ANFIS based quadrotor drone altitude control implementation on Raspberry Pi platform

The unmanned aerial vehicles can have complicated dynamics and kinematics that governs the flight of such multirotor devices. PID type controllers are one of the most popular approaches with Raspberry Pi 3 platform for stability of the flight. However, in dynamic environment they are limited in performance and response times. The autonomous tuning of the controller parameters according to the state of the environment with assistance of the adaptive neuro-fuzzy inference system is a well known approach. This paper provides implementation details and feasibility of such a controller with Raspberry Pi 3 platform for use in geological wireless sensing environments. The proposed neuro-fuzzy controller is developed for a Raspberry Pi 3 platform and tested on a physical quadrotor drone and compared to the conventional PID controller during flight.     

Input Displacement Neuro-fuzzy Control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper

The requirement for new flexible adaptive grippers is the ability to detect and recognize objects in their environments. It is known that robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain, thus making it difficult make decision strategies using conventional techniques. Here, an adaptive neuro fuzzy inference system (ANFIS) for controlling input displacement and object recognition of a new adaptive compliant gripper is presented. The grasping function of the proposed adaptive multi-fingered gripper relies on the physical contact of the finger with an object. This design of the each finger has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize particular shapes of the grasping objects. Fuzzy based controllers develop a control signal according to grasping object shape which yields on the firing of the rule base. The selection of the proper rule base depending on the situation can be achieved by using an ANFIS strategy, which becomes an integrated method of approach for the control purposes. In the designed ANFIS scheme, neural network techniques are used to select a proper rule base, which is achieved using the back propagation algorithm. The simulation results presented in this paper show the effectiveness of the developed method.     

Botnet detection techniques: review,future trends,and issues

In recent years, the Interact has enabled access to widespread remote services in the distributed computing environment; however, integrity of data transmission in the distributed computing platform is hindered by a number of security issues. For instance, the botnet phenomenon is a prominent threat to Intemet security, including the threat of malicious codes. The botnet phenomenon supports a wide range of criminal activities, including distributed denial of service （DDoS） attacks, click fraud, phishing, malware distribution, spam emails, and building machines for illegitimate exchange of information/materials. Therefore, it is imperative to design and develop a robust mechanism for improving the botnet detection, analysis, and removal process. Currently, botnet detection techniques have been reviewed in different ways; however, such studies are limited in scope and lack discussions on the latest botnet detection techniques. This paper presents a comprehensive review of the latest state-of-the-art techniques for botnet detection and figures out the trends of previous and current research. It provides a thematic taxonomy for the classification of botnet detection techniques and highlights the implications and critical aspects by qualitatively analyzing such techniques. Related to our comprehensive review, we highlight future directions for improving the schemes that broadly span the entire botnet detection research field and identify the persistent and prominent research challenges that remain open.     

An appraisal and design of a multi-agent system based cooperative wireless intrusion detection computational intelligence technique

The deployment of wireless sensor networks and mobile ad-hoc networks in applications such as emergency services, warfare and health monitoring poses the threat of various cyber hazards, intrusions and attacks as a consequence of these networks’ openness. Among the most significant research difficulties in such networks safety is intrusion detection, whose target is to distinguish between misuse and abnormal behavior so as to ensure secure, reliable network operations and services. Intrusion detection is best delivered by multi-agent system technologies and advanced computing techniques. To date, diverse soft computing and machine learning techniques in terms of computational intelligence have been utilized to create Intrusion Detection and Prevention Systems (IDPS), yet the literature does not report any state-of-the-art reviews investigating the performance and consequences of such techniques solving wireless environment intrusion recognition issues as they gain entry into cloud computing. The principal contribution of this paper is a review and categorization of existing IDPS schemes in terms of traditional artificial computational intelligence with a multi-agent support. The significance of the techniques and methodologies and their performance and limitations are additionally analyzed in this study, and the limitations are addressed as challenges to obtain a set of requirements for IDPS in establishing a collaborative-based wireless IDPS (Co-WIDPS) architectural design. It amalgamates a fuzzy reinforcement learning knowledge management by creating a far superior technological platform that is far more accurate in detecting attacks. In conclusion, we elaborate on several key future research topics with the potential to accelerate the progress and deployment of computational intelligence based Co-WIDPSs.     

