Robust model predictive control of biped robots with adaptive on-line gait generation

International Journal of Control, Automation and Systems - In this paper, an on-line gait control scheme is proposed for the biped robots for walking up and down the stairs. In the proposed...     

Multi-objective optimization of laminated composite shells for minimum mass/cost and maximum buckling pressure with failure criteria under external hydrostatic pressure

In the present study, Multi-objective optimization of composite cylindrical shell under external hydrostatic pressure was investigated. Parameters of mass, cost and buckling pressure as fitness functions and failure criteria as optimization criterion were considered. The objective function of buckling has been used by performing the analytical energy equations and Tsai-Wu and Hashin failure criteria have been considered. Multi-objective optimization was performed by improving the evolutionary algorithm of NSGA-II. Also the kind of material, quantity of layers and fiber orientations have been considered as design variables. After optimizing, Pareto front and corresponding points to Pareto front are presented. Trade of points which have optimized mass and cost were selected by determining the specified pressure as design criteria. Finally, an optimized model of composite cylindrical shell with the optimum pattern of fiber orientations having appropriate cost and mass is presented which can tolerate the maximum external hydrostatic pressure.

     

Data-Driven Texture Rendering on an Electrostatic Tactile Display

In this article, we present a data-driven texture rendering method applied to a tactile display based on electrostatic attraction. The proposed method was examined in two steps. First, accelerations occurring due to sliding a tool on three different surfaces were measured, and then the collected data were replayed on an electrostatic tactile display. The proposed data-driven texture rendering method was evaluated against a conventional method in which a standard input such as a square wave was used for texture representation. Second, data from the Penn Haptic Texture Toolkit were used to generate virtual textures on the same tactile display. Psychophysical experiments were carried out for both steps, during which subjects rated similarities among the rendered virtual textures and the real samples. Confusion matrices were created, and multidimensional scaling (MDS) analysis was performed to create a perceptual space for further examination and to extract underlying dimensions of the textures. The results show that the virtual textures generated using the data-driven method were similar to the real textures. Roughness and stickiness were the primary dimensions of texture perception. Together with the supporting results from the MDS analysis, this study showed that the data-driven method is a viable solution for realistic texture rendering with electrostatic attraction.     

Finite time control of robotic manipulators with position output feedback

This paper deals with the robust finite time tracking of desired trajectories for a wide group of robotic manipulators in spite of unknown disturbances, uncertainties, and saturations of actuators while only manipulator's positions are available and its velocities are not measurable physically. A new form of chattering‐free second order fast nonsingular terminal sliding mode control scheme is introduced to design input torques for fulfilling the determined tracking objective in the adjustable total finite settling time. The proposed control algorithm is incorporated with two nonlinear observers to estimate disturbances and velocities of joints within finite settling times. The global finite time stability of the closed‐loop manipulator is analytically proved. Finally, a numerical simulation is carried out to verify the effectiveness of the designed input torques. Copyright © 2017 John Wiley & Sons, Ltd.     

On the robustness of Type-1 and Interval Type-2 fuzzy logic systems in modeling

Research on the robustness of fuzzy logic systems (FLSs), an imperative factor in the design process, is very limited in the literature. Specifically, when a system is subjected to small deviations of the sampling points (operating points), it is of great interest to find the maximum tolerance of the system, which we refer to as the system’s robustness. In this paper, we present a methodology for the robustness analysis of interval type-2 FLSs (IT2 FLSs) that also holds for T1 FLSs, hence, making it more general. A procedure for the design of robust IT2 FLSs with a guaranteed performance better than or equal to their T1 counterparts is then proposed. Several examples are performed to demonstrate the effectiveness of the proposed methodologies. It was concluded that both T1 and IT2 FLSs can be designed to achieve robust behavior in various applications, and preference one or the other, in general, is application-dependant. IT2 FLSs, having a more flexible structure than T1 FLSs, exhibited relatively small approximation errors in the several examples investigated. The methodologies presented in this paper lay the foundation for the design of FLSs with robust properties that will be very useful in many practical modeling and control applications.     

