Sliding-mode and proportional-derivative-type motion control with radial basis function neural network based estimators for wheeled vehicles

An obstacle avoidance problem of rear-steered wheeled vehicles in consideration of the presence of uncertainties is addressed. Modelling errors and additional uncertainties are taken into consideration. Controller designs for driving and steering motors are designed. A proportional-derivative-type driving motor controller and a sliding-mode steering controller combined with radial basis function neural network (RBFNN) based estimators are proposed. The convergence properties of the RBFNN-based estimators are proven by the Stone–Weierstrass theorem. The stability of the proposed control law is proven using Lyapunov stability analysis. The obstacle avoidance strategy utilising the sliding surface adjustment to an existing navigation method is presented. It is concluded that the driving velocity and steering-angle performances of the proposed control system are satisfactory.     

Synthesis and Characterization of Segmented Block Copolymers Based on Hydroxyl‐Terminated Liquid Natural Rubber and α,ω‐Diisocyanato Telechelics

Summary: Segmented block copolymers, consisting of non‐polar soft segments from hydroxyl‐terminated liquid natural rubber (HTNR) and polar hard segments from α,ω‐diisocyanato telechelics obtained by “criss‐cross”‐cycloaddition, have been synthesized. The block copolymer formation took place under relatively mild reaction conditions at 80 °C in dichloroethane in the presence of dibutyltin dilaurate as a catalyst. The resulting block copolymers were characterized by spectroscopic techniques (¹H NMR, FTIR, UV‐vis spectroscopy) as well as GPC for molar mass determination. The block copolymers were compression molded in a hot stage press, and the resulting samples were characterized by DSC and stress‐strain measurement. The solubility and phase morphology of the materials have also been studied.

Segmented block copolymer from HTNR and α,ω‐diisocyanato telechelics     

Catalytic Combustion of Model Carbon Particles (CPs) over Pt/β-SiC Catalyst

Platinum catalyst supported on a medium surface area -SiC was successfully used for the catalytic combustion of model carbon particles and compared to a catalyst supported on a low surface area -SiC. The -SiC-based catalyst showed no deactivation as a function of cycling tests while a strong deactivation was observed on the -SiC-based catalyst. This deactivation was attributed to the progressive encapsulation of the platinum particles by a layer of silica which built up during the combustion cycle. These results render possible the use of Pt/-SiC catalyst as a diesel carbon particle catalytic filter with continuous regeneration.     

Micro cam system driven by electrostatic comb-drive actuators based on SOI-MEMS technology

Microsystem Technologies - This paper reports a design and fabrication process of a micro cam system (MCS) with a flat-faced translating follower. The cam rim with cover diameter of 2.4 mm...     

A printed circuit board capacitive sensor for air bubble inside fluidic flow detection

This paper presents a three-electrode capacitive fluidic sensor for detecting an air bubble inside a fluidic channel such as blood vessels, oil or medical liquid channels. The capacitor is designed and fabricated based on a printed circuit board (PCB). The electrodes are fabricated by using copper via structure through top to bottom surface of the PCB. A plastic pipe is layout through the capacitive sensor and perpendicular to the PCB surface. Capacitance of sensor changes when an air bubble inside fluidic flow cross the sensor. The capacitance change can be monitored by using a differential capacitive amplifier, a lock-in amplifier, filter and an NI acquisition card. Signal is processed and calculated on a computer. Air bubble inside the liquid flow are detected by monitor the unbalance signal between the three electrode potential voltages. Output voltage depends on the volume of the air bubble due to dielectric change between capacitor’s electrodes. Output voltage is up to 53 mV when an 2.28 mm³ air bubble crosses the sensing channel. Air bubble velocity can be estimated based on the output pulse signal. This proposed fluidic sensor can be used for void fraction detection in medical devices and systems; fluidic characterization; and water–gas, oil–water and oil–water–gas multiphase flows in petroleum technology. That structure also can apply to the micro-size for detecting in microfluidic to monitor and control changes in microfluidic channels.     

Expression of polysialylated neural cell adhesion molecule by proliferating cells in the subependymal layer of the adult rat, in its rostral extension and in the olfactory bulb

The highly sialylated isoform of the neural cell adhesion molecule is thought to be expressed predominantly in the developing nervous system, where it is implicated in a variety of dynamic events linked to neural morphogenesis. It has become increasingly evident, however, that this "embryonic" neural cell adhesion molecule isoform continues to be expressed in certain adult neuronal systems, and in particular, in those that can undergo structural plasticity. In the present study, we performed light microscopic immunocytochemistry with an antibody specific for polysialylated neural cell adhesion molecule and confirmed our earlier observations [Bonfanti L. et al. (1992) Neuroscience 49, 419-436] showing polysialylated neural cell adhesion molecule-immunoreactive cells in the subependymal layer of the lateral ventricle of the adult rat, a region where cell proliferation continues into the postnatal period. In addition, we used an antibody raised against the proliferating cell nuclear antigen and found that proliferating cells continue to be visible in this area, even in the adult. Double immunolabeling showed that many of these newly generated cells displayed high polysialylated neural cell adhesion molecule immunoreactivity. Cells from a portion of the subependymal layer migrate to the olfactory bulb and contribute to the continual replacement of its granule neurons [Luskin M. B. (1993) Neuron 11, 173-189]. We found polysialylated neural cell adhesion molecule-immunoreactive cells all along the pathway purported to be followed by the newly generated cells to their final destination and in neurons corresponding to granular and periglomerular cells in the olfactory bulb. Our present observations thus support the contention that polysialylation is a feature of neurons capable of dynamic change and may contribute to the molecular mechanisms permitting cell proliferation and migration not only during development but also in the adult.     

