Decentralized and adaptive control of multiple nonholonomic robots for sensing coverage

This work deals with decentralized control of multiple nonholonomic mobile sensors for optimal coverage of a given area for sensing purposes. We assume a density function over the region to be covered, which can be viewed as a probability density of the phenomena to be sensed. The density function is unknown but assumed to be linearly parameterized with unknown parameter weights. We consider a second‐order dynamic model for the mobile agents and derive decentralized adaptive control laws to achieve optimal coverage of the region. We then consider the case where the dynamic model of the agents are not fully known, and then develop parameter adaptation laws to achieve the optimal coverage objective. We test the derived algorithms using simulations and compare our proposed controllers with kinematics‐based controllers. We find that the feedback control design based on the dynamic model performs significantly better than controllers solely relying on kinematic models. Furthermore, for the unknown dynamics case, our controller outperforms the nonadaptive controller with poor initial parameter estimates.     

Consensus of networked double integrator systems under sensor bias

A novel distributed control law for consensus of networked double integrator systems with biased measurements is developed in this article. The agents measure relative positions over a time-varying, undirected graph with an unknown and constant sensor bias corrupting the measurements. An adaptive control law is derived using Lyapunov methods to estimate the individual sensor biases accurately. The proposed algorithm ensures that position consensus is achieved exponentially in addition to bias estimation. The results leverage recent advances in collective initial excitation-based results in adaptive estimation. Conditions connecting bipartite graphs and collective initial excitation are also developed. The algorithms are illustrated via simulation studies on a network of double integrators with local communication and biased measurements.     

An empirical approach towards characterization of encrypted and unencrypted VoIP traffic

Multimedia Tools and Applications - VoIP traffic classification plays a major role towards network policy enforcements. Characterization of VoIP media traffic is based on codec behaviour. With the...     

Relative element levels in the paired samples of scalp hair and fingernails of patients from New Delhi

Specific elements are bioconcentrated in human hair and nails, which have unique advantages of application in population monitoring studies thereby, recognized as biological tools for disease diagnosis and prevention. However, investigations are meager for relative element profile in hair and nails of same subjects. In this study, hair and nails were analyzed to find effects of age, sex, smoking habit, diet, urban and rural exposure gradients, occupation, and health on element levels. Scalp hair and fingernails were sampled along with a questionnaire from urban and rural subjects of New Delhi; patients of hypertension, coronary heart disease, and diabetes were identified clinically. Cadmium, chromium, copper, nickel, lead and zinc concentrations were determined by AAS in both the samples; CRM (human hair powder) analysis showed acceptable precision and accuracy in element measurement. In comparison to controls, Cr-H and Zn-H levels were lower respectively in female hypertensive and total hypertensive subjects, whereas, Zn-N and Cu-N were lower respectively in total CHD and diabetic subjects, and hypertensive and CHD urban subjects. Cd concentrations were higher in both the samples of tobacco smoking rural subjects than that of non-smokers. Farmers had lower Pb-H than rural businessmen did. Cr, Cu, Ni, and Zn concentrations were different due to rural and urban gradient but not to the influence of age, sex, and diet. Pb value was alone correlated between the paired samples. Thus, higher Cd levels in the smokers and lower Cr, Cu and Zn levels in the patients were observed.     

Adaptive Comfort Degree-Days: A metric to compare adaptive comfort standards and estimate changes in energy consumption for future UK climates

This paper introduces the concept of the Adaptive Comfort Degree-Day, a temperature difference/time composite metric, as a means of comparing energy savings from Adaptive Comfort Model standards by quantifying the extent to which the temperature limits of the thermal comfort zone of the Predicted Mean Vote Model can be broadened. The Adaptive Comfort Degree-Day has been applied to a series of climates projected for different locations (Edinburgh, Manchester and London) under different emissions scenarios in the United Kingdom for the 2020s, 2030s, 2050s and 2080s. The rate at which energy savings can be achieved by the European adaptive standard EN15251 (Category II) was compared with the ASHRAE 55 adaptive standard (80% acceptability) during the cooling season. Results indicate that the wider applicability of the European standard means that it can realise levels of energy savings which its counterpart ASHRAE adaptive standard would not achieve for decades.     

Domestic futures—Which way to a low-carbon housing stock?

This paper examines various routes to achieving a 60% carbon emission reduction from the UK housing stock by 2050 compared to 1996, using a new object-oriented housing stock and carbon model, DECarb. As housing is at present responsible for 26% of all UK emissions, housing carbon reduction is likely to be a key component for the overall 60% emission reduction target set by the UK Government's Energy White Paper in 2003. This paper compares 3 independently published sets of scenarios detailing possible routes and suggests that highly disaggregated approaches produce more credible data. The results also show that whilst there are many different routes to achieving the target from a technological standpoint, all of them will require significant shifts in current practice. We investigate other routes to achieving this target, while also meeting nearer term reductions of 50% by 2030. DECarb shows that significant challenges exist in meeting these requirements, though they are technically feasible. On this basis it also becomes clear that the domestic sector will not be able to offset smaller reductions from any other sector of the economy.     

Dietary and bioactive properties of the berries and leaves from the underutilized Hippophae salicifolia D. Don grown in Northeast India

Food Science and Biotechnology - The physico-chemical, polyphenols, antioxidant and antibacterial properties of berries and mixture of male and female leaves of Hippophae salicifolia were...     

Hydrodynamic, thermo-analytical and molecular structural investigations of enzyme interesterified oil and its thermo-oxidative stability by thermogravimetric analysis

This paper deals with the effect of lipase-catalyzed interesterification of oil on hydrodynamic, thermo-analytical, structural properties and its stability. Interesterification of rice bran oil (RBO) and refined, bleached, deodorized palm olein (RBDPO) blend in 1:1 ratio was carried out at 60 ± 1 °C under stirring for 6 h. Results showed that hydrodynamic property of oils decreased from 3.61 × 10⁻⁶ in RBDPO to 2.91 × 10⁻⁶ m² s⁻¹ in enzyme interesterified oil (EI) and heat transfer coefficient increased from 221.0 in RBDPO to 250.7 Wm⁻² °C⁻¹ in EI over 170-190 °C. Peak melting point of triacylglycerols shifted from 10.36 °C in RBDPO to −4.76 °C in EI. Trisaturated triacylglycerols decreased from 4% in RBDPO to 0.6% in EI. The first step of thermal decomposition started at 190, 212.7 and 238.9 °C for RBDPO, RBO and EI, respectively. Sensory evaluation of poori fried using these oils revealed no significant (p > 0.05) differences in sensory attributes of the fried product.     

A numerical approach for a comparative study of laser drilling process under single and repetitive pulse

An axisymmetric model is developed to study laser drilling process under a single pulse as well as repetitive laser pulse. The laser pulse irradiated on the surface of the workpiece is volumetric and Gaussian in nature. The laser irradiated surface is subjected to convective‐radiative boundary condition while rest of the surfaces are insulated. Finite volume method is used to discretize the domain under consideration. The resulting algebraic equations are solved with the help of the tridiagonal matrix algorithm to find temperature distribution throughout the domain. The enthalpy‐porosity method is used to track the solid‐liquid interface generated during the laser melting process. Convective heat transfer occurs inside the generated melt pool. The current model is first used to validate the results of the existing literature and as the results agreed well, further studies are made to find out the advantages of using repetitive laser pulse over single pulse laser source for laser drilling process for the same laser energy and total heating duration. Vaporization has been avoided during the process and metal removal occurs through melting only. The present numerical model can provide some insight for practical laser drilling process.