Tracking trajectories of the cart-pendulum system

The problem of tracking a periodic trajectory of the well-known cart-pendulum system is solved. After a change of coordinates and a change of feedback, the equations of this system are nonlinear but feedforward. This property is extensively used to carry out for this system the design of uniformly asymptotically stabilizing time-varying state feedbacks by using the forwarding approach.     

A knowledge-based system for sensor selection

This paper presents a Knowledge-based system (KBS) developed to allow users, who may not be knowledgeable about sensors, to select sensors suitable for their specific needs. The KBS runs on a micro-computer. The selection criteria are user specified and are based on the desired measurement parameters. The system output includes all of the operational and dimensional parameters of the recommended sensor, price, and vendor information.     

A time aggregation approach to Markov decision processes

We propose a time aggregation approach for the solution of infinite horizon average cost Markov decision processes via policy iteration. In this approach, policy update is only carried out when the process visits a subset of the state space. As in state aggregation, this approach leads to a reduced state space, which may lead to a substantial reduction in computational and storage requirements, especially for problems with certain structural properties. However, in contrast to state aggregation, which generally results in an approximate model due to the loss of Markov property, time aggregation suffers no loss of accuracy, because the Markov property is preserved. Single sample path-based estimation algorithms are developed that allow the time aggregation approach to be implemented on-line for practical systems. Some numerical and simulation examples are presented to illustrate the ideas and potential computational savings.     

Algorithm for finding all k nearest neighbors

A very simple algorithm for computing all k nearest neighbors in 2-D is presented. The method does not rely on complicated forms of tessellation, it only requires simple data binning for fast range searching. Its applications range from scattered data interpolation to reverse engineering.     

Scaffolded writing and rewriting in the discipline: A web-based reciprocal peer review system

This paper describes how SWoRD (scaffolded writing and rewriting in the discipline), a web-based reciprocal peer review system, supports writing practice, particularly for large content courses in which writing is considered critical but not feasibly included. To help students gain content knowledge as well as writing and reviewing skills, SWoRD supports the whole cycle of writing, reviews, back-reviews, and rewriting by scaffolding the journal publication process as its authentic practice model. In addition, SWoRD includes algorithms that compute individual reviewer’s review accuracy, which is in turn used to support the various drawbacks of reciprocal peer reviews (e.g., variation in motivation or ability of reviewers). Finally, this paper describes an empirical evaluation showing that the SWoRD approach is effective in improving writing quality in content classes.     

Halogen-induced charge transfer polymerization of pyrrole in aqueous media

Simultaneous polymerization and doping of pyrrole have been carried out in the presence of a halogenic electron acceptor, bromine (Br₂) or iodine (I₂), in aqueous dispersion or in a two-phase solvent system. The morphology of the polypyrrole (PPY) so produced is granular and porous. The electrical conductivity of the PPY-I₂ charge transfer (CT) complex is of the order of 10¹ ohm⁻¹ cm⁻¹ while that of the PPY-Br₂ complex is about one order of magnitude less. Both complexes are stable in the atmosphere. The physicochemical properties of the PPY-I₂ and PPY-Br₂ CT complexes prepared under various experimental conditions are examined in detail.