Application of a hybrid controller to a mobile robot

This paper presents the application of a hybrid controller to the optimization of the movement of a mobile robot. Through hybrid controller processes, the optimal angle and velocity of a robot moving in a work space was determined. More effective movement resulted from these hybrid controller processes. The experimental scenarios involved a five-versus-five soccer game and a MATLAB simulation, where the proposed system dynamically assigned the robot to the target position. The hybrid controller was able to choose a better position according to the circumstances encountered. The hybrid controller that is proposed includes a support vector machine and a fuzzy logic controller. We used the method of generalized predictive control to predict the target position, and the support vector machine to determine the optimal angle and velocity required for the mobile robot to reach the goal. First, we used the generalized predictive control to predict the target position. Then, the support vector machine is used to classify the angle that must be followed by the mobile robot to reach the goal. Next, a fuzzy logic controller is designed to determine the velocity of the left and right wheels of the mobile robot. Thus generated, the velocity was optimized according to the measures obtained by the support vector machine. Finally, based on the optimal velocity of robot, the output membership function was modified. Consequently, the proposed hybrid controller allowed the robot to reach the goal quickly and effectively.     

Software component certification

Although the stringent requirements of some critical applications may require independent certification, the authors see software developer self-certification as a viable alternative in many other cases. They accept that using software certification laboratories (SCLs) may work well for certain software distribution models, but they cannot be applied to all types of software development. The approach has several drawbacks. For example, an SCL may work well for larger software houses that ship mass-marketed software applications to the public, but it is less satisfactory for smaller developers who make reusable components or safety-critical software or for developers who belong to the freeware community     

Biogenesis of cellulolytic enzymes by Trichoderma ligorum on media with "inductor"

Identical distribution of C2- and Cx-cellulase activities of enzyme complexes produced by Trichoderma lignorum on a medium with lactose, a soluble "inductor", and on a medium with cellulose was found by means of disc elestrophoresis in polyacrylamide gel. The maximum rate of synthesis of cellulases on the medium with lactose was registered during the highest deceleration, and even complete cessation, of the fungal growth. During this phase, only one electrophoretically homogeneous cellulase component with Rf of 0.44 possessing all types of the cellulase activity is present in the cultural broth. In the course of growth of the fungus on cellulose after 48 hours, also only one electrophoretically homogeneous component with Rf of 0.44 was found in the cultural broth when the rate of the substrate degradation was highest. The appearance of minor protein components with the activity of cellulase at later stages of cultivation after cessation of the fungal growth is supposed to be caused by modification of the main cellulase component with Rf of 0.44 by the growth medium.     

Influence of the dentate fascia on the sensory responses of neurons in hippocampal field CA3

In experiments with unanaesthetized rabbits the influences of electric stimulation of the dentate fascia (DF) on the extracellularly recorded spontaneous and evoked activity of the CA3 neurones were investigated. Stimulation of a fixed locus in the DF during recording in the CA3 by a microelectrode, shifted along the longitudinal axis of the hippocampus, supported the notion of the topical, "segmental" organization of connections between the DF and CA3. A relatively narrow "active zone" (approximately 700 nm) appeared in the CA3 during the threshold DF stimulation: it was bordered by zones with predominantly inhibitory responses to stimulation. The CA3 neurones in the "active zone" rapidly lost their reactivity to sensory stimuli. In the "inhibitory" and "zero" zones the normal level of reactivity to sensory stimuli was preserved.     

Reconfigurable Web wrapper agents

Web wrapper agents exploit online Web data sources, facilitating information integration and reuse. With the DeepSpot Agent Toolbox, users can automate virtually all types of Web browsing sessions simply by browsing the target Web sites.     

