Development of a quadruped walking robot AiDIN-III using biologically inspired kinematic analysis

This paper presents a bio-inspired mechanism design for a quadruped walking robot. The approach is derived from the observation on the behaviors of quadruped locomotion, skeletal structure, and the study on the stability of walking based on morphological analysis. In the first, we define the design parameters such as the dimensions of the body and limbs, the center of mass position, and locomotion mechanisms based on surveys on the literatures from biologists. Then, by using the parameters, we propose an useful framework for determining the design parameters of a quadruped walking robot. For implementations, we manufacture a dog-type self-contained quadruped walking robot, named AiDIN-III (Artificial Digitigrade for Natural Environment version III) and the effectiveness of the proposed idea is validated via experimental works.     

Room-Temperature-Processable Highly Reliable Resistive Switching Memory with Reconfigurability for Neuromorphic Computing and Ultrasonic Tissue Classification

Reversible metal-filamentary mechanism has been widely investigated to design an analog resistive switching memory (RSM) for neuromorphic hardware-implementation. However, uncontrollable filament-formation, inducing its reliability issues, has been a fundamental challenge. Here, an analog RSM with 3D ion transport channels that can provide unprecedentedly high reliability and robustness is demonstrated. This architecture is realized by a laser-assisted photo-thermochemical process, compatible with the back-end-of-line process and even applicable to a flexible format. These superior characteristics also lead to the proposal of a practical adaptive learning rule for hardware neural networks that can significantly simplify the voltage pulse application methodology even with high computing accuracy. A neural network, which can perform the biological tissue classification task using the ultrasound signals, is designed, and the simulation results confirm that this practical adaptive learning rule is efficient enough to classify these weak and complicated signals with high accuracy (97%). Furthermore, the proposed RSM can work as a diffusive-memristor at the opposite voltage polarity, exhibiting extremely stable threshold switching characteristics. In this mode, several crucial operations in biological nervous systems, such as Ca²⁺ dynamics and nonlinear integrate-and-fire functions of neurons, are successfully emulated. This reconfigurability is also exceedingly beneficial for decreasing the complexity of systems—requiring both drift- and diffusive-memristors.     

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.     

Intelligent wavelet fuzzy brain emotional controller using dual function-link network for uncertain nonlinear control systems

This study aims to propose a more efficient hybrid algorithm to achieve favorable control performance for uncertain nonlinear systems. The proposed algorithm comprises a dual function-link network-based multilayer wavelet fuzzy brain emotional controller and a sign(.) functional compensator. The proposed algorithm estimates the judgment and emotion of a brain that includes two fuzzy inference systems for the amygdala network and the prefrontal cortex network via using a dual-function-link network and three sub-structures. Three sub-structures are a dual-function-link network, an amygdala network, and a prefrontal cortex network. Particularly, the dual-function-link network is used to adjust the amygdala and orbitofrontal weights separately so that the proposed algorithm can efficiently reduce the tracking error, follow the reference signal well, and achieve good performance. A Lyapunov stability function is used to determine the adaptive laws, which are used to efficiently tune the system parameters online. Simulation and experimental studies for an antilock braking system and a magnetic levitation system are presented to verify the effectiveness and advantage of the proposed algorithm.

     

Optimization of sodium sulfide treatment of rice straw to increase the enzymatic hydrolysis in bioethanol production

The efficiency of sodium sulfide-assisted alkaline pulping for cellulose preparation from Oryza sativa L. rice straw in Vietnam for enzymatic saccharification was investigated. The response surface methodology was used for the determination of optimal technological parameters of alkaline pulping such as active alkali dosage, temperature and time. The optimal technological parameters were established to be active alkali dosage of 7%, treatment temperature of 100 °C and treatment time of 120 min. At these regimes, a maximal sugar yield of 51.8% (over dry rice straw) was obtained. It meant that the saccharification efficiency up to 97.1% could be achieved by using sodium sulfide-assisted alkaline pretreatment method. Addition of sodium sulfide into alkaline pretreatment resulted in higher sugar yield, higher level of depolymerization of lignin and less loss of cellulose. Moreover, liquid hydrolyzate after enzymatic hydrolysis was analyzed by HPLC to determine the compositions of sugar mixture. The fiber morphology in pretreated biomass solid was also revealed by SEM.     

A generalized layerwise higher-order shear deformation theory for laminated composite and sandwich plates based on isogeometric analysis

This paper presents a generalized layerwise higher-order shear deformation theory for laminated composite and sandwich plates. We exploit a higher-order shear deformation theory in each layer such that the continuity of the displacement and transverse shear stresses at the layer interfaces is ensured. Thanks for enforcing the continuity of the displacement and transverse shear stresses at an inner-laminar layer, the minimum number of variables is retained from the present theory in comparison with other layerwise theories. The method requires only five variables, the same as what obtained from the first- and higher-order shear deformation theories. In comparison with the shear deformation theories based on the equivalent single layer, the present theory is capable of producing a higher accuracy for inner-laminar layer shear stresses. The free boundary conditions of transverse shear stresses at the top and bottom surfaces of the plate are fulfilled without any shear correction factors. The discrete system equations are derived from the Galerkin weak form, and the solution is obtained by isogeometric analysis (IGA). The discrete form requires the C¹ continuity of the transverse displacement, and hence NURBS basis functions in IGA naturally ensure this condition. The laminated composite and sandwich plates with various geometries, aspect ratios, stiffness ratios and boundary conditions are studied. The obtained results are compared with the 3D elasticity solution, the analytical as well as numerical solutions based on various plate theories.     

Phonon Scattering in Thin Silica Films Below 1 K

A method is described for studying thermal phonon scattering in thin films on dielectric substrates below a few Kelvin. It is used to study silica films on silicon substrates. Using Monte Carlo simulations with no free parameters, we find that thermally grown silica films 0.1 to 1.0 m thick scatter the phonons as strongly as bulk silica, and hence, have the same thermal conductivity as bulk silica, while a 0.1 m thick e-beam evaporated silica film has a thermal conductivity five times smaller than bulk silica, indicative of additional defects.