Iron(II)/reductant(DH2)-induced activation of dioxygen for the hydroxylation and ketonization of hydrocarbons; mimics for the cytochrome P-450 hydroxylase/reductase system

Several metal complexes [(FeII(DPAH)2 (DPAH2 = 2,6-dicarboxyl pyridine), FeII(PA)2 (PAH = picolinic acid), FeII(bpy)2(2+), FeII(OPPh3)4(2+), (Cl8TPP)FeIIIX (X = Cl, OH, SCH2Ph) [Cl8TPP = tetrakis (2,6-dichlorophenyl)porphyrin], (TPP) FeIIICl (TPP = tetraphenylporphyrin), and CuI(tpy)2+ (typ = 2,2'-6,2"-terpyridine)] in combination with one of several reductants [DH2; PhNHNHPh (mimic of dihydroflavin), PhNHNH2, ascorbic acid (H2asc), and PhCH2SH (model ligand for cysteine residue)] catalytically activate O2 (1 atm) for the hydroxylation of saturated hydrocarbons (e.g. c-C6H12-->c-C6H11OH). This chemistry closely parallels that of cytochrome P-450 proteins, and both appear to involve a Fenton-like reactive intermediate), [LxFeOOH(DH)]. With cyclohexane as the substrate the dominant product is its ketone (as well as significant amounts of its hydroperoxide). 1,4-Cyclohexadiene (with two double-allylic carbon centers) undergoes dehydrogenation to give benzene, but also yields substantial amounts of phenol via ketonization of an allylic carbon. The 1:1 FeII(bpy)2(2+)/(PhNHNH2 or H2asc), FeII(PA)2/H2asc, and (Cl8TPP)FeIIICl/PhNHNH2 combinations initiate the autoxidation of 1,4-cyclohexadiene with turnover numbers (moles of product per mole of reductant) from 71 to 26, respectively (alpha-tocophenol reduces the turnover numbers by 20-80%). With respect to aerobic biology, the present results indicate that dysfunctional transition metals (degradation products of metalloproteins) in combination with biological reductants activate O2 for reaction with organic substrates. The level of activation is similar to that for Fenton reagents and cytochrome P-450 hydroxylases. Hence, dysfunctional transition metals, reductants, and O2 are a hazardous combination within a biological matrix.     

Picture-Neutrosophic Trusted Safe Semi-Supervised Fuzzy Clustering for Noisy Data

Clustering is a crucial method for deciphering data structure and producing new information. Due to its significance in revealing fundamental connections between the human brain and events, it is essential to utilize clustering for cognitive research. Dealing with noisy data caused by inaccurate synthesis from several sources or misleading data production processes is one of the most intriguing clustering difficulties. Noisy data can lead to incorrect object recognition and inference. This research aims to innovate a novel clustering approach, named Picture-Neutrosophic Trusted Safe Semi-Supervised Fuzzy Clustering (PNTS3FCM), to solve the clustering problem with noisy data using neutral and refusal degrees in the definition of Picture Fuzzy Set (PFS) and Neutrosophic Set (NS). Our contribution is to propose a new optimization model with four essential components: clustering, outlier removal, safe semi-supervised fuzzy clustering and partitioning with labeled and unlabeled data. The effectiveness and flexibility of the proposed technique are estimated and compared with the state-of-art methods, standard Picture fuzzy clustering (FC-PFS) and Confidence-weighted safe semi-supervised clustering (CS3FCM) on benchmark UCI datasets. The experimental results show that our method is better at least 10/15 datasets than the compared methods in terms of clustering quality and computational time.     

Short packet communication in underlay cognitive network assisted by an intelligent reflecting surface

We propose short packet communication in an underlay cognitive radio network assisted by an intelligent reflecting surface (IRS) composed of multiple reconfigurable reflectors. This scheme, called the IRS protocol, operates in only one time slot (TS) using the IRS. The IRS adjusts its phases to give zero received cumulative phase at the secondary destination, thereby enhancing the end-to-end signal-to-noise ratio. The transmitting power of the secondary source is optimized to simultaneously satisfy the multi-interference constraints, hardware limitations, and performance improvement. Simulation and analysis results of the average block error rates (BLERs) show that the performance can be enhanced by installing more reconfigurable reflectors, increasing the blocklength, lowering the number of required primary receivers, or sending fewer information bits. Moreover, the proposed IRS protocol always outperforms underlay relaying protocols using two TSs for data transmission, and achieves the best average BLER at identical transmission distances between the secondary source and secondary destination. The theoretical analyses are confirmed by Monte Carlo simulations.