Cascaded Kalman and particle filters for photogrammetry based gyroscope drift and robot attitude estimation

Based on a cascaded Kalman–Particle Filtering, gyroscope drift and robot attitude estimation method is proposed in this paper. Due to noisy and erroneous measurements of MEMS gyroscope, it is combined with Photogrammetry based vision navigation scenario. Quaternions kinematics and robot angular velocity dynamics with augmented drift dynamics of gyroscope are employed as system state space model. Nonlinear attitude kinematics, drift and robot angular movement dynamics each in 3 dimensions result in a nonlinear high dimensional system. To reduce the complexity, we propose a decomposition of system to cascaded subsystems and then design separate cascaded observers. This design leads to an easier tuning and more precise debugging from the perspective of programming and such a setting is well suited for a cooperative modular system with noticeably reduced computation time. Kalman Filtering (KF) is employed for the linear and Gaussian subsystem consisting of angular velocity and drift dynamics together with gyroscope measurement. The estimated angular velocity is utilized as input of the second Particle Filtering (PF) based observer in two scenarios of stochastic and deterministic inputs. Simulation results are provided to show the efficiency of the proposed method. Moreover, the experimental results based on data from a 3D MEMS IMU and a 3D camera system are used to demonstrate the efficiency of the method.     

An intelligent hybrid meta-heuristic for solving a case of no-wait two-stage flexible flow shop scheduling problem with unrelated parallel machines

This paper addresses the problem of no-wait two-stage flexible flow shop scheduling problem (NWTSFFSSP) considering unrelated parallel machines, sequence-dependent setup times, probable reworks and different ready times to actualize the problem. The performance measure used in this study is minimizing maximum completion time (makespan). Because of the complexity of addressed problem, we propose a novel intelligent hybrid algorithm [called hybrid algorithm (HA)] based on imperialist competitive algorithm (ICA) which are combined with simulated annealing (SA), variable neighborhood search (VNS) and genetic algorithm (GA) for solving the mentioned problem. The hybridization is carried out to overcome some existing drawbacks of each of these three algorithms and also for increasing the capability of ICA. To achieve reliable results, Taguchi approach is used to define robust parameters' values for our proposed algorithm. A simulation model is developed to study the performance of our proposed algorithm against ICA, SA, VNS, GA and ant colony optimization (ACO). The results of the study reveal the relative superiority of HA studied. In addition, potential areas for further researches are highlighted.     

Adoption of New Irrigation Technology Under Production Risk

This paper investigates the factors affecting adoption of new irrigation technologies and also addresses the linkage between this type of technology and production risk. The risk-premium associated with the use of water is estimated by adapting a moment-based approach. Farm-level data were collected from a sample of 187 wheat farms, located in the three major districts of Fars province of Iran during the years 2002 and 2003. Results of this study demonstrate that the risk premium decrease with new irrigation technology. Also, it is concluded that the farmer-specific relative risk premium has positive and significant effect on the decision to adopt the new irrigation technologies. So, farmers that are more risk-averse with respect to their use of water are more likely to adopt new irrigation technologies that allow them to save water and decrease their production (yield) risk.     

Production and radiochemical separation of no-carrier-added <Superscript>88</Superscript>Y by liquid-liquid extraction

A method was suggested for the cyclotron production of ⁸⁸Y with liquid-liquid extraction. The sedimented ^natSrCO₃ target was irradiated with 18-MeV protons at current of 20 μA for 10 h. The ⁸⁸Y yields of about 1.326 MBq μA⁻¹ h⁻¹ were experimentally obtained. Solvent extraction of no-carrier-added ⁸⁸Y from irradiated strontium carbonate target in the hydrochloric acid solution was studied using di(2-ethylhexyl) hydrogen phosphate (HDEHP). The optimum separation was achieved in the system n-hexane/10% HDEHP-0.1 M HCl. Yttrium radionuclides were recovered from the HDEHP phase by stripping with 60 ml of 9 M HC1. Also, excitation functions of the proton, deuteron, and α-particle induced reactions of ⁸⁹Y, ⁸⁸Sr, ^natSr, and natRb were determined using computer codes and compared to the existing data.     

