Variable structure control of a class of uncertain systems

This brief paper proposes a method for tuning the parameters of a variable structure controller. The approach presented extracts the error at the output of the controller and applies a nonlinear tuning law using this error measure. The adaptation mechanism drives the state tracking error vector to the sliding hypersurface and maintains the sliding mode. In the simulations, the approach presented has been tested on the control of Duffing oscillator and the analytical claims have been justified under the existence of measurement noise, uncertainty and large nonzero initial errors.     

Experimental and theoretical study for the determination of thermal conductivity of porous building material made with pumice and tragacanth

In this study, porous solid materials were produced with mixture combinations of materials such as tragacanth, cement, and pumice aggregate. Thermal conductivities of the produced materials were determined using hot wire methodology. The thermal conductivities of the produced samples ranged from 0.433 to 0.177 W/mK, depending on pumice diameter, pumice, tragacanth, and cement rates. A new model was developed to determine the effective thermal conductivities of the produced samples. The thermal conductivities obtained by the measurements were compared to the ones predicted by the model. The predicted values deviated as 1–31% from the measured values. It was finally shown that the experimental results were in good agreement to the predicted results.     

Computationally highly efficient mixture of adaptive filters

We introduce a new combination approach for the mixture of adaptive filters based on the set-membership filtering (SMF) framework. We perform SMF to combine the outputs of several parallel running adaptive algorithms and propose unconstrained, affinely constrained and convexly constrained combination weight configurations. Here, we achieve better trade-off in terms of the transient and steady-state convergence performance while providing significant computational reduction. Hence, through the introduced approaches, we can greatly enhance the convergence performance of the constituent filters with a slight increase in the computational load. In this sense, our approaches are suitable for big data applications where the data should be processed in streams with highly efficient algorithms. In the numerical examples, we demonstrate the superior performance of the proposed approaches over the state of the art using the well-known datasets in the machine learning literature.     

Preparation and characterization of conductive polypyrrole/kaolinite composites

Conductive polypyrrole (PPy)/kaolinite clay composites were prepared by in situ chemical polymerization of pyrrole in the presence of kaolinite using FeCl₃ as oxidant. The PPy content and conductivity of the composites reached 32.8% and 8.3×10^?2 S/cm at HCl concentrations of 1.5 M and 0.5 M, respectively. The microhardness of the composites containing different amounts of PPy was higher than that of the PPy and kaolinite components. The highest microhardness observed was 30.17 kg/mm² for the composite containing 9.6% PPy. The electrical resistance of the composites was monitored during heating–cooling cycles over the range 5–120 °C. The change in resistance with temperature was more repeatable for the composite than for PPy. The composites were characterized by Fourier-transform infrared spectroscopy (FTIR), X-ray diffraction (XRD), thermogravimetric analysis (TGA) and scanning electron microscopy (SEM). The humidity-sensing properties were also examined.     

A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty

Robotic manipulation systems suffer from two main problems in unstructured human environments: uncertainty and clutter. We introduce a planning framework addressing these two issues. The framework plans rearrangement of clutter using non-prehensile actions, such as pushing. Pushing actions are also used to manipulate object pose uncertainty. The framework uses an action library that is derived analytically from the mechanics of pushing and is provably conservative. The framework reduces the problem to one of combinatorial search, and demonstrates planning times on the order of seconds. With the extra functionality, our planner succeeds where traditional grasp planners fail, and works under high uncertainty by utilizing the funneling effect of pushing. We demonstrate our results with experiments in simulation and on HERB, a robotic platform developed at the Personal Robotics Lab at Carnegie Mellon University.     

An exponential approach for the system of nonlinear delay integro-differential equations describing biological species living together

Neural Computing and Applications - In this paper, we consider a system of nonlinear delay integro-differential equations with convolution kernels, which arises in biology. This problem...     

Identifying critical autonomous systems in the Internet

The Internet not only facilitates our daily activities, such as communication, entertainment and shopping but also serves as the enabling technology for many critical services, including finance, manufacturing, healthcare and transportation. On the other hand, a wide spectrum of attacks targets its communication infrastructure to disable or disrupt the network connectivity and traffic flow until recovery processes take place. Attacking all autonomous systems (ASes) in the Internet is typically beyond the capability of an adversary. Therefore, targeting a small number of ASes which results in the highest impact is the best strategy for attackers. Similarly, it is important for network practitioners to identify, fortify and secure those critical ASes to mitigate the impact of the attacks. In this study we introduce an intuitive and effective measure, IP address spatial path stress centrality, to assess and identify the critical ASes in the Internet. We compare IP address spatial path stress centrality to the three well-known and widely used centrality measures, namely customer-cone size, node degree and betweenness. We demonstrate that the proposed measure incorporates business relations and IP address spaces to achieve a better measure for identifying the critical ASes in the Internet.