On the learning control of a robot manipulator

This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors.     

Ionothermal synthesis of a three-dimensional zinc phosphate with DFT topology using unstable deep-eutectic solvent as template-delivery agent

A three-dimensional zinc phosphate compound with DFT topology, designated as ZnPO₄-EU1, has been synthesized by an ionothermal approach from the system HF-ZnO–P₂O₅-choline chloride-imidazolidone. Ethylenediamine, derived from decomposition of the imidazolidone component of the deep-eutectic solvent (DES) itself, is delivered to the synthesis and serves as an appropriate template for ZnPO₄-EU1. Experiments in which the synthesis conditions were varied showed that ZnPO₄-EU1 may be prepared over a wide molar ratio of P/Zn = 0.55–13.0. Powder X-ray diffraction patterns have been obtained at intervals to track the crystallization process of this material. The experimental data show that Zn₃(PO₄)₂ · 4H₂O (a dense phase) was first isolated from the DES after reaction for 1 h. Subsequently, the pure phase of ZnPO₄-EU1 was obtained with increasing crystallization time from 12 h to 72 h. The experimental results show that the nucleation and crystallization take place with relatively low levels of solvent degradation, demonstrating that zinc phosphate with a three-dimensional framework can be synthesized by in situ generation of an appropriate template using an unstable DES at high temperatures (150–200 °C).     

Factors influencing feature usage in work-related communication

Two studies are presented. The first aimed to identify possible barriers to the uptake and use of commonly available telephony features and to determine whether greater knowledge of features/access codes and availability of user manuals could increase feature usage under certain conditions. Results showed that feature-usage patterns were not affected by any of the manipulations, but that they were determined by specific job demands. Using Constantine and Lockwood's (1999) conceptualization of user roles, a method to support feature bundling decisions for specific target markets was developed and tested in the second study. The method - Strategic User Needs Analysis (SUNA) - was shown to yield a useful balance between high- and low-level information about selected roles. SUNA provided sufficient information to distinguish between PDA feature usage patterns of two similar target user groups as well as to suggest additional features each of the two target groups would find useful. The development of SUNA and observational findings of actual PDA usage are reported.     

An adaptive tracking problem for a family of retarded time-delay plants

Most of the existing switching control techniques are developed specifically for finite-dimensional linear time-invariant (LTI) systems. In many practical applications, however, it is essential to take time delay into consideration in the modelling as the control system can be highly sensitive to delay. In this paper, a multi-model switching control algorithm is proposed for retarded time-delay systems. It is assumed that the plant is represented by a family of known multi-input multi-output, observable, LTI models with multiple delays in the states, and that corresponding to each model in the known family, there exists a high-performance finite-dimensional LTI controller. In addition, it is supposed that a bound on the magnitude of the external inputs and disturbances is available. It is then shown that the proposed switching controller can stabilize the uncertain system, and that under some mild conditions, output tracking can be achieved in the given problem setting. Copyright © 2007 John Wiley & Sons, Ltd.     

A novel distributed approach to robust fault detection and identification

In this paper, we propose a novel distributed robust fault detection and identification (RFDI) scheme for a class of nonlinear systems. Firstly, a detection and identification estimator—robust fault tracking approximator (RFTA) is designed for online health monitoring. A novel feature of the RFTA is that it can simultaneously detect and accurately identify the shape and magnitude of the fault and disturbance. Moreover, it takes less online training time compared with the traditional neural network based fault diagnosis schemes. For some distributed systems, a network of distributed estimators is constructed where the RFTA is embedded into each estimator. Then we use consensus filter to filter the outputs of each estimator. One of the most important merits of the consensus filter is that its outputs can dramatically improve the accuracy of fault detection and identification. Next, the stability of the distributed RFDI scheme is rigorously investigated. Finally, two numerical examples are given to illustrate the feasibility and effectiveness of the proposed approach.     

Pedestrian detection and tracking at crossroads

This paper presents a system that can perform pedestrian detection and tracking using vision-based techniques. A very important issue in the field of intelligent transportation system is to prevent pedestrians from being hit by vehicles. Recently, a great number of vision-based techniques have been proposed for this purpose. In this paper, we propose a vision-based method, which combines the use of a pedestrian model as well as the walking rhythm of pedestrians to detect and track walking pedestrians. Through integrating some spatial and temporal information grabbed by a vision system, we are able to develop a reliable system that can be used to prevent traffic accidents happened at crossroads. In addition, the proposed system can deal with the occlusion problem. Experimental results obtained by executing some real world cases have demonstrated that the proposed system is indeed superb.     

A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.     

Fixed mesh front‐tracking methodology for finite element simulations

A direct front‐tracking method using an Eulerian–Lagrangian formulation is developed in two space dimensions. The front‐tracking method is general in that it can track any type of interface once its local velocity is specified or has been determined by calculation. The method uses marker points to describe the interface position and tracks the interface evolution on a fixed finite‐element mesh, including growth, contraction, splitting and merging. Interfacial conditions are applied directly at the interface position. The method is applied to three scenarios that involve different interface conditions and are based on energy and mass diffusion. The three calculations are for the dendritic solidification of a pure substance, the cellular growth of an alloy, and the Ostwald ripening of silica particles in silicon. Numerical results show that very complicated interface morphologies and topological changes can be simulated properly and efficiently. Copyright © 2004 John Wiley & Sons, Ltd.     

An integrative conceptual framework of disability: New directions for research.

Advances in research on disability and rehabilitation are essential to creating equal opportunity, economic self-sufficiency, and full participation for persons with disabilities. Historically, such initiatives have focused on separate and specific areas, including neuroscience, molecular biology and genetics, gerontology, engineering and physical sciences, and social and behavioral sciences. Research on persons with disabilities should examine the broader context and trends of society that affect the total environment of persons with disabilities. This article examines the various disability paradigms across time, assessing the relative contribution of the socioecological perspective in guiding research designed to improve the lives of persons with disabilities. The authors recommend new research directions that include a focus on life span issues, biomedicine, biotechnology, the efficacy and effectiveness of current interventions, an emphasis on consumer-driven investigations within a socioecological perspective of disability, and the implications for research and practice. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

MALL在中国的现状及其建筑设计要点

该文介绍了Mall的产生条件和国内发展概况，并结合实例分析，着重论述建筑设计方面的有关问题。