Connectivity preserving localized coverage algorithm for area monitoring using wireless sensor networks

Efficient network coverage and connectivity are the requisites for most Wireless Sensor Network (WSN) deployments, particularly those concerned with area monitoring. Due to the resource constraints of the sensor nodes, redundancy of coverage area must be reduced for effective utilization of the available resources. If two nodes have the same coverage area in their active state, and if both the nodes are activated simultaneously, it leads to redundancy in network and wastage of precious sensor resources. In this paper, we address the problem of network coverage and connectivity and propose an efficient solution to maintain coverage, while preserving the connectivity of the network. The proposed solution aims to cover the area of interest (AOI), while minimizing the count of the active sensor nodes. The overlap region of two sensor nodes varies with the distance between the nodes. If the distance between two sensor nodes is maximized, the overall coverage area of these nodes will also be maximized. Also, to preserve the connectivity of the network, each sensor node must be in the communication range of at least one other node. Results of simulation of the proposed solution indicate up to 95% coverage of the area, while consuming very less energy of 9.44 J per unit time in the network, simulated in an area of 2500 m².     

SimClus: an effective algorithm for clustering with a lower bound on similarity

Clustering algorithms generally accept a parameter k from the user, which determines the number of clusters sought. However, in many application domains, like document categorization, social network clustering, and frequent pattern summarization, the proper value of k is difficult to guess. An alternative clustering formulation that does not require k is to impose a lower bound on the similarity between an object and its corresponding cluster representative. Such a formulation chooses exactly one representative for every cluster and minimizes the representative count. It has many additional benefits. For instance, it supports overlapping clusters in a natural way. Moreover, for every cluster, it selects a representative object, which can be effectively used in summarization or semi-supervised classification task. In this work, we propose an algorithm, SimClus, for clustering with lower bound on similarity. It achieves a O(log n) approximation bound on the number of clusters, whereas for the best previous algorithm the bound can be as poor as O(n). Experiments on real and synthetic data sets show that our algorithm produces more than 40% fewer representative objects, yet offers the same or better clustering quality. We also propose a dynamic variant of the algorithm, which can be effectively used in an on-line setting.     

Modeling and Retrieval of Moving Objects

This paper presents a symbolic formalism for modeling and retrieving video data via the moving objects contained in the video images. The model integrates the representations of individual moving objects in a scene with the time-varying relationships between them by incorporating both the notions of object tracks and temporal sequences of PIRs (projection interval relationships). The model is supported by a set of operations which form the basis of a moving object algebra. This algebra allows one to retrieve scenes and information from scenes by specifying both spatial and temporal properties of the objects involved. It also provides operations to create new scenes from existing ones. A prototype implementation is described which allows queries to be specified either via an animation sketch or using the moving object algebra.     

Super-Streaming: A New Object Delivery Paradigm for Continuous Media Servers

A number of studies have focused on the design of continuous media, CM, (e.g., video and audio) servers to support the real-time delivery of CM objects. These systems have been deployed in local environments such as hotels, hospitals and cruise ships to support media-on-demand applications. They typically stream CM objects to the clients with the objective of minimizing the buffer space required at the client site. This objective can now be relaxed due to the availability of inexpensive storage devices at the client side. Therefore, we propose a Super-streaming paradigm that can utilize the client side resources in order to improve the utilization of the CM server. To support super-streaming, we propose a technique to enable the CM servers to deliver CM objects at a rate higher than their display bandwidth requirement. We also propose alternative admission control policies to downgrade super-streams in favor of regular streams when the resources are scarce. We demonstrate the superiority of our paradigm over streaming with both analytical and simulation models.Moreover, new distributed applications such as distant-learning, digital libraries, and home entertainment require the delivery of CM objects to geographically disbursed clients. For quality purposes, recently many studies proposed dedicated distributed architectures to support these types of applications. We extend our super-streaming paradigm to be applicable in such distributed architectures. We propose a sophisticated resource management policy to support super-streaming in the presence of multiple servers, network links and clients. Due to the complexity involved in modeling these architectures, we only evaluate the performance of super-streaming by a simulation study.     

Fluorescence in situ hybridization of three oncogenes on a leiomyoma

Using fluorescence in situ hybridization technique, expression of three oncogenes, C-myc, RARa, and cyclin-D was tested on a uterine leiomyoma. C-myc and RARa were amplified in approximately 30% and 90% of the cells, respectively. Numerous small signals of C-myc were indicative of the presence of double minutes. Amplification of RARa is being reported for the first time in a leiomyoma. Cyclin-D was normal in diploid cells while it was highly amplified in polyploid cells. Low levels of amplified C-myc and cyclin-D cells seem to be the reason for this tumor to be benign, while RARa could not be effective without the association of some other gene such as PML. Information presented here are significant toward developing new curative strategies such as gene-specific drugs and molecular manipulation to stop the activity of cancer gene. Further study may elucidate that how fibroids grow and maintain their rare benign nature.