A multiple electrostatic electrodes torsion micromirror device with linear stepping angle effect

Torsion micromirror devices that can achieve linear stepping angle effects play an important role in optical MEMS applications. However, traditional torsion micromirror devices driven by a single electrostatic electrode have difficulty meeting this requirement due to their nonlinear angle-voltage transfer characteristics. In this regard, the concept of a multiple-electrodecontrolled micromirror is proposed to eliminate this drawback. Through this novel design, linear stepping angles can be easily achieved by a set of linearly varied or constantly applied voltages. A simple mathematical model has been developed to predict the angle-voltage transfer characteristics of the proposed device and has been simulated with finite element simulations. The corresponding control strategies of this device, named the linear control strategy and the digital control strategy, are also proposed in this paper. The Cronos/MEMSCAP Multi-User MEMS Process (MUMPs) was used in conjunction with flip-chip bonding technology to fabricate the proposed torsion micromirror device. Experimental data indicates that the relative stepping angle error, between the fabricated device and the mathematical model, are within 5%.     

The effects of surface-plasma treatment of thin-film hydrogen silesquioxane low k dielectric

Hydrogen silesquioxane (HSQ) is a low dielectric constant material and a potential substitute for conventional silicon dioxide insulator in ULSI system. In this study, the effect of plasma treatment on HSQ films is investigated. The bond structure changes of HSQ after curing, plasma treatment, and water absorption were observed with Fourier transform infrared spectroscopy. Densification of the film occurs after curing, the higher the curing temperature, the lower the dielectric constant and refractive index of the film. Both H₂- and O₂-plasma treatments are employed in this study. The H₂-plasma bombardment enhances the formation of the network structure but raises the moisture absorption of HSQ films. It is found that films subjected to both H₂- and O₂-plasma treatments have lower dielectric constant than those subjected to O₂ treatment alone. Possible mechanisms for the effects of plasma treatments are explored. The residual stress of HSQ film is also studied.     

Inverse approach for estimating rheological characteristics of adsorption layer in thin film EHL contacts

A modified Reynolds equation is derived for thin film elastohydrodynamic lubrication (TFEHL) by means of the viscous adsorption theory. This TFEHL theory can be used to explain the deviation between the measured film thickness and that predicted from the convenient elastohydrodynamic lubrication (EHL) theory under very thin film conditions. Results show that the thinner the film, the greater the ratio of the adsorption layer to the total film thickness becomes, and the greater the value of the pressure–viscosity index (z′). An inverse approach is proposed to estimate the pressure distribution based upon the film thickness measurement and to determine the pressure–viscosity index of oil film, and the thickness (δ) and the viscosity ratio (η^*) of the adsorption layer in TFEHL circular contacts. Based on TFEHL theory, the inverse approach can reduce z′ error, and provides a reasonably smooth curve of pressure profile by implementing the measurement error in the film thickness. This algorithm not only estimates the pressure, but also calibrates the film shape. Consequently, it predicts z′, η^*, and δ with very good accuracy. It can also be used to evaluate the lubrication performance from a film thickness map obtained from an optical EHL tester. Results show that the estimated value of z′ is in very good agreement with the experimental data.     

Three dimensional cutting force analysis in end milling

The analysis of cutting forces plays an important part in the design of machine tool systems as well as in the planning, optimization, and control of machining processes. This paper presents a three-dimensional model of cutting forces in peripheral end milling in terms of material properties, cutting parameters, machining configuration, and tool/work geometry. Based on the relationship of the local cutting force and the chip load, the total cutting force model is established via the angle domain convolution integration of the local forces in the feed, cross feed, and axial directions. The integration is taken along the cutter axis and summarized across the cutting flutes. The convolution integral leads to a periodic function of cutting forces in the angle domain and an explicit expression of the dynamic cutting force components in the frequency domain. The closed-form nature of the expressions allows the prediction and optimization of cutting forces to be performed without the need of numerical iterations. To assess the fidelity of the analytical model, experimental data from end milling tests are presented in the context of three dimensional time waveforms, power spectra, and phase angles, in comparison to the values predicted by the model.