Mechanical properties of WC-based hardmetals bonded with iron alloys – a review

Growing concerns over the use of cobalt as binder for WC-based hardmetals has directed research efforts towards finding a suitable alternative binder offering comparable or even superior properties than those found in WC–Co hardmetals. Complete substitution of cobalt by iron alloys has been extensively explored in several studies with significant improvements in mechanical properties of WC bonded with Fe alloys when carbon content addition is strictly controlled in powder composition. Asides from the commonly studied hardness and fracture toughness properties, transverse rupture strength property of this composites has also been observed to hold future promise with further development in the microstructural parameters such as porosity during sintering. This article reviews the progress in the mechanical properties of WC–Fe alloys hardmetals.     

Comparative Analysis of Mafriwal (Bos taurus × Bos indicus) and Kedah Kelantan (Bos indicus) Sperm Proteome Identifies Sperm Proteins Potentially Responsible for Higher Fertility in a Tropical Climate

The fertility of zebu cattle (Bos indicus) is higher than that of the European purebred (Bos taurus) and crossbred (Bos taurus × Bos indicus) cattle in tropical areas. To identify proteins related to the higher thermo-tolerance and fertility of Zebu cattle, this study was undertaken to identify differences in sperm proteome between the high fertile Malaysian indigenous zebu cattle (Kedah Kelantan) and the sub-fertile crossbred cattle (Mafriwal). Frozen semen from three high performance bulls from each breed were processed to obtain live and pure sperm. Sperm proteins were then extracted, and two-dimensional gel electrophoresis performed to compare proteome profiles. Gel image analysis identified protein spots of interest which were then identified by liquid chromatography mass spectrometry quadrupole time-of-flight (LC MS/MS Q-TOF). STRING network analysis predicted interactions between at least 20 of the identified proteins. Among the identified proteins, a number of motility and energy related proteins were present in greater abundance in Kedah Kelantan. Sperm motility evaluation by Computer Assisted Semen Analysis (CASA) confirmed significantly higher motility in Kedah Kelantan. While results from this study do identify proteins that may be responsible for the higher fertility of Kedah Kelantan, functional characterization of these proteins is warranted to reinforce our understanding of their roles in sperm fertility.     

Mixed P3HT/PCBM Organic Thin-Film Transistors： Relation between Morphology and Electrical Characteristics

The mixed P3HT （poly（3-hexylthiophene）） and [6,6]-PCBM （phenyl C61-butyric acid methyl ester） organic thin films were investigated for electronic structure using UV-Vis spectrophotometer and PESA （photo-electron spectroscopy in air）. Furthermore, ESR （electron spin resonance） and AFM （atomic force microscopy） were used to investigate the surface morphology and molecular orientation, respectively. ESR analysis indicated the molecular orientation of the P3HT crystalline in the blend thin films, which the crystalline oriented normal to the substrate with distribution of 35°. AFM images indicated that the surface morphology of P3HT film was affected by the presence of PCBM nanoparticles. Solution-processed OTFTs （organic thin-film transistors） based on P3HT/PCBM blend thin film in a top source-drain contact structure was fabricated, and the electrical characteristics of the devices were also investigated. A unipolar property with p-channel characteristics were obtained in glove box measurement.     

Fabrication and characterization of 1D brushite nanomaterials via sucrose ester reverse microemulsion

In the present study, 1-dimensional (1D) brushite nanomaterials were fabricated through sucrose ester based reverse microemulsion for the first time. X-ray diffraction patterns revealed that the nanomaterials possessed brushite crystal phase with trace amount of hydroxyapatite. The size and morphology of brushite crystals were governed by the changes in the aqueous-to-sucrose ester weight ratio at low initial reactant concentration, giving rise to rod-like and fibre-like 1D nanomaterials. Brushite nanorods and nanofibres with average diameters of 25.53 ± 4.60 nm (aspect ratio  6) and 76.18 ± 19.74 nm (aspect ratio  40), respectively, had been synthesized. As the reactant concentration increased, it became the key factor in controlling nucleation and crystal growth, rendering the aqueous-to-sucrose ester ratio unimportant. Formation mechanism of various morphologies of brushite crystals is postulated.     

Micropolar fluid flow towards a stretching/shrinking sheet in a porous medium with suction

This paper presents a numerical analysis of a micropolar fluid flow towards a permeable stretching/shrinking sheet in a porous medium. The governing nonlinear partial differential equations are transformed into a system of ordinary differential equations by a similarity transformation, before being solved numerically by a finite-difference scheme known as the Keller-box method. The effects of the governing parameters on the fluid flow and heat transfer characteristics are illustrated graphically. It is found that dual solutions exist for the shrinking case, whereas for the stretching case, the solution is unique.