheters, synergistic nanoparticle‐antibiotics combination, silver nanoparticles, biofilm formation resitance, health care unit, pathogens, urinary tract infection, SNP, Spirulina platensis, checker‐board method, liver function, kidney function, vitro antiadherence activity, amikacin, nitrofurantoin, blood, bacterial adhesion, size 42 nm to 75 nm, Ag     

Microstructure and fracture of SiC-particulate-reinforced cast A356 aluminum alloy composites

A microstructural analysis of local microfracture of cast A356 Al-SiC _p composites fabricated by permanent mold re-casting and squeeze-casting methods was made. Notch fracture toughness tests were conducted on these composites to identify critical fracture parameters using a stress-modified critical-strain criterion. The composite microstructure shows continuous networks of densely populated SiC and eutectic Si particles along the intercellular regions. Squeeze casting produces a more homogeneous structure and larger spacing of brittle particles and increases the tensile ductility and fracture toughness, while strength levels are almost identical to the re-casting case. The calculated values of the microstructurally characteristic distancel* for the re-cast and squeeze-cast composites are about 40 μm, which is comparable to the average sizes of the intercellular network. However, the reference critical strain for squeeze casting is larger than that for re-casting, showing a trend to higher ductility and fracture toughness.     

SSPQL: Stochastic shortest path-based Q-learning

Reinforcement learning (RL) has been widely used as a mechanism for autonomous robots to learn state-action pairs by interacting with their environment. However, most RL methods usually suffer from slow convergence when deriving an optimum policy in practical applications. To solve this problem, a stochastic shortest path-based Q-learning (SSPQL) is proposed, combining a stochastic shortest path-finding method with Q-learning, a well-known model-free RL method. The rationale is, if a robot has an internal state-transition model which is incrementally learnt, then the robot can infer the local optimum policy by using a stochastic shortest path-finding method. By increasing state-action pair values comprising of these local optimum policies, a robot can then reach a goal quickly and as a result, this process can enhance convergence speed. To demonstrate the validity of this proposed learning approach, several experimental results are presented in this paper.     

Effectiveness of MMORPG‐based instruction in elementary English education in Korea

This study investigated the effectiveness of massive multiplayer online role‐playing game (MMORPG)‐based (massive multiplayer online role‐playing game) instruction in elementary English education. The effectiveness of the MMORPG program was compared with face‐to‐face instruction and the independent variables (gender, prior knowledge, motivation for learning, self‐directed learning skills, computer skills, game skills, computer capacity, network speed, and computer accessibility) were examined to see how accurately achievement was predicted in MMORPG instruction. The results indicated that students studying English utilizing online role‐playing games showed higher scores in areas of listening, reading, and writing than those who attended face‐to‐face instruction classes. It was also found that prior knowledge, motivation for learning, and network speed were factors affecting achievement in English learning. These findings suggest that MMORPGs can play an important role in improving English communicative skills.     

The effects of incorporating a virtual agent in a computer-aided test designed for stress management education: The mediating role of enjoyment

Drawing upon the Entertainment–Education paradigm, this study evaluated the effectiveness of a computer-aided interactive test designed for stress management education targeting college students. The presence (vs. absence) of a virtual agent incorporated into the interactive test was proposed as the key factor that induces enjoyment and educational outcomes. The interactive test consisted of scenarios describing stressful situations that could occur in college students’ everyday lives. Furthermore, college students could relate the concerns raised by these hypothetical situations to the ways they manage their stress and mental health. After the student’s choice behavior in each scenario, a virtual agent conveyed health-related educational messages via a text-modal dialogue box. Participants who took the interactive test in which there was a virtual agent perceived the test as more educational and entertaining than those who took the test without a virtual agent. Results of a path analysis also revealed a significant mediating role of enjoyment on educational outcomes (i.e., students’ enjoyment of the interactive test mediated the effects of the presence of a virtual agent on their perceived educational value of health information), thus confirming the Entertainment–Education link. In addition, engaging in the interactive test resulted in stress management self-efficacy improvement. Theoretical and practical implications are discussed.