Quantitative Microstructural Analysis of Formability Enhancement in Dual Phase Steels Subject to Electrohydraulic Forming

Under certain conditions, strain rate sensitive materials such as dual phase steels, show formability improvement under high strain rate forming which is known as hyperplasticity. In this research, two commercial dual phase steel sheets, DP500 and DP780, were formed under quasi-static conditions using the Nakazima test and under high strain rate conditions by electrohydraulic forming (EHF) into a conical die. Macro-strains, measured from electro-etched circle grids with an FMTI analyzer, showed remarkable formability improvement in EHF specimens. Micro-strains, i.e., the strains in the ferrite and the martensite, were calculated by quantitative metallography of more than 7000 ferrite grains and 10,500 martensite islands. The goal was to investigate the deformation improvement of the constituents under EHF. Around 20 and 100% deformation improvements were observed in ferrite and martensite, respectively. Furthermore, as a micro-mechanical modeling technique, correlation of the micro-strains with the macro-strains was investigated by applying the mixture rule. Results showed a reasonable correlation between the macro and micro-scale strains; however in banded microstructures, the strain in the martensite should be determined precisely for more accuracy.     

Poly(glycerol sebacate) nanoparticles for ocular delivery of sunitinib: physicochemical,cytotoxic and allergic studies

Poly(glycerol sebacate) (PGS) is a new biodegradable polymer with good biocompatibility used in many fields of biomedicine and drug delivery. Sunitinib‐loaded PGS/gelatine nanoparticles were prepared by the de‐solvation method for retinal delivery and treatment of diabetic retinopathy. The nanoparticles were characterised by Fourier‐transform infrared and differential scanning calorimetry. The effects of different formulation variables including drug‐to‐carrier ratio, gelatine‐to‐PGS ratio, and glycerine‐to‐sebacate ratio were assessed on the encapsulation efficiency (EE%), particle size, release efficiency (RE), and zeta potential of the nanoparticles. The in vitro cytotoxicity of PGS/gelatine nanoparticles was studied on L929 cells. Draize test on rabbit eyes was also done to investigate the possible allergic reactions caused by the polymer. Glycerine/sebacic acid was the most effective parameter on the EE and RE. Gelatine‐to‐PGS ratio had the most considerable effect on the particle size while the RE was more affected by the glycerine/sebacic acid ratio. The optimised formulation (S₁ G_0.7 D_21.2) exhibited a particle size of 282 nm, 34.6% EE, zeta potential of −8.9 mV, and RE% of about 27.3% for drug over 228 h. The 3‐(4,5‐dimethylthuazol‐2‐yl)‐2,5‐diphenyltetrazolium bromide assay indicated PGS/gelatine nanoparticles were not cytotoxic and sunitinib‐loaded nanoparticles were not toxic at concentrations <36 nM.Inspec keywords: polymers, differential scanning calorimetry, toxicology, drug delivery systems, solvation, eye, encapsulation, particle size, drugs, biodegradable materials, nanofabrication, nanomedicine, nanoparticles, gelatin, Fourier transform infrared spectraOther keywords: gelatine‐to‐PGS ratio, glycerine‐to‐sebacate ratio, particle size, zeta potential, sunitinib‐loaded nanoparticles, biodegradable polymer, retinal delivery, differential scanning calorimetry, drug‐to‐carrier ratio, allergic reactions, physicochemistry, cytotoxicity, poly(glycerol sebacate) nanoparticles, sunitinib ocular delivery, drug delivery, sunitinib‐loaded PGS‐gelatine nanoparticles, Fourier‐transform, in vitro cytotoxicity, biocompatibility, Draize test, rabbit eyes, 3‐(4,5‐dimethylthuazol‐2‐yl)‐2,5‐diphenyltetrazolium bromide assay