Intelligent identification and control for autonomous guided vehicles using adaptive fuzzy-based algorithms

Fuzzy logic was first suggested as the mechanism by which humans drive cars. This paper addresses the use of fuzzy logic and algorithms towards the intelligent autonomous motion control of land vehicles. To cope with vehicle complexities, internal parametric changes, and with unpredictable environmental effects, the controllers that are presented, whilst heuristic in nature, are self-organizing or self-learning in that they generate automatically by observation an experiential rule base that models the vehicle, and via an appropriate performance index an optimal control rule base that is robust to large parametric changes. The methodology presented is applicable to any complex process which is too difficult to model or control using conventional methods, or which has relied on the experience of a human operator. An overview of fuzzy logic and static fuzzy logic control (akin to expert systems) is provided, together with illustrative examples.     

Considerations in application and selection of unit substationtransformers

This paper discusses secondary unit substations transformers (USTs) ranging from 300 up through 2500 kVA with 34.5-kV maximum primary voltages and with secondary voltages 600 V and below. Pad-mounted (compartmentalized) transformers are not considered in this paper. The first part of this paper discusses USTs belonging to two general categories, liquid type and dry type (nonliquid type). Liquid types include a discussion of the presently available insulating fluids: mineral oil, high-temperature hydrocarbon fluid, silicone fluids, and the new vegetable-based fluids. Dry types include a discussion of vacuum pressure impregnated polyester, vacuum pressure encapsulated silicone, partial cast, and full cast insulation systems. The National Electric Code (1999) requirements as they affect both liquid- and dry-type USTs for both outdoor and indoor locations are considered. The paper discusses the relative advantages of each UST within each category with respect to the following: (1) first cost; (2) operating costs (losses); (3) overload capability; (4) fan cooling; (5) space factor; (6) environmental factors; (7) sound levels; and (8) maintenance     

The Athy—Heckel equation applied to granular agglomerates of basic tricalcium phosphate [3Ca3PO4)2·Ca(OH)2]

It is shown that direct compression grade tricalcium phosphate yields linear Heckel plots only if the particle density used is that obtained by liquid pycnometry or mercury porosimetry. If the true density is used (i.e. that obtained by gas displacement), then linearization is not obtained in a pressure range where bonding evidently occurs. It is shown that the pore volume in the range of diameters from 0.5 to 2 μm decreases as tableting pressure increases, and that bonding is associated with the loss of pores of this size.     

“Metallisation” of oxide surfaces observed by in situ high-resolution electron microscopy

Intense irradiation (25–40 A/cm²) at intermediate energy (400 keV) has been found to cause “metallisation” of tungsten oxide and titanium niobate crystal surfaces. The possible mechanisms and the likely consequences for high-resolution imaging of clean oxide surfaces are briefly discussed.     

Analog VLSI model of binaural hearing

The stereausis model of biological auditory processing is proposed as a representation that encodes both binaural and spectral information in a unified framework. A working analog VLSI chip that implements this model of early auditory processing in the brain is described. The chip is a 100000-transistor integrated circuit that computes the stereausis representation in real time, using continuous-time analog processing. The chip receives two audio inputs, representing sound entering the two ears, computes the stereausis representation, and generates output signals that can directly drive a color CRT display. Outputs from the chips for a variety of artificial and speech stimuli are shown.     

Half-bridge inverter using 4H-SiC gate turn-off thyristors

This paper reports on the first demonstration of a half-bridge power inverter constructed from silicon carbide gate turn-off thyristors (GTOs) operated in the conventional GTO mode. This circuit was characterized with input bus voltages of up to 600 VDC and 2 A (peak current density of 540 A/cm²) with resistive loads using a pulse-width modulated switching frequency of 2 kHz. We discuss the implications of the thyristor's electrical characteristics and the circuit topology on the overall operation of the half-bridge circuit. This work has determined the conservative critical rate of rise value of the off-state voltage to be 200 V/μs in these devices