Energy Consumption Optimization for Mobile Robots Motion Using Predictive Control

Operation of mobile robots in off-road environment requires the attention to the torque saturation problem that occurs in the wheels DC motors while climbing hills. In the present work, off-road conditions are utilized to benefit while avoiding torque saturation. Energy optimization algorithm using predictive control is implemented on a two-DC motor-driven wheels mobile robot while crossing a ditch. The predictive control algorithm is simulated and compared with the PID control and the open-loop control. Predictive control showed more capability to avoid torque saturation and noticeable reduction in the energy consumption. Furthermore, using the wheels motors armature current instead of the supply voltage as control variable in the predictive control showed more efficient speed control. Simulation results showed that in case of known ditch dimensions ahead of time, the developed algorithm is feasible. Experimental examination of the developed energy optimization algorithm is presented. The experimental results showed a good agreement with the simulation results. The effects of the road slope and the prediction horizon length on the consumed energy are evaluated. The analytical study showed that the energy consumption is reduced by increasing the prediction horizon until it reaches a limit at which no more energy reduction is obtained. This limit is proportional to the width of the ditch in front of the mobile robot. Curve fitting is applied to the obtained results to address further the effect of the parameters on the energy consumption.     

Adaptive synchronization between two non-identical BAM neural networks with unknown parameters and time-varying delays

International Journal of Control, Automation and Systems - In this paper, the synchronization of two non-identical bidirectional associative memory (BAM) neural networks with unknown parameters and...     

Selection of regression models for predicting strength and deformability properties of rocks using GA

Recently, many regression models have been presented for prediction of mechanical parameters of rocks regarding to rock index properties. Although statistical analysis is a common method for developing regression models, but still selection of suitable transformation of the independent variables in a regression model is difficult. In this paper, a genetic algorithm (GA) has been employed as a heuristic search method for selection of best transformation of the independent variables (some index properties of rocks) in regression models for prediction of uniaxial compressive strength (UCS) and modulus of elasticity (E). Firstly, multiple linear regression (MLR) analysis was performed on a data set to establish predictive models. Then, two GA models were developed in which root mean squared error (RMSE) was defined as fitness function. Results have shown that GA models are more precise than MLR models and are able to explain the relation between the intrinsic strength/elasticity properties and index properties of rocks by simple formulation and accepted accuracy.     

Four degree of freedom liquid dispenser for direct write capillary self-assembly with sub-nanoliter precision

Capillary forces provide a ubiquitous means of organizing micro- and nanoscale structures on substrates. In order to investigate the mechanism of capillary self-assembly and to fabricate complex ordered structures, precise control of the meniscus shape is needed. We present a precision instrument that enables deposition of liquid droplets spanning from 2 nl to 300 μl, in concert with mechanical manipulation of the liquid-substrate interface with four degrees of freedom. The substrate has sub-100 nm positioning resolution in three axes of translation, and its temperature is controlled using thermoelectric modules. The capillary tip can rotate about the vertical axis while simultaneously dispensing liquid onto the substrate. Liquid is displaced using a custom bidirectional diaphragm pump, in which an elastic membrane is hydraulically actuated by a stainless steel syringe. The syringe is driven by a piezoelectric actuator, enabling nanoliter volume and rate control. A quantitative model of the liquid dispenser is verified experimentally, and suggests that compressibility in the hydraulic line deamplifies the syringe stroke, enabling sub-nanoliter resolution control of liquid displacement at the capillary tip. We use this system to contact-print water and oil droplets by mechanical manipulation of a liquid bridge between the capillary and the substrate. Finally, we study the effect of droplet volume and substrate temperature on the evaporative self-assembly of monodisperse polymer microspheres from sessile droplets, and demonstrate the formation of 3D chiral assemblies of micro-rods by rotation of the capillary tip during evaporative assembly.     

