Robust tracking control design for uncertain robotic systems with persistent bounded disturbances

In this study, a robust nonlinear L_∞‐gain tracking control design for uncertain robotic systems is proposed under persistent bounded disturbances. The design objective is that the peak of the tracking error in time domain must be as small as possible under persistent bounded disturbances. Since the nonlinear L_∞ ‐gain optimal tracking control cannot be solved directly, the nonlinear L_∞ ‐gain optimal tracking problem is transformed into a nonlinear L_∞ ‐gain tracking problem by given a prescribed disturbance attenuation level for the L_∞ ‐gain tracking performance. To guarantee that the L_∞ ‐gain tracking performance can be achieved for the uncertain robotic systems, a sliding‐mode scheme is introduced to eliminate the effect of the parameter uncertainties. By virtue of the skew‐symmetric property of the robotic systems, sufficient conditions are developed for solving the robust L_∞ ‐gain tracking control problems in terms of an algebraic equation instead of a differential equation. The proposed method is simple and the algebraic equation can be solved analytically. Therefore, the proposed robust L_∞ ‐gain tracking control scheme is suitable for practical control design of uncertain robotic systems. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

A base62 transformation format of ISO 10646 for multilingual identifiers

ISO 10646 Universal Character Set (UCS) is a 31‐bit coding architecture that covers symbols in most of the world's written languages. Identifiers in programming languages are usually defined by using alphanumeric characters of ASCII, which represent mainly English words. An approach for working around this deficiency is to encode multilingual identifiers into the alphanumeric range of ASCII. For case‐sensitive languages, an encoding that utilizes [0–9][A–Z][a–z] can be more space‐efficient for multilingual identifiers. This paper proposes a base62 transformation format of ISO 10646 called UTF‐62. The resulting string of UTF‐62 is within a [0–9][A–Z][a–z] range, a total of 62 base characters. UTF‐62 also preserves the lexicographic sorting order of UCS‐4. Copyright © 2001 John Wiley & Sons, Ltd.     

Response to ‘Comments on: A cohesion measure for object‐oriented classes’

Indicating that CBMC does not satisfy the monotonic property in terms of the number of interactions, Xu and Zhou proposed an augmented definition of CBMC by adopting cut set instead of glue methods. The augmented CBMC clearly satisfies the monotonic property. However, CBMC is designed to overcome the problem with respect to the number of interactions and, therefore, focuses on the interaction pattern, especially, member connectivity. Consequently, it does not make sense to mention the monotonic property of CBMC with respect to interaction number. Moreover, the notion of glue methods allows several interpretations on the design quality of a class. However, that meaningful interpretation is not possible for the augmented definition due to the removal of the notion of glue methods. Copyright © 2001 John Wiley & Sons, Ltd.     

Extending UML to model Web 2.0‐based context‐aware applications

Web 2.0 Mashups offer entirely new opportunities for context‐aware application (CAA) developers by integrating Web 2.0 technologies to facilitate interoperability among heterogeneous context‐aware systems. From a software engineering perspective, a visualized approach for Web 2.0‐based CAA modeling is crucial. Current CAA development, however, cannot provide a conceptual model for Web 2.0‐based CAA. Therefore, the development efficiency and potential for reuse are decreased. The UML is a general purpose modeling language with potential for use in many application domains. However, UML often lacks elements needed to model concepts in specific domains, such as Web 2.0‐based CAA modeling. To address the above issues, this study presents the Web 2.0‐based CAA UML profile, a UML profile for modeling Web 2.0‐based CAA. Copyright © 2011 John Wiley & Sons, Ltd.     

Cover Picture: Protein Detecting Arrays Based on Cationic Polythiophene–DNA‐Aptamer Complexes (Adv. Mater. 20/2006)

The cover image depicts biochips based on responsive nanoaggregates made from stoichiometric complexes between a cationic polythiophene and an appropriate DNA aptamer. These structures undergo a conformational transition from an unfolded to a folded (G‐quadruplex) structure in the presence of a specific target protein that results in a significant increase of the fluorescence intensity, as reported on p. 2703 by Leclerc and co‐workers.     

Effect of Hot Band Annealing on Magnetic Properties in 3% Si Grain‐oriented Electrical Steels

Hot band annealing is known to be a prerequisite for good magnetic properties irrespective of manufacturing methods in grain‐oriented Fe‐3 wt.% Si electrical steels. In this study, the effects of hot band annealing on magnetic properties were investigated in 3% grain‐oriented electrical steels of low soluble AI contents and one‐stage cold rolling. Microstructure and precipitate distribution were compared with hot band annealing conditions. Secondary recrystallization behaviour with hot band annealing condition was also discussed.