Plant Responses to Herbivory,Wounding, and Infection

Plants have various self-defense mechanisms against biotic attacks, involving both physical and chemical barriers. Physical barriers include spines, trichomes, and cuticle layers, whereas chemical barriers include secondary metabolites (SMs) and volatile organic compounds (VOCs). Complex interactions between plants and herbivores occur. Plant responses to insect herbivory begin with the perception of physical stimuli, chemical compounds (orally secreted by insects and herbivore-induced VOCs) during feeding. Plant cell membranes then generate ion fluxes that create differences in plasma membrane potential (Vm), which provokes the initiation of signal transduction, the activation of various hormones (e.g., jasmonic acid, salicylic acid, and ethylene), and the release of VOCs and SMs. This review of recent studies of plant–herbivore–infection interactions focuses on early and late plant responses, including physical barriers, signal transduction, SM production as well as epigenetic regulation, and phytohormone responses.     

Performance evaluation of TCP connections in ideal and non-ideal network environments

In this paper, we study the performance of TCP in both ideal and non-ideal network environments. For the ideal environments, we develop a simple analytical model for the throughput and transfer time of TCP as a function of the file size and TCP parameters. Our simulation measurements demonstrate that this model can accurately predict the throughput for ideal TCP connections characterized by no packet loss due to congestion or bit errors. If these ideal conditions are not met, the model gives an upper bound for throughput and lower bound for transfer time. For the non-ideal environments, we concentrate on wireless links. While our ideal model provides an easy to use tool to calculate bounds on the performance of all TCP implementations in such environments, we also show through simulation the relative performance of four well-known TCP implementations. We also present simulation results that demonstrate the dominant factors affecting the performance of wireless TCP.     

A new quantum-dot cellular automata full-adder

A novel expandable five-input majority gate for quantum-dot cellular automata and a new full-adder cell are presented. Quantum-dot cellular automata (QCA) is an emerging technology and a possible alternative for semiconductor transistor based technologies. A novel QCA majority-logic gate is proposed. This component is suitable for designing QCA circuits. The gate is simple in structure and powerful in terms of implementing digital functions. By applying these kinds of gates, the hardware requirement for a QCA design can be reduced and circuits can be simpler in level, gate counts and clock phases. In order to verify the functionality of the proposed device, some physical proofs are provided. The proper functionality of the FA is checked by means of computer simulations using QCADesigner tool. Both simulation results and physical relations confirm our claims and its usefulness in designing every digital circuit.     

Reactions with Thiazolo[3,2-b]-s-triazol-3(2H)-ones

5-Aryl-3-carboxymethylthio-1,2,4-triazoles 2 are cyclised to 6-arylthiazolo[3,2-b]-s-triazol-3(2H)-ones 3 . This structural assignment has been based on IR and NMR spectra. 2-Arylmethylene-6-arylthiazolo[3,2-b]-s-triazol-3(2H)-ones 7 were prepared by several methods. Compounds 3 coupled with diazotised anilines to give 2,3-dihydro-6-arylthiazolo[3,2-b]-s-triazole-2,3-dione 2-arylhydrazones 8 . The action of amines on 3a opens the thiazolone ring with the formation of substituted (5-phenyltriazol-3-ylthio)-acetamides 9 .     

Thermal degradation behavior and kinetic studies of polyacrylamide gel in TiO2 nanoparticles synthesis

Polyacrylamide gel (PAMG) method is a simple, fast and cheap method used for the synthesis of a wide variety of nanopowders. However, no adequate results have been reported on the thermal degradation behavior of PAMG which can be very effective on the final product properties. In this work, thermal degradation behavior of PAMG in the presence of TiCl₄ as a precursor salt for synthesis of TiO₂ nanoparticles was examined in comparison with linear polyacrylamide (LPAM) and pure PAMG by thermogravimetry/differential thermal analysis. Their thermal degradation kinetics was investigated, as well. The results showed that thermal degradation of all samples occurred in two stages at different onset temperatures. Despite the high thermal stability of pure PAMG compared to LPAM, the presence of TiCl₄ as a mineral material in PAMG structure decreases the thermal degradation onset temperature, considerably. Furthermore for LPAM and PAMG, majority of weight loss occurs in the second stage, but in PAMG with TiCl₄ the weight loss occurs mainly at the first stage. For more detailed investigation, residual materials were characterized by Fourier transform infrared spectroscopy and X-ray diffraction (XRD) techniques, attributing this trend to the presence of mineral materials in PAMG structure. XRD and transmission electron microscopy were also applied to confirm anatase crystalline structure and nanoscale distribution of the TiO₂ particles synthesized via